remove gps_required and gps_minimum sats and revert to gps_rescue_min_sats

src/main/blackbox/blackbox.c

@@ -1525,8 +1525,6 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_PROVIDER, "%d",               gpsConfig()->provider)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_SET_HOME_POINT_ONCE, "%d",    gpsConfig()->gps_set_home_point_once)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_USE_3D_SPEED, "%d",           gpsConfig()->gps_use_3d_speed)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_REQUIRED_SATS, "%d",          gpsConfig()->gpsRequiredSats)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_MINIMUM_SATS, "%d",           gpsConfig()->gpsMinimumSats)
 
 #ifdef USE_GPS_RESCUE
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MIN_START_DIST, "%d",  gpsRescueConfig()->minRescueDth)
@@ -1548,6 +1546,7 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_THROTTLE_HOVER, "%d",  gpsRescueConfig()->throttleHover)
 
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_SANITY_CHECKS, "%d",   gpsRescueConfig()->sanityChecks)
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MIN_SATS, "%d",        gpsRescueConfig()->minSats)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ALLOW_ARMING_WITHOUT_FIX, "%d", gpsRescueConfig()->allowArmingWithoutFix)
 
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_THROTTLE_P, "%d",      gpsRescueConfig()->throttleP)

src/main/cli/settings.c

@@ -1009,8 +1009,6 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_GPS_UBLOX_MODE,             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_UBLOX_MODE }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_ublox_mode) },
     { PARAM_NAME_GPS_SET_HOME_POINT_ONCE,    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_set_home_point_once) },
     { PARAM_NAME_GPS_USE_3D_SPEED,           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_use_3d_speed) },
-    { PARAM_NAME_GPS_REQUIRED_SATS,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = {5, 50}, PG_GPS_CONFIG, offsetof(gpsConfig_t, gpsRequiredSats) },
-    { PARAM_NAME_GPS_MINIMUM_SATS,           VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = {4, 50}, PG_GPS_CONFIG, offsetof(gpsConfig_t, gpsMinimumSats) },
 
 #ifdef USE_GPS_RESCUE
     // PG_GPS_RESCUE
@@ -1033,6 +1031,7 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_GPS_RESCUE_THROTTLE_HOVER,  VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleHover) },
 
     { PARAM_NAME_GPS_RESCUE_SANITY_CHECKS,   VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE_SANITY_CHECK }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, sanityChecks) },
+    { PARAM_NAME_GPS_RESCUE_MIN_SATS,        VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 5, 50 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minSats) },
     { PARAM_NAME_GPS_RESCUE_ALLOW_ARMING_WITHOUT_FIX, VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, allowArmingWithoutFix) },
 
     { PARAM_NAME_GPS_RESCUE_THROTTLE_P,      VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 255 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleP) },

src/main/cms/cms_menu_gps_rescue.c

@@ -38,7 +38,6 @@
 #include "config/config.h"
 
 #include "flight/gps_rescue.h"
-#include "io/gps.h"
 
 static uint16_t gpsRescueConfig_minRescueDth; //meters
 static uint8_t gpsRescueConfig_altitudeMode;
@@ -57,7 +56,7 @@ static uint16_t gpsRescueConfig_throttleMin;
 static uint16_t gpsRescueConfig_throttleMax;
 static uint16_t gpsRescueConfig_throttleHover;
 
-static uint8_t gpsConfig_gpsRequiredSats;
+static uint8_t gpsRescueConfig_minSats;
 static uint8_t gpsRescueConfig_allowArmingWithoutFix;
 
 static uint8_t gpsRescueConfig_throttleP, gpsRescueConfig_throttleI, gpsRescueConfig_throttleD;
@@ -150,7 +149,7 @@ static const void *cmsx_menuGpsRescueOnEnter(displayPort_t *pDisp)
     gpsRescueConfig_throttleMax = gpsRescueConfig()->throttleMax;
     gpsRescueConfig_throttleHover = gpsRescueConfig()->throttleHover;
 
