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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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1
src/main/cli/settings.c
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@ -952,6 +952,7 @@ const clivalue_t valueTable[] = {
#ifdef USE_GPS_RESCUE #ifdef USE_GPS_RESCUE
// PG_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_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_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_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) }, { "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, .altitudeMode = MAX_ALT,
.ascendRate = 500, .ascendRate = 500,
.descendRate = 150, .descendRate = 150,
.rescueAltitudeBufferM = 15,
); );
static uint16_t rescueThrottle; static uint16_t rescueThrottle;
@ -606,11 +607,11 @@ void updateGPSRescueState(void)
newAltitude = gpsRescueConfig()->initialAltitudeM * 100; newAltitude = gpsRescueConfig()->initialAltitudeM * 100;
break; break;
case CURRENT_ALT: case CURRENT_ALT:
newAltitude = rescueState.sensor.currentAltitudeCm; newAltitude = rescueState.sensor.currentAltitudeCm + gpsRescueConfig()->rescueAltitudeBufferM * 100;
break; break;
case MAX_ALT: case MAX_ALT:
default: default:
newAltitude = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500); newAltitude = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + gpsRescueConfig()->rescueAltitudeBufferM * 100);
break; break;
} }
@ -746,4 +747,3 @@ bool gpsRescueDisableMag(void)
} }
#endif #endif
#endif #endif

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