Fixed review
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@ -54,6 +54,7 @@
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#include "flight/pid_init.h"
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#include "flight/rpm_filter.h"
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#include "flight/servos.h"
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#include "flight/position.h"
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#include "io/beeper.h"
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#include "io/gps.h"
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@ -201,6 +202,13 @@ static void validateAndFixRatesSettings(void)
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}
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}
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static void validateAndFixPositionConfig(void)
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{
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if (positionConfig()->altNumSatsBaroFallback >= positionConfig()->altNumSatsGpsUse) {
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PG_RESET(positionConfig);
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}
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}
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static void validateAndFixConfig(void)
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{
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#if !defined(USE_QUAD_MIXER_ONLY)
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@ -586,6 +594,8 @@ static void validateAndFixConfig(void)
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// This should be done at the end of the validation
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targetValidateConfiguration();
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#endif
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validateAndFixPositionConfig();
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}
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void validateAndFixGyroConfig(void)
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@ -157,10 +157,6 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
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if (haveBaroAlt) {
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goodGpsSats = positionConfig()->altNumSatsGpsUse;
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badGpsSats = positionConfig()->altNumSatsBaroFallback;
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if (badGpsSats >= goodGpsSats) {
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badGpsSats = goodGpsSats - 1;
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positionConfigMutable()->altNumSatsBaroFallback = badGpsSats;
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}
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}
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if (ARMING_FLAG(ARMED)) {
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