CR122

breadoven · May 4, 2024 · bd36eed · bd36eed
1 parent 25e4a62
commit bd36eed
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Showing 2 changed files with 10 additions and 11 deletions.
diff --git a/docs/Settings.md b/docs/Settings.md
@@ -3652,19 +3652,19 @@ Maximum D-term attenution percentage for horizontal velocity PID controller (Mul
 
 ---
 
-### nav_mc_vel_xy_dterm_attenuation_end
+### nav_mc_vel_xy_dterm_attenuation_end_speed
 
-Horizontal velocity where nav_mc_vel_xy_dterm_attenuation reaches maximum [m/s]
+Horizontal speed at which nav_mc_vel_xy_dterm_attenuation reaches maximum [m/s]
 
 | Default | Min | Max |
 | --- | --- | --- |
 | 10 | 0 | 100 |
 
 ---
 
-### nav_mc_vel_xy_dterm_attenuation_start
+### nav_mc_vel_xy_dterm_attenuation_start_speed
 
-Horizontal velocity where nav_mc_vel_xy_dterm_attenuation begins [m/s]
+Horizontal speed at which nav_mc_vel_xy_dterm_attenuation begins [m/s]
 
 | Default | Min | Max |
 | --- | --- | --- |

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
@@ -4024,16 +4024,15 @@ bool isLastMissionWaypoint(void)
 // CR122
 bool isNavHoldPositionActive(void)
 {
+    if (navGetCurrentStateFlags() & NAV_CTL_HOLD) {
+        return true;
+    }
+
     if (FLIGHT_MODE(NAV_WP_MODE)) {
-        return posControl.waypointList[posControl.activeWaypointIndex].action != NAV_WP_ACTION_WAYPOINT ||
-               (navGetCurrentStateFlags() & NAV_CTL_HOLD) ||
-               isLastMissionWaypoint();
+        return posControl.waypointList[posControl.activeWaypointIndex].action != NAV_WP_ACTION_WAYPOINT || isLastMissionWaypoint();
     }
 
-    return posControl.navState != NAV_STATE_FW_LANDING_APPROACH &&
-           posControl.navState != NAV_STATE_FW_LANDING_GLIDE &&
-           posControl.navState != NAV_STATE_FW_LANDING_FLARE &&
-           !posControl.flags.rthTrackbackActive;
+    return !FLIGHT_MODE(NAV_FW_AUTOLAND) && !posControl.flags.rthTrackbackActive;
 }
 // CR122
 float getActiveSpeed(void)