-    gpsConfig_gpsRequiredSats = gpsConfig()->gpsRequiredSats;
+    gpsRescueConfig_minSats = gpsRescueConfig()->minSats;
     gpsRescueConfig_allowArmingWithoutFix = gpsRescueConfig()->allowArmingWithoutFix;
 
     return NULL;
@@ -178,7 +177,7 @@ static const void *cmsx_menuGpsRescueOnExit(displayPort_t *pDisp, const OSD_Entr
     gpsRescueConfigMutable()->throttleMax = gpsRescueConfig_throttleMax;
     gpsRescueConfigMutable()->throttleHover = gpsRescueConfig_throttleHover;
 
-    gpsConfigMutable()->gpsRequiredSats = gpsConfig_gpsRequiredSats;
+    gpsRescueConfigMutable()->minSats = gpsRescueConfig_minSats;
     gpsRescueConfigMutable()->allowArmingWithoutFix = gpsRescueConfig_allowArmingWithoutFix;
 
     return NULL;
@@ -205,7 +204,7 @@ const OSD_Entry cmsx_menuGpsRescueEntries[] =
     { "THROTTLE MAX",      OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleMax, 1000, 2000, 1 } },
     { "THROTTLE HOV",      OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleHover, 1000, 2000, 1 } },
 
-    { "SATS REQUIRED",     OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &gpsConfig_gpsRequiredSats, 4, 50, 1 } },
+    { "SATS REQUIRED",     OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &gpsRescueConfig_minSats, 5, 50, 1 } },
     { "ARM WITHOUT FIX",   OME_Bool | REBOOT_REQUIRED,  NULL, &gpsRescueConfig_allowArmingWithoutFix },
 
     { "GPS RESCUE PID",    OME_Submenu, cmsMenuChange, &cms_menuGpsRescuePid},

src/main/config/config.c

@@ -209,14 +209,6 @@ static void validateAndFixRatesSettings(void)
     }
 }
 
-static void validateAndFixMinSatsGpsConfig(void)
-{
-    if (gpsConfig()->gpsMinimumSats >= gpsConfig()->gpsRequiredSats) {
-        gpsConfigMutable()->gpsRequiredSats = GPS_REQUIRED_SAT_COUNT;
-        gpsConfigMutable()->gpsMinimumSats = GPS_MINIMUM_SAT_COUNT;
-    }
-}
-
 static void validateAndFixConfig(void)
 {
 #if !defined(USE_QUAD_MIXER_ONLY)
@@ -602,8 +594,6 @@ static void validateAndFixConfig(void)
     // This should be done at the end of the validation
     targetValidateConfiguration();
 #endif
-
-    validateAndFixMinSatsGpsConfig();
 }
 
 void validateAndFixGyroConfig(void)

src/main/fc/core.c

@@ -345,7 +345,7 @@ void updateArmingStatus(void)
 
 #ifdef USE_GPS_RESCUE
         if (gpsRescueIsConfigured()) {
-            if (gpsRescueConfig()->allowArmingWithoutFix || (STATE(GPS_FIX) && (gpsSol.numSat >= gpsConfig()->gpsRequiredSats)) ||
+            if (gpsRescueConfig()->allowArmingWithoutFix || (STATE(GPS_FIX) && (gpsSol.numSat >= gpsRescueConfig()->minSats)) ||
             ARMING_FLAG(WAS_EVER_ARMED) || IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
                 unsetArmingDisabled(ARMING_DISABLED_GPS);
             } else {
@@ -577,7 +577,7 @@ void tryArm(void)
         GPS_reset_home_position();
         //beep to indicate arming
         if (featureIsEnabled(FEATURE_GPS)) {
-            if (STATE(GPS_FIX) && gpsSol.numSat >= gpsConfig()->gpsRequiredSats) {
+            if (STATE(GPS_FIX) && gpsSol.numSat >= gpsRescueConfig()->minSats) {
                 beeper(BEEPER_ARMING_GPS_FIX);
             } else {
                 beeper(BEEPER_ARMING_GPS_NO_FIX);

