5428W

aenarete · Apr 21, 2024 · 69970b4 · 69970b4
1 parent 02e33a8
commit 69970b4
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/flightpathplanner2.jl b/src/flightpathplanner2.jl
@@ -110,7 +110,7 @@ function on_new_data(fpp::FlightPathPlanner, depower, length, heading, height, t
     elseif state == FLY_LEFT  && phi > fpp.fpca._phi_sw 
         fpp.fpca.fig8 += 1            
         _switch(fpp, TURN_LEFT)
-    elseif state == TURN_LEFT && (psi > deg2rad(180.0 + fpp.fpca._heading_offset) || fpp.timeout > 140)
+    elseif state == TURN_LEFT && (psi > deg2rad(180.0 + fpp.fpca._heading_offset) || fpp.timeout > 145)
         _switch(fpp, FLY_RIGHT)
     elseif state == FLY_RIGHT && phi >= phi_3
         if ! fpp.finish
@@ -120,7 +120,7 @@ function on_new_data(fpp::FlightPathPlanner, depower, length, heading, height, t
         _switch(fpp, UP_TURN_LEFT)
     elseif state == FLY_RIGHT && phi < -fpp.fpca._phi_sw # && 
         _switch(fpp, TURN_RIGHT)
-    elseif state == TURN_RIGHT && (psi < deg2rad(180.0 + fpp.fpca._heading_offset) || fpp.timeout > 140) 
+    elseif state == TURN_RIGHT && (psi < deg2rad(180.0 + fpp.fpca._heading_offset) || fpp.timeout > 145) 
         println("timeout TURN_RIGHT: $(fpp.timeout)")
         _switch(fpp, FLY_LEFT)
     elseif state == FLY_LEFT && phi <= -phi_3