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Merge pull request #7254 from TonyBlit/gps_crosstrack_checks 

Sanity checks flyaway/stalled only done in crosstrack phase
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Michael Keller 2018-12-21 20:55:28 +13:00 committed by GitHub
parent cfaabac125 3bab5f60ca
commit 27dda737ad
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1 changed files with 10 additions and 8 deletions
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src/main/flight/gps_rescue.c
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@ -353,6 +353,7 @@ static void performSanityChecks()
previousTimeUs = currentTimeUs; previousTimeUs = currentTimeUs;
if (rescueState.phase == RESCUE_CROSSTRACK) {
secondsStalled = constrain(secondsStalled + ((rescueState.sensor.groundSpeed < 150) ? 1 : -1), 0, 20); secondsStalled = constrain(secondsStalled + ((rescueState.sensor.groundSpeed < 150) ? 1 : -1), 0, 20);
if (secondsStalled == 20) { if (secondsStalled == 20) {
@ -365,6 +366,7 @@ static void performSanityChecks()
if (secondsFlyingAway == 10) { if (secondsFlyingAway == 10) {
rescueState.failure = RESCUE_FLYAWAY; rescueState.failure = RESCUE_FLYAWAY;
} }
}
secondsLowSats = constrain(secondsLowSats + ((rescueState.sensor.numSat < gpsRescueConfig()->minSats) ? 1 : -1), 0, 10); secondsLowSats = constrain(secondsLowSats + ((rescueState.sensor.numSat < gpsRescueConfig()->minSats) ? 1 : -1), 0, 10);