src/main/fc/parameter_names.h

@@ -133,8 +133,6 @@
 #define PARAM_NAME_GPS_UBLOX_MODE "gps_ublox_mode"
 #define PARAM_NAME_GPS_SET_HOME_POINT_ONCE "gps_set_home_point_once"
 #define PARAM_NAME_GPS_USE_3D_SPEED "gps_use_3d_speed"
-#define PARAM_NAME_GPS_REQUIRED_SATS "gps_required_sats"
-#define PARAM_NAME_GPS_MINIMUM_SATS "gps_minimum_sats"
 
 #ifdef USE_GPS_RESCUE
 #define PARAM_NAME_GPS_RESCUE_MIN_START_DIST "gps_rescue_min_start_dist"
@@ -156,6 +154,7 @@
 #define PARAM_NAME_GPS_RESCUE_THROTTLE_HOVER "gps_rescue_throttle_hover"
 
 #define PARAM_NAME_GPS_RESCUE_SANITY_CHECKS "gps_rescue_sanity_checks"
+#define PARAM_NAME_GPS_RESCUE_MIN_SATS "gps_rescue_min_sats"
 #define PARAM_NAME_GPS_RESCUE_ALLOW_ARMING_WITHOUT_FIX "gps_rescue_allow_arming_without_fix"
 
 #define PARAM_NAME_GPS_RESCUE_THROTTLE_P "gps_rescue_throttle_p"

src/main/flight/gps_rescue.c

@@ -167,6 +167,7 @@ PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
 
     .allowArmingWithoutFix = false,
     .sanityChecks = RESCUE_SANITY_FS_ONLY,
+    .minSats = 8,
 
     .throttleP = 15,
     .throttleI = 15,
@@ -507,7 +508,7 @@ static void performSanityChecks(void)
         }
     }
 
-    secondsLowSats += (!STATE(GPS_FIX) || (gpsSol.numSat < gpsConfig()->gpsMinimumSats)) ? 1 : -1;
+    secondsLowSats += (!STATE(GPS_FIX) || (gpsSol.numSat < GPS_MIN_SAT_COUNT)) ? 1 : -1;
     secondsLowSats = constrain(secondsLowSats, 0, 10);
 
     if (secondsLowSats == 10) {
@@ -654,7 +655,7 @@ static bool checkGPSRescueIsAvailable(void)
         noGPSfix = false;
     }
 
-    secondsLowSats = constrain(secondsLowSats + ((gpsSol.numSat < gpsConfig()->gpsMinimumSats) ? 1 : -1), 0, 2);
+    secondsLowSats = constrain(secondsLowSats + ((gpsSol.numSat < GPS_MIN_SAT_COUNT) ? 1 : -1), 0, 2);
     if (secondsLowSats == 2) {
         lowsats = true;
         result = false;

src/main/flight/gps_rescue.h

@@ -31,6 +31,7 @@ typedef struct gpsRescue_s {
     uint16_t throttleMin;
     uint16_t throttleMax;
     uint16_t throttleHover;
+    uint8_t minSats;
     uint8_t velP, velI, velD;
     uint16_t minRescueDth; //meters
     uint8_t sanityChecks;

src/main/flight/imu.c

@@ -490,7 +490,7 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
     }
 #endif
 #if defined(USE_GPS)
-    if (!useMag && sensors(SENSOR_GPS) && STATE(GPS_FIX) && gpsSol.numSat > gpsConfig()->gpsMinimumSats && gpsSol.groundSpeed >= GPS_COG_MIN_GROUNDSPEED) {
+    if (!useMag && sensors(SENSOR_GPS) && STATE(GPS_FIX) && gpsSol.numSat > GPS_MIN_SAT_COUNT && gpsSol.groundSpeed >= GPS_COG_MIN_GROUNDSPEED) {
         // Use GPS course over ground to correct attitude.values.yaw
         courseOverGround = DECIDEGREES_TO_RADIANS(gpsSol.groundCourse);
         useCOG = true;

