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GPS - cleanup nagivation reset flag usage.

This commit is contained in:
Dominic Clifton 2014-12-11 18:01:52 +00:00
parent 0b23afec8e
commit be1367059d
1 changed files with 11 additions and 9 deletions
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20
src/main/flight/navigation.c
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@ -657,7 +657,7 @@ void updateGpsStateForHomeAndHoldMode(void)
void updateGpsWaypointsAndMode(void)
{
static uint8_t GPSNavReset = 1;
static bool resetNavNow = false;
if (STATE(GPS_FIX) && GPS_numSat >= 5) {
// if both GPS_HOME & GPS_HOLD are checked => GPS_HOME is the priority
@ -665,7 +665,7 @@ void updateGpsWaypointsAndMode(void)
if (!FLIGHT_MODE(GPS_HOME_MODE)) {
ENABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPSNavReset = 0;
resetNavNow = true;
GPS_set_next_wp(&GPS_home[LAT], &GPS_home[LON]);
nav_mode = NAV_MODE_WP;
}
@ -675,7 +675,7 @@ void updateGpsWaypointsAndMode(void)
if (IS_RC_MODE_ACTIVE(BOXGPSHOLD) && areSticksInApModePosition(gpsProfile->ap_mode)) {
if (!FLIGHT_MODE(GPS_HOLD_MODE)) {
ENABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPSNavReset = 0;
resetNavNow = true;
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
@ -683,18 +683,20 @@ void updateGpsWaypointsAndMode(void)
}
} else {
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
// both boxes are unselected here, nav is reset if not already done
if (GPSNavReset == 0) {
GPSNavReset = 1;
GPS_reset_nav();
}
}
}
} else {
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
nav_mode = NAV_MODE_NONE;
GPS_reset_nav();
resetNavNow = true;
}
if (resetNavNow) {
GPS_reset_nav();
resetNavNow = false;
}
}
#endif