From 3199c48ee9f64bb129355cf375e054b92e062dba Mon Sep 17 00:00:00 2001
From: Tony Cabello <tcabello@blitsoftware.com>
Date: Mon, 19 Nov 2018 23:23:40 +0100
Subject: [PATCH] GPS Rescue no longer forces a reset home position when
 disarmed Home position is deinitialized on disarm at gpsUpdate, so it can't
 be missed DistanceFlown is reset inside GPS_calculateDistanceFlown
 DistanceFlown was not calculated properly

---
 src/main/fc/core.c           |  2 +-
 src/main/flight/gps_rescue.c |  2 --
 src/main/io/gps.c            | 14 ++++++++------
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index 52f9dbfc98..c365502a34 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -277,7 +277,7 @@ void updateArmingStatus(void)
 
 #ifdef USE_GPS_RESCUE
         if (isModeActivationConditionPresent(BOXGPSRESCUE)) {
-            if (!gpsRescueConfig()->minSats || STATE(GPS_FIX_HOME) || ARMING_FLAG(WAS_EVER_ARMED)) {
+            if (!gpsRescueConfig()->minSats || STATE(GPS_FIX) || ARMING_FLAG(WAS_EVER_ARMED)) {
                 unsetArmingDisabled(ARMING_DISABLED_GPS);
             } else {
                 setArmingDisabled(ARMING_DISABLED_GPS);
diff --git a/src/main/flight/gps_rescue.c b/src/main/flight/gps_rescue.c
index 8758bd2ea2..c8025414f4 100644
--- a/src/main/flight/gps_rescue.c
+++ b/src/main/flight/gps_rescue.c
@@ -158,8 +158,6 @@ rescueState_s rescueState;
 */
 void rescueNewGpsData(void)
 {
-    if (!ARMING_FLAG(ARMED))
-	GPS_reset_home_position();
     newGPSData = true;
 }
 
diff --git a/src/main/io/gps.c b/src/main/io/gps.c
index 67b4d92401..0bfda817ea 100644
--- a/src/main/io/gps.c
+++ b/src/main/io/gps.c
@@ -544,6 +544,9 @@ void gpsUpdate(timeUs_t currentTimeUs)
     if (sensors(SENSOR_GPS)) {
         updateGpsIndicator(currentTimeUs);
     }
+    if (!ARMING_FLAG(ARMED)) {
+        DISABLE_STATE(GPS_FIX_HOME);
+    }
 #if defined(USE_GPS_RESCUE)
     if (gpsRescueIsConfigured()) {
         updateGPSRescueState();
@@ -1272,7 +1275,6 @@ void GPS_reset_home_position(void)
         GPS_home[LAT] = gpsSol.llh.lat;
         GPS_home[LON] = gpsSol.llh.lon;
         GPS_calc_longitude_scaling(gpsSol.llh.lat); // need an initial value for distance and bearing calc
-        GPS_distanceFlownInCm = 0;
         // Set ground altitude
         ENABLE_STATE(GPS_FIX_HOME);
     }
@@ -1317,7 +1319,10 @@ static void GPS_calculateDistanceFlown(bool initialize)
     static int32_t lastMillis = 0;
 
     if (initialize) {
+        GPS_distanceFlownInCm = 0;
         lastMillis = millis();
+        lastCoord[LON] = gpsSol.llh.lon;
+        lastCoord[LAT] = gpsSol.llh.lat;
     } else {
         int32_t currentMillis = millis();
         // update the calculation less frequently when accuracy is low, to mitigate adding up error
@@ -1327,11 +1332,11 @@ static void GPS_calculateDistanceFlown(bool initialize)
             GPS_distance_cm_bearing(&gpsSol.llh.lat, &gpsSol.llh.lon, &lastCoord[LAT], &lastCoord[LON], &dist, &dir);
             GPS_distanceFlownInCm += dist;
             lastMillis = currentMillis;
+            lastCoord[LON] = gpsSol.llh.lon;
+            lastCoord[LAT] = gpsSol.llh.lat;
         }
     }
 
-    lastCoord[LON] = gpsSol.llh.lon;
-    lastCoord[LAT] = gpsSol.llh.lat;
 }
 
 void onGpsNewData(void)
@@ -1340,9 +1345,6 @@ void onGpsNewData(void)
         return;
     }
 
-    if (!ARMING_FLAG(ARMED))
-        DISABLE_STATE(GPS_FIX_HOME);
-
     if (!STATE(GPS_FIX_HOME) && ARMING_FLAG(ARMED)) {
         GPS_reset_home_position();
         GPS_calculateDistanceFlown(true);