src/main/io/beeper.c

@@ -359,7 +359,7 @@ static void beeperGpsStatus(void)
 {
     if (!(beeperConfig()->beeper_off_flags & BEEPER_GET_FLAG(BEEPER_GPS_STATUS))) {
         // if GPS 3D fix and at least the minimum number available, then beep out number of satellites
-        if (STATE(GPS_FIX) && gpsSol.numSat > gpsConfig()->gpsMinimumSats) {
+        if (STATE(GPS_FIX) && gpsSol.numSat > GPS_MIN_SAT_COUNT) {
             uint8_t i = 0;
             do {
                 beep_multiBeeps[i++] = 5;

src/main/io/gps.c

@@ -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;
     }

src/main/io/gps.h

@@ -28,6 +28,7 @@
 #define GPS_DEGREES_DIVIDER 10000000L
 #define GPS_X 1
 #define GPS_Y 0
+#define GPS_MIN_SAT_COUNT 4      // number of sats to trigger low sat count sanity check
 
 typedef enum {
     GPS_LATITUDE,
@@ -82,8 +83,6 @@ typedef enum {
     UBLOX_ACK_GOT_NACK
 } ubloxAckState_e;
 
-#define GPS_REQUIRED_SAT_COUNT 8
-#define GPS_MINIMUM_SAT_COUNT 4
 #define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600
 
 typedef struct gpsConfig_s {
@@ -96,8 +95,6 @@ typedef struct gpsConfig_s {
     uint8_t gps_set_home_point_once;
     uint8_t gps_use_3d_speed;
     uint8_t sbas_integrity;
-    uint8_t gpsRequiredSats;
-    uint8_t gpsMinimumSats;
 } gpsConfig_t;
 
 PG_DECLARE(gpsConfig_t, gpsConfig);

src/main/msp/msp.c

@@ -1489,9 +1489,6 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
         // Added in API version 1.43
         sbufWriteU8(dst, gpsConfig()->gps_set_home_point_once);
         sbufWriteU8(dst, gpsConfig()->gps_ublox_use_galileo);
-        // Added in API version 1.45
-        sbufWriteU8(dst, gpsConfig()->gpsRequiredSats);
-        sbufWriteU8(dst, gpsConfig()->gpsMinimumSats);
         break;
 
     case MSP_RAW_GPS:
@@ -1532,7 +1529,7 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
         sbufWriteU16(dst, gpsRescueConfig()->throttleMax);
         sbufWriteU16(dst, gpsRescueConfig()->throttleHover);
         sbufWriteU8(dst,  gpsRescueConfig()->sanityChecks);
-        sbufWriteU8(dst, 0); // not required in API 1.44, gpsRescueConfig()->minSats
+        sbufWriteU8(dst,  gpsRescueConfig()->minSats);
 
         // Added in API version 1.43
         sbufWriteU16(dst, gpsRescueConfig()->ascendRate);
@@ -2740,12 +2737,6 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
             gpsConfigMutable()->gps_set_home_point_once = sbufReadU8(src);
             gpsConfigMutable()->gps_ublox_use_galileo = sbufReadU8(src);
         }
-        if (sbufBytesRemaining(src) >= 2) {
-            // Added in API version 1.45
-            gpsConfigMutable()->gpsRequiredSats = sbufReadU8(src);
-            gpsConfigMutable()->gpsMinimumSats = sbufReadU8(src);
-        }
-
         break;
 
