addition of altitude buffer var
added a user configurable altitude buffer option for MAX_ALT and CURRENT_ALT rescue mode options.
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658656f7e1
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e2b3cb0b86
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@ -952,6 +952,7 @@ const clivalue_t valueTable[] = {
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#ifdef USE_GPS_RESCUE
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// PG_GPS_RESCUE
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{ "gps_rescue_angle", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, angle) },
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{ "gps_rescue_alt_buffer", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, rescueAltitudeBufferM) },
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{ "gps_rescue_initial_alt", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 20, 100 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, initialAltitudeM) },
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{ "gps_rescue_descent_dist", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 30, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, descentDistanceM) },
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{ "gps_rescue_landing_alt", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 3, 10 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, targetLandingAltitudeM) },
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@ -41,6 +41,7 @@
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static uint16_t gpsRescueConfig_angle; //degrees
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static uint16_t gpsRescueConfig_rescueAltitudeBufferM; //meters
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static uint16_t gpsRescueConfig_initialAltitudeM; //meters
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static uint16_t gpsRescueConfig_descentDistanceM; //meters
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static uint16_t gpsRescueConfig_rescueGroundspeed; // centimeters per second
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@ -128,6 +129,7 @@ static const void *cmsx_menuGpsRescueOnEnter(displayPort_t *pDisp)
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UNUSED(pDisp);
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gpsRescueConfig_angle = gpsRescueConfig()->angle;
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gpsRescueConfig_rescueAltitudeBufferM = gpsRescueConfig()->rescueAltitudeBufferM;
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gpsRescueConfig_initialAltitudeM = gpsRescueConfig()->initialAltitudeM;
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gpsRescueConfig_descentDistanceM = gpsRescueConfig()->descentDistanceM;
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gpsRescueConfig_rescueGroundspeed = gpsRescueConfig()->rescueGroundspeed;
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@ -152,6 +154,7 @@ static const void *cmsx_menuGpsRescueOnExit(displayPort_t *pDisp, const OSD_Entr
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UNUSED(self);
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gpsRescueConfigMutable()->angle = gpsRescueConfig_angle;
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gpsRescueConfigMutable()->rescueAltitudeBufferM = gpsRescueConfig_rescueAltitudeBufferM;
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gpsRescueConfigMutable()->initialAltitudeM = gpsRescueConfig_initialAltitudeM;
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gpsRescueConfigMutable()->descentDistanceM = gpsRescueConfig_descentDistanceM;
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gpsRescueConfigMutable()->rescueGroundspeed = gpsRescueConfig_rescueGroundspeed;
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@ -178,6 +181,7 @@ const OSD_Entry cmsx_menuGpsRescueEntries[] =
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{ "MIN DIST HOME M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_minRescueDth, 50, 1000 ,1 }, REBOOT_REQUIRED },
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{ "INITAL ALT M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_initialAltitudeM, 20, 100, 1 }, REBOOT_REQUIRED },
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{ "ALTITUDE MODE" , OME_TAB, NULL, &(OSD_TAB_t) { &gpsRescueConfig_altitudeMode, 2, lookupTableRescueAltitudeMode}, REBOOT_REQUIRED },
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{ "ALT BUFFER M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_rescueAltitudeBufferM, 0, 100, 1 }, REBOOT_REQUIRED },
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{ "DESCENT DIST M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_descentDistanceM, 30, 500, 1 }, REBOOT_REQUIRED },
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{ "LANDING ALT M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_targetLandingAltitudeM, 3, 10, 1 }, REBOOT_REQUIRED },
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{ "LANDING DIST M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_targetLandingDistanceM, 5, 15, 1 }, REBOOT_REQUIRED },
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@ -155,6 +155,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCU
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PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
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.angle = 32,
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.initialAltitudeM = 50,
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.rescueAltitudeBufferM = 15,
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.descentDistanceM = 200,
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.rescueGroundspeed = 2000,
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.throttleP = 150,
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@ -606,11 +607,11 @@ void updateGPSRescueState(void)
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newAltitude = gpsRescueConfig()->initialAltitudeM * 100;
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break;
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case CURRENT_ALT:
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newAltitude = rescueState.sensor.currentAltitudeCm;
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newAltitude = rescueState.sensor.currentAltitudeCm + gpsRescueConfig()->rescueAltitudeBufferM * 100;
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break;
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case MAX_ALT:
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default:
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newAltitude = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500);
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newAltitude = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + gpsRescueConfig()->rescueAltitudeBufferM * 100);
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break;
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}
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@ -746,4 +747,3 @@ bool gpsRescueDisableMag(void)
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}
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#endif
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#endif
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@ -24,6 +24,7 @@
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typedef struct gpsRescue_s {
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uint16_t angle; //degrees
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uint16_t initialAltitudeM; //meters
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uint16_t rescueAltitudeBufferM; //meters
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uint16_t descentDistanceM; //meters
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uint16_t rescueGroundspeed; //centimeters per second
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uint16_t throttleP, throttleI, throttleD;
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@ -1384,6 +1384,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
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#ifdef USE_GPS_RESCUE
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case MSP_GPS_RESCUE:
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sbufWriteU16(dst, gpsRescueConfig()->angle);
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sbufWriteU16(dst, gpsRescueConfig()->rescueAltitudeBufferM);
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sbufWriteU16(dst, gpsRescueConfig()->initialAltitudeM);
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sbufWriteU16(dst, gpsRescueConfig()->descentDistanceM);
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sbufWriteU16(dst, gpsRescueConfig()->rescueGroundspeed);
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@ -2324,6 +2325,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
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case MSP_SET_GPS_RESCUE:
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gpsRescueConfigMutable()->angle = sbufReadU16(src);
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gpsRescueConfigMutable()->initialAltitudeM = sbufReadU16(src);
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gpsRescueConfigMutable()->rescueAltitudeBufferM = sbufReadU16(src);
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gpsRescueConfigMutable()->descentDistanceM = sbufReadU16(src);
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gpsRescueConfigMutable()->rescueGroundspeed = sbufReadU16(src);
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gpsRescueConfigMutable()->throttleMin = sbufReadU16(src);
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