cleanup

iNavFlight · Jun 7, 2018 · 963fcb7 · 963fcb7
1 parent bde2ae6
commit 963fcb7
Show file tree

Hide file tree

Showing 3 changed files with 7 additions and 11 deletions.
diff --git a/src/main/fc/fc_msp_box.c b/src/main/fc/fc_msp_box.c
@@ -189,7 +189,9 @@ void initActiveBoxIds(void)
         activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
         activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
         activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
-        if(STATE(FIXED_WING)) {activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;} //Temp fix before CRUISE will be active for MC
+        if(STATE(FIXED_WING)) {
+            activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE; //Temp fix before CRUISE will be active for MC
+        } 
     }
 #endif
 

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
@@ -76,7 +76,7 @@ PG_DECLARE_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList);
 PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0);
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 3);
+PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 2);
 
 PG_RESET_TEMPLATE(navConfig_t, navConfig,
     .general = {
@@ -335,14 +335,11 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .mwState = MW_NAV_STATE_NONE,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
-
-            //FIX WHOLE OF THIS:
-
             [NAV_FSM_EVENT_TIMEOUT]                     = NAV_STATE_CRUISE_2D_IN_PROGRESS,    // re-process the state
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]              = NAV_STATE_IDLE,
             [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]           = NAV_STATE_ALTHOLD_INITIALIZE,
             [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]        = NAV_STATE_POSHOLD_3D_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D]         = NAV_STATE_CRUISE_3D_INITIALIZE, //switch to 3D cruise if ALT HOLD is enabled
+            [NAV_FSM_EVENT_SWITCH_TO_CRUISE_3D]         = NAV_STATE_CRUISE_3D_INITIALIZE,
             [NAV_FSM_EVENT_SWITCH_TO_CRUISE_ADJ]        = NAV_STATE_CRUISE_2D_ADJUSTING,
             [NAV_FSM_EVENT_SWITCH_TO_RTH]               = NAV_STATE_RTH_INITIALIZE,
             [NAV_FSM_EVENT_SWITCH_TO_WAYPOINT]          = NAV_STATE_WAYPOINT_INITIALIZE,
@@ -366,7 +363,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         }
     },
 
-        /** CRUISE_3D mode ************************************************/
+    /** CRUISE_3D mode ************************************************/
     [NAV_STATE_CRUISE_3D_INITIALIZE] = {
         .persistentId = NAV_PERSISTENT_ID_CRUISE_3D_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_CRUISE_3D_INITIALIZE,
@@ -390,9 +387,6 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .mwState = MW_NAV_STATE_NONE,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
-
-            //FIX WHOLE OF THIS:
-
             [NAV_FSM_EVENT_TIMEOUT]                     = NAV_STATE_CRUISE_3D_IN_PROGRESS,    // re-process the state
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]              = NAV_STATE_IDLE,
             [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]           = NAV_STATE_ALTHOLD_INITIALIZE,

diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
@@ -344,7 +344,7 @@ void applyFixedWingPositionController(timeUs_t currentTimeUs)
                 // Calculate virtual position target at a distance of forwardVelocity * HZ2S(POSITION_TARGET_UPDATE_RATE_HZ)
                 // Account for pilot's roll input (move position target left/right at max of max_manual_speed)
                 // POSITION_TARGET_UPDATE_RATE_HZ should be chosen keeping in mind that position target shouldn't be reached until next pos update occurs
-                // FIXME: verify the above-
+                // FIXME: verify the above
                 calculateVirtualPositionTarget_FW(HZ2S(MIN_POSITION_UPDATE_RATE_HZ) * 2);
 
                 updatePositionHeadingController_FW(currentTimeUs, deltaMicrosPositionUpdate);