 #ifdef USE_GPS_RESCUE
@@ -2758,7 +2749,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
         gpsRescueConfigMutable()->throttleMax = sbufReadU16(src);
         gpsRescueConfigMutable()->throttleHover = sbufReadU16(src);
         gpsRescueConfigMutable()->sanityChecks = sbufReadU8(src);
-        sbufReadU8(src);  // not used since 1.43, was gps rescue minSats
+        gpsRescueConfigMutable()->minSats = sbufReadU8(src);
         if (sbufBytesRemaining(src) >= 6) {
             // Added in API version 1.43
             gpsRescueConfigMutable()->ascendRate = sbufReadU16(src);

src/main/msp/msp_protocol.h

@@ -315,7 +315,7 @@
 #define MSP_SET_SENSOR_ALIGNMENT 220    //in message          set the orientation of the acc,gyro,mag
 #define MSP_SET_LED_STRIP_MODECOLOR 221 //in  message         Set LED strip mode_color settings
 #define MSP_SET_MOTOR_CONFIG     222    //out message         Motor configuration (min/max throttle, etc)
-#define MSP_SET_GPS_CONFIG       223    //out message         GPS configuration including from 1.44 minSats
+#define MSP_SET_GPS_CONFIG       223    //out message         GPS configuration
 //DEPRECATED - #define MSP_SET_COMPASS_CONFIG   224    //out message         Compass configuration
 #define MSP_SET_GPS_RESCUE       225    //in message          GPS Rescues's angle, initialAltitude, descentDistance, rescueGroundSpeed and sanityChecks
 #define MSP_SET_GPS_RESCUE_PIDS  226    //in message          GPS Rescues's throttleP and velocity PIDS + yaw P

src/main/osd/osd_elements.c

@@ -1953,9 +1953,9 @@ void osdUpdateAlarms(void)
     }
 
 #ifdef USE_GPS
-    if ((STATE(GPS_FIX) == 0) || (gpsSol.numSat < gpsConfig()->gpsMinimumSats)
+    if ((STATE(GPS_FIX) == 0) || (gpsSol.numSat < GPS_MIN_SAT_COUNT)
 #ifdef USE_GPS_RESCUE
-            || ((gpsSol.numSat < gpsConfig()->gpsRequiredSats) && gpsRescueIsConfigured())
+            || ((gpsSol.numSat < gpsRescueConfig()->minSats) && gpsRescueIsConfigured())
 #endif
             ) {
         SET_BLINK(OSD_GPS_SATS);

src/main/telemetry/hott.c

@@ -218,7 +218,7 @@ void hottPrepareGPSResponse(HOTT_GPS_MSG_t *hottGPSMessage)
         return;
     }
 
-    if (gpsSol.numSat >= gpsConfig()->gpsMinimumSats) {
+    if (gpsSol.numSat >= GPS_MIN_SAT_COUNT) {
         hottGPSMessage->gps_fix_char = GPS_FIX_CHAR_3D;
     } else {
         hottGPSMessage->gps_fix_char = GPS_FIX_CHAR_2D;

src/main/telemetry/ibus_shared.c

@@ -307,9 +307,8 @@ static bool setGPS(uint8_t sensorType, ibusTelemetry_s* value)
 
     uint16_t gpsFixType = 0;
     uint16_t sats = 0;
-    uint8_t minSats = gpsConfig()->gpsMinimumSats;
     if (sensors(SENSOR_GPS)) {
-        gpsFixType = !STATE(GPS_FIX) ? 1 : (gpsSol.numSat < minSats ? 2 : 3);
+        gpsFixType = !STATE(GPS_FIX) ? 1 : (gpsSol.numSat < GPS_MIN_SAT_COUNT ? 2 : 3);
         sats = gpsSol.numSat;
         if (STATE(GPS_FIX) || sensorType == IBUS_SENSOR_TYPE_GPS_STATUS) {
             result = true;

src/main/telemetry/ltm.c

@@ -137,7 +137,7 @@ static void ltm_gframe(void)
 
