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Multirotor coursehold/cruise mode fix #9380

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merged 1 commit into from
Oct 19, 2023
Merged

Multirotor coursehold/cruise mode fix #9380

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10 changes: 5 additions & 5 deletions src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -949,7 +949,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},

/** MIXER AUTOMATED TRANSITION mode, alternated althod ***************************************************/
[NAV_STATE_MIXERAT_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_MIXERAT_INITIALIZE,
Expand Down Expand Up @@ -992,7 +992,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,

}
},
};
Expand Down Expand Up @@ -1514,7 +1514,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || !validateRTHSanityChecker()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}

if (checkMixerATRequired(MIXERAT_REQUEST_LAND)){
return NAV_FSM_EVENT_SWITCH_TO_MIXERAT;
}
Expand Down Expand Up @@ -3919,14 +3919,14 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
}

// CRUISE has priority over COURSE_HOLD and AH
if (IS_RC_MODE_ACTIVE(BOXNAVCRUISE) && STATE(AIRPLANE)) {
if (IS_RC_MODE_ACTIVE(BOXNAVCRUISE)) {
if ((FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))
return NAV_FSM_EVENT_SWITCH_TO_CRUISE;
}

// PH has priority over COURSE_HOLD
// CRUISE has priority on AH
if (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) && STATE(AIRPLANE)) {
if (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD)) {
if (IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && ((FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))) {
return NAV_FSM_EVENT_SWITCH_TO_CRUISE;
}
Expand Down
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