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Code Issues Wiki Activity

remove gps_required and gps_minimum sats and revert to gps_rescue_min_sats

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This commit is contained in:
ctzsnooze 2022-10-19 15:58:54 +11:00
parent c5468981e6
commit 341d65becf
22 changed files with 41 additions and 63 deletions
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12
src/main/io/gps.c
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@ -273,7 +273,7 @@ typedef enum {
gpsData_t gpsData;
PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 1);
PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
.provider = GPS_UBLOX,
@ -285,8 +285,6 @@ PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
.gps_set_home_point_once = false,
.gps_use_3d_speed = false,
.sbas_integrity = false,
.gpsRequiredSats = GPS_REQUIRED_SAT_COUNT,
.gpsMinimumSats = GPS_MINIMUM_SAT_COUNT
);
static void shiftPacketLog(void)
@ -764,7 +762,7 @@ void gpsInitHardware(void)
static void updateGpsIndicator(timeUs_t currentTimeUs)
{
static uint32_t GPSLEDTime;
if ((int32_t)(currentTimeUs - GPSLEDTime) >= 0 && STATE(GPS_FIX) && (gpsSol.numSat >= gpsConfig()->gpsRequiredSats)) {
if ((int32_t)(currentTimeUs - GPSLEDTime) >= 0 && STATE(GPS_FIX) && (gpsSol.numSat >= gpsRescueConfig()->minSats)) {
GPSLEDTime = currentTimeUs + 150000;
LED1_TOGGLE;
}
@ -886,7 +884,7 @@ void gpsUpdate(timeUs_t currentTimeUs)
if (!ARMING_FLAG(ARMED)) {
// while disarmed, beep when requirements for a home fix are met
// ?? should we also beep if home fix requirements first appear after arming?
if (!hasBeeped && STATE(GPS_FIX) && gpsSol.numSat >= gpsConfig()->gpsRequiredSats) {
if (!hasBeeped && STATE(GPS_FIX) && gpsSol.numSat >= gpsRescueConfig()->minSats) {
beeper(BEEPER_READY_BEEP);
hasBeeped = true;
}
@ -1810,7 +1808,7 @@ void GPS_reset_home_position(void)
// runs, if GPS is defined, on arming via tryArm() in core.c, and on gyro cal via processRcStickPositions() in rc_controls.c
{
if (!STATE(GPS_FIX_HOME) || !gpsConfig()->gps_set_home_point_once) {
if (STATE(GPS_FIX) && gpsSol.numSat >= gpsConfig()->gpsRequiredSats) {
if (STATE(GPS_FIX) && gpsSol.numSat >= gpsRescueConfig()->minSats) {
// those checks are always true for tryArm, but may not be true for gyro cal
GPS_home[GPS_LATITUDE] = gpsSol.llh.lat;
GPS_home[GPS_LONGITUDE] = gpsSol.llh.lon;
@ -1860,7 +1858,7 @@ void GPS_calculateDistanceAndDirectionToHome(void)
void onGpsNewData(void)
{
if (!(STATE(GPS_FIX) && gpsSol.numSat >= gpsConfig()->gpsMinimumSats)) {
if (!(STATE(GPS_FIX) && gpsSol.numSat >= GPS_MIN_SAT_COUNT)) {
// if we don't have a 3D fix and the minimum sats, don't give data to GPS rescue
return;
}