     if (!STATE(GPS_FIX))
         gps_fix_type = 1;
-    else if (gpsSol.numSat < gpsConfig()->gpsMinimumSats)
+    else if (gpsSol.numSat < GPS_MIN_SAT_COUNT)
         gps_fix_type = 2;
     else
         gps_fix_type = 3;

src/main/telemetry/mavlink.c

@@ -310,7 +310,7 @@ void mavlinkSendPosition(void)
         gpsFixType = 1;
     }
     else {
-        if (gpsSol.numSat < gpsConfig()->gpsMinimumSats) {
+        if (gpsSol.numSat < GPS_MIN_SAT_COUNT) {
             gpsFixType = 2;
         }
         else {

src/main/telemetry/srxl.c

@@ -296,7 +296,7 @@ bool srxlFrameGpsLoc(sbuf_t *dst, timeUs_t currentTimeUs)
     uint16_t altitudeLoBcd, groundCourseBcd, hdop;
     uint8_t hdopBcd, gpsFlags;
 
-    if (!featureIsEnabled(FEATURE_GPS) || !STATE(GPS_FIX) || gpsSol.numSat < gpsConfig()->gpsMinimumSats) {
+    if (!featureIsEnabled(FEATURE_GPS) || !STATE(GPS_FIX) || gpsSol.numSat < GPS_MIN_SAT_COUNT) {
         return false;
     }
 
@@ -364,7 +364,7 @@ bool srxlFrameGpsStat(sbuf_t *dst, timeUs_t currentTimeUs)
     uint8_t numSatBcd, altitudeHighBcd;
     bool timeProvided = false;
 
-    if (!featureIsEnabled(FEATURE_GPS) || !STATE(GPS_FIX) || gpsSol.numSat < gpsConfig()->gpsMinimumSats) {
+    if (!featureIsEnabled(FEATURE_GPS) || !STATE(GPS_FIX) || gpsSol.numSat < GPS_MIN_SAT_COUNT) {
         return false;
     }
 

src/test/unit/osd_unittest.cc

@@ -1193,8 +1193,6 @@ TEST_F(OsdTest, TestGpsElements)
 {
     // given
     osdElementConfigMutable()->item_pos[OSD_GPS_SATS] = OSD_POS(2, 4) | OSD_PROFILE_1_FLAG;
-    gpsConfigMutable()->gpsMinimumSats = GPS_MINIMUM_SAT_COUNT;
-    gpsConfigMutable()->gpsRequiredSats = GPS_REQUIRED_SAT_COUNT;
 
     sensorsSet(SENSOR_GPS);
     osdAnalyzeActiveElements();

src/test/unit/vtx_unittest.cc

@@ -22,26 +22,33 @@ extern "C" {
     #include "build/debug.h"
     #include "common/maths.h"
     #include "common/streambuf.h"
+
     #include "config/feature.h"
     #include "config/config.h"
+
     #include "fc/controlrate_profile.h"
     #include "fc/core.h"
     #include "fc/rc_controls.h"
     #include "fc/rc_modes.h"
     #include "fc/runtime_config.h"
+
     #include "flight/failsafe.h"
     #include "flight/imu.h"
     #include "flight/mixer.h"
     #include "flight/pid.h"
     #include "flight/servos.h"
+    #include "flight/gps_rescue.h"
+
     #include "io/beeper.h"
     #include "io/gps.h"
     #include "io/vtx.h"
+
     #include "pg/motor.h"
     #include "pg/pg.h"
     #include "pg/pg_ids.h"
     #include "pg/rx.h"
     #include "rx/rx.h"
+
     #include "scheduler/scheduler.h"
     #include "sensors/acceleration.h"
     #include "sensors/gyro.h"
@@ -61,7 +68,7 @@ extern "C" {
     PG_REGISTER(failsafeConfig_t, failsafeConfig, PG_FAILSAFE_CONFIG, 0);
     PG_REGISTER(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 0);
     PG_REGISTER(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);
-    PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
+    PG_REGISTER(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_CONFIG, 0);
 
     float rcCommand[4];
     float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];