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Merge pull request #6392 from s0up/rescue-disarm-fix 

Fix rescue early disarm when sanity checks are on
This commit is contained in:
Michael Keller 2018-07-19 20:19:39 +12:00 committed by GitHub
parent 3a3c835959 b69e97fb23
commit f2468fb894
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 14 additions and 6 deletions
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20
src/main/flight/gps_rescue.c
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@ -71,7 +71,7 @@ PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
.throttleMin = 1200,
.throttleMax = 1600,
.throttleHover = 1280,
.sanityChecks = 0,
.sanityChecks = RESCUE_SANITY_ON,
.minSats = 8
);
@ -123,6 +123,19 @@ void updateGPSRescueState(void)
hoverThrottle = gpsRescueConfig()->throttleHover;
}
// Minimum distance detection (100m). Disarm regardless of sanity check configuration. Rescue too close is never a good idea.
if (rescueState.sensor.distanceToHome < 100) {
// Never allow rescue mode to engage as a failsafe within 100 meters or when disarmed.
if (rescueState.isFailsafe || !ARMING_FLAG(ARMED)) {
rescueState.failure = RESCUE_TOO_CLOSE;
setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
disarm();
} else {
// Leave it up to the sanity check setting
rescueState.failure = RESCUE_TOO_CLOSE;
}
}
rescueState.phase = RESCUE_ATTAIN_ALT;
FALLTHROUGH;
case RESCUE_ATTAIN_ALT:
@ -284,11 +297,6 @@ void performSanityChecks()
if (msI == 5) {
rescueState.failure = RESCUE_FLYAWAY;
}
// Minimum distance detection (100m)
if (rescueState.sensor.distanceToHome < 100) {
rescueState.failure = RESCUE_TOO_CLOSE;
}
}
void rescueStart()