Fix and simplify applyFixedWingPitchRollThrottleController() #3297
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Should only control pitch and throttle when nav stateFlags & NAV_CTL_ALT Needed for upcoming CRUISE 2D mode
| rollCorrection = constrain(rollCorrection, -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_bank_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_bank_angle)); | ||
| rcCommand[ROLL] = pidAngleToRcCommand(rollCorrection, pidProfile()->max_angle_inclination[FD_ROLL]); | ||
| } | ||
| // Speed controller - only apply in POS mode when NOT NAV_CTL_LAND |
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Now this is applied only if both ALT and POS controllers are active, while previously speed guard only required POS which is reasonable. Why change?
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For the moment all nav states using POS also use ALT so it won't change anything for those but for cruise 2D we need manual throttle control (no ALT) and we can't have both manual throttle control and min speed applied.
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Should only control pitch and throttle when nav stateFlags & NAV_CTL_ALT
Needed for upcoming CRUISE 2D mode