From 4bcff437bcb431c5bb9d2529108a48cbf5a1cd8c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Tue, 10 Sep 2024 16:30:05 +0200
Subject: [PATCH] [Payload][Wing] Use 3D GPS fix instead of generic fix

---
 src/boards/Payload/Wing/AutomaticWingAlgorithm.cpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/src/boards/Payload/Wing/AutomaticWingAlgorithm.cpp b/src/boards/Payload/Wing/AutomaticWingAlgorithm.cpp
index aeb7b1c4c..544ba3f9c 100644
--- a/src/boards/Payload/Wing/AutomaticWingAlgorithm.cpp
+++ b/src/boards/Payload/Wing/AutomaticWingAlgorithm.cpp
@@ -53,7 +53,7 @@ AutomaticWingAlgorithm::AutomaticWingAlgorithm(float Kp, float Ki,
 
 void AutomaticWingAlgorithm::step()
 {
-    if (getModule<Sensors>()->getUBXGPSLastSample().fix != 0)
+    if (getModule<Sensors>()->getUBXGPSLastSample().fix == 3)
     {
         // The PI calculated result
         float result = algorithmStep(getModule<NASController>()->getNasState());
@@ -127,10 +127,6 @@ float AutomaticWingAlgorithm::algorithmStep(const NASState& state)
     // Convert the result from radians back to degrees
     result = result * (180.f / Constants::PI);
 
-    // Flip the servo orientation
-    // result *= -1;
-    //  TODO check if this is needed
-
     // Logs the outputs
     {
         miosix::Lock<FastMutex> l(mutex);
-- 
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