Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 22:35:23 +03:00
Code Issues Wiki Activity

Mag heading optionally ignored while GPS Rescue is running

Browse source 
If flyaway condition is met and a mag is in use, mag is disabled and countdown is reset
Minor cleanup
This commit is contained in:
Tony Cabello 2018-12-27 02:49:25 +01:00
parent d8e8d8374d
commit 25a499cc9a
6 changed files with 32 additions and 14 deletions
Download patch file Download diff file Expand all files Collapse all files

16
src/main/flight/imu.c
View file

@ -38,6 +38,7 @@
#include "fc/runtime_config.h"
#include "flight/gps_rescue.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
@ -441,7 +442,11 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
previousIMUUpdateTime = currentTimeUs;
#ifdef USE_MAG
if (sensors(SENSOR_MAG) && compassIsHealthy()) {
if (sensors(SENSOR_MAG) && compassIsHealthy()
#ifdef USE_GPS_RESCUE
&& !gpsRescueDisableMag()
#endif
) {
useMag = true;
}
#endif
@ -452,14 +457,9 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
courseOverGround = DECIDEGREES_TO_RADIANS(gpsSol.groundCourse);
useCOG = true;
} else {
// If GPS rescue mode is active and we can use it, go for it. When we're close to home we will
// probably stop re calculating GPS heading data. Other future modes can also use this extern
courseOverGround = DECIDEGREES_TO_RADIANS(gpsSol.groundCourse);
if (canUseGPSHeading) {
courseOverGround = DECIDEGREES_TO_RADIANS(gpsSol.groundCourse);
useCOG = true;
}
useCOG = true;
}
if (useCOG && shouldInitializeGPSHeading()) {