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fix wp linear climb dive #5292

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Merged
stronnag merged 1 commit into from
Jan 5, 2020
Merged

fix wp linear climb dive #5292

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4 changes: 2 additions & 2 deletions src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1399,8 +1399,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
fpVector3_t tmpWaypoint;
tmpWaypoint.x = posControl.activeWaypoint.pos.x;
tmpWaypoint.y = posControl.activeWaypoint.pos.y;
tmpWaypoint.z = scaleRange(constrainf(posControl.wpDistance, posControl.wpInitialDistance / 10, posControl.wpInitialDistance),
posControl.wpInitialDistance, posControl.wpInitialDistance / 10,
tmpWaypoint.z = scaleRangef(constrainf(posControl.wpDistance, posControl.wpInitialDistance / 10.0f, posControl.wpInitialDistance),
posControl.wpInitialDistance, posControl.wpInitialDistance / 10.0f,
posControl.wpInitialAltitude, posControl.activeWaypoint.pos.z);
setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING);
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms
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