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Fix READY_BEEP

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This commit is contained in:
Hans Christian Olaussen 2022-04-13 21:08:29 +02:00
parent f4775292b6
commit 0bb5bca5a7
1 changed files with 16 additions and 0 deletions
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16
src/main/io/gps.c
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@ -43,6 +43,7 @@
#include "drivers/light_led.h"
#include "drivers/time.h"
#include "io/beeper.h"
#include "io/dashboard.h"
#include "io/gps.h"
#include "io/serial.h"
@ -872,11 +873,26 @@ void gpsUpdate(timeUs_t currentTimeUs)
if (!ARMING_FLAG(ARMED) && !gpsConfig()->gps_set_home_point_once) {
DISABLE_STATE(GPS_FIX_HOME);
}
uint8_t minSats = 5;
#if defined(USE_GPS_RESCUE)
if (gpsRescueIsConfigured()) {
updateGPSRescueState();
minSats = gpsRescueConfig()->minSats;
}
#endif
static bool hasFix = false;
if (STATE(GPS_FIX)) {
if (gpsIsHealthy() && gpsSol.numSat >= minSats && !hasFix) {
// ready beep sequence on fix or requirements for gps rescue met.
beeper(BEEPER_READY_BEEP);
hasFix = true;
}
} else {
hasFix = false;
}
}
static void gpsNewData(uint16_t c)