Skip to content

No control during Autolaunch FINISHING sequence #6318

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
digitalentity merged 1 commit into from
Nov 19, 2020
Merged

No control during Autolaunch FINISHING sequence #6318

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 9 additions & 4 deletions src/main/navigation/navigation_fw_launch.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -170,13 +170,15 @@ static const fixedWingLaunchStateDescriptor_t launchStateMachine[FW_LAUNCH_STATE
.onEntry = fwLaunchState_FW_LAUNCH_STATE_IN_PROGRESS,
.onEvent = {
[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_FINISH,
[FW_LAUNCH_EVENT_ABORT] = FW_LAUNCH_STATE_IDLE
},
.messageType = FW_LAUNCH_MESSAGE_TYPE_IN_PROGRESS
},
[FW_LAUNCH_STATE_FINISH] = {
.onEntry = fwLaunchState_FW_LAUNCH_STATE_FINISH,
.onEvent = {
[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_IDLE
[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_IDLE,
[FW_LAUNCH_EVENT_ABORT] = FW_LAUNCH_STATE_IDLE
},
.messageType = FW_LAUNCH_MESSAGE_TYPE_FINISHING
}
Expand Down Expand Up @@ -344,10 +346,10 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_SPINUP(timeUs_
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IN_PROGRESS(timeUs_t currentTimeUs) {
rcCommand[THROTTLE] = navConfig()->fw.launch_throttle;

if (isLaunchMaxAltitudeReached()) {
return FW_LAUNCH_EVENT_SUCCESS; // cancel the launch and do the FW_LAUNCH_STATE_FINISH state
}
if (areSticksMoved(navConfig()->fw.launch_motor_timer + navConfig()->fw.launch_motor_spinup_time, currentTimeUs)) {
return FW_LAUNCH_EVENT_ABORT; // cancel the launch and do the FW_LAUNCH_STATE_IDLE state
}
if (isLaunchMaxAltitudeReached()) {
return FW_LAUNCH_EVENT_SUCCESS; // cancel the launch and do the FW_LAUNCH_STATE_FINISH state
}
if (currentStateElapsedMs(currentTimeUs) > navConfig()->fw.launch_timeout) {
Expand All @@ -361,6 +363,9 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_FINISH(timeUs_t curr
const timeMs_t elapsedTimeMs = currentStateElapsedMs(currentTimeUs);
const timeMs_t endTimeMs = navConfig()->fw.launch_end_time;

if (areSticksDeflectedMoreThanPosHoldDeadband()) {
return FW_LAUNCH_EVENT_ABORT; // cancel the launch and do the FW_LAUNCH_STATE_IDLE state
}
if (elapsedTimeMs > endTimeMs) {
return FW_LAUNCH_EVENT_SUCCESS;
} else {
Expand Down