Merge pull request #8069 from breadoven/abo_spiral_climb_enum_fix

Fix RTH Climb First enum ambiguity
iNavFlight · May 30, 2022 · 3914c4f · 3914c4f
2 parents 63a60ad + 7c628fb
commit 3914c4f
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
@@ -1171,7 +1171,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
 
             if (STATE(FIXED_WING_LEGACY)) {
                 // Airplane - climbout before heading home
-                if (navConfig()->general.flags.rth_climb_first == ON_FW_SPIRAL) {
+                if (navConfig()->general.flags.rth_climb_first == RTH_CLIMB_ON_FW_SPIRAL) {
                     // Spiral climb centered at xy of RTH activation
                     calculateInitialHoldPosition(&targetHoldPos);
                 } else {
@@ -1220,7 +1220,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
     const float rthAltitudeMargin = MAX(FW_RTH_CLIMB_MARGIN_MIN_CM, (rthClimbMarginPercent/100.0) * fabsf(posControl.rthState.rthInitialAltitude - posControl.rthState.homePosition.pos.z));
 
     // If we reached desired initial RTH altitude or we don't want to climb first
-    if (((navGetCurrentActualPositionAndVelocity()->pos.z - posControl.rthState.rthInitialAltitude) > -rthAltitudeMargin) || (navConfig()->general.flags.rth_climb_first == OFF) || rthAltControlStickOverrideCheck(ROLL) || rthClimbStageActiveAndComplete()) {
+    if (((navGetCurrentActualPositionAndVelocity()->pos.z - posControl.rthState.rthInitialAltitude) > -rthAltitudeMargin) || (navConfig()->general.flags.rth_climb_first == RTH_CLIMB_OFF) || rthAltControlStickOverrideCheck(ROLL) || rthClimbStageActiveAndComplete()) {
 
         // Delayed initialization for RTH sanity check on airplanes - allow to finish climb first as it can take some distance
         if (STATE(FIXED_WING_LEGACY)) {
@@ -1251,7 +1251,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
 
         // Climb to safe altitude and turn to correct direction
         if (STATE(FIXED_WING_LEGACY)) {
-            if (navConfig()->general.flags.rth_climb_first == ON_FW_SPIRAL) {
+            if (navConfig()->general.flags.rth_climb_first == RTH_CLIMB_ON_FW_SPIRAL) {
                 float altitudeChangeDirection = (tmpHomePos->z += FW_RTH_CLIMB_OVERSHOOT_CM) > navGetCurrentActualPositionAndVelocity()->pos.z ? 1 : -1;
                 updateClimbRateToAltitudeController(altitudeChangeDirection * navConfig()->general.max_auto_climb_rate, ROC_TO_ALT_NORMAL);
             } else {

diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
@@ -140,9 +140,9 @@ typedef enum {
 } navOverridesMotorStop_e;
 
 typedef enum {
-    OFF,
-    ON,
-    ON_FW_SPIRAL,
+    RTH_CLIMB_OFF,
+    RTH_CLIMB_ON,
+    RTH_CLIMB_ON_FW_SPIRAL,
 } navRTHClimbFirst_e;
 
 typedef enum {  // keep aligned with fixedWingLaunchState_t