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Merge pull request #9900 from EggsBenedict/gps_rescue_altitude_buffer

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Michael Keller 2020-06-21 17:51:18 +12:00 committed by GitHub
parent 4b60b3ee4b 84f4581e3e
commit 7c50a3f364
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 6 additions and 4 deletions
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3
src/main/cli/settings.c
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@ -941,7 +941,7 @@ const clivalue_t valueTable[] = {
#ifdef USE_GPS
{ "gps_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_PROVIDER }, PG_GPS_CONFIG, offsetof(gpsConfig_t, provider) },
{ "gps_sbas_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_SBAS_MODE }, PG_GPS_CONFIG, offsetof(gpsConfig_t, sbasMode) },
{ "gps_sbas_integrity", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, sbas_integrity) },
{ "gps_sbas_integrity", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, sbas_integrity) },
{ "gps_auto_config", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoConfig) },
{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoBaud) },
{ "gps_ublox_use_galileo", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_ublox_use_galileo) },
@ -952,6 +952,7 @@ const clivalue_t valueTable[] = {
#ifdef USE_GPS_RESCUE
// PG_GPS_RESCUE
{ "gps_rescue_angle", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, angle) },
{ "gps_rescue_alt_buffer", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, rescueAltitudeBufferM) },
{ "gps_rescue_initial_alt", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 20, 100 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, initialAltitudeM) },
{ "gps_rescue_descent_dist", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 30, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, descentDistanceM) },
{ "gps_rescue_landing_alt", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 3, 10 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, targetLandingAltitudeM) },

6
src/main/flight/gps_rescue.c
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@ -177,6 +177,7 @@ PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
.altitudeMode = MAX_ALT,
.ascendRate = 500,
.descendRate = 150,
.rescueAltitudeBufferM = 15,
);
static uint16_t rescueThrottle;
@ -606,11 +607,11 @@ void updateGPSRescueState(void)
newAltitude = gpsRescueConfig()->initialAltitudeM * 100;
break;
case CURRENT_ALT:
newAltitude = rescueState.sensor.currentAltitudeCm;
newAltitude = rescueState.sensor.currentAltitudeCm + gpsRescueConfig()->rescueAltitudeBufferM * 100;
break;
case MAX_ALT:
default:
newAltitude = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500);
newAltitude = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + gpsRescueConfig()->rescueAltitudeBufferM * 100);
break;
}
@ -746,4 +747,3 @@ bool gpsRescueDisableMag(void)
}
#endif
#endif

1
src/main/flight/gps_rescue.h
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@ -42,6 +42,7 @@ typedef struct gpsRescue_s {
uint8_t altitudeMode;
uint16_t ascendRate;
uint16_t descendRate;
uint16_t rescueAltitudeBufferM; //meters
} gpsRescueConfig_t;
PG_DECLARE(gpsRescueConfig_t, gpsRescueConfig);