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GPS Rescue: New failure code for Stalled. Debug RTH is now updated regardless of the arrival of new GPS Data.

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This commit is contained in:
Tony Cabello 2018-10-31 15:43:40 +01:00
parent 0fae0a49c5
commit 686edcaffe
1 changed files with 6 additions and 4 deletions
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10
src/main/flight/gps_rescue.c
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@ -71,7 +71,8 @@ typedef enum {
typedef enum { typedef enum {
RESCUE_HEALTHY, RESCUE_HEALTHY,
RESCUE_FLYAWAY, RESCUE_FLYAWAY,
RESCUE_CRASH_DETECTED, RESCUE_CRASH_FLIP_DETECTED,
RESCUE_STALLED,
RESCUE_TOO_CLOSE RESCUE_TOO_CLOSE
} rescueFailureState_e; } rescueFailureState_e;
@ -253,6 +254,8 @@ static void rescueAttainPosition()
setBearing(rescueState.sensor.directionToHome); setBearing(rescueState.sensor.directionToHome);
} }
DEBUG_SET(DEBUG_RTH, 3, rescueState.failure); //Failure can change with no new GPS Data
if (!newGPSData) { if (!newGPSData) {
return; return;
} }
@ -296,7 +299,6 @@ static void rescueAttainPosition()
DEBUG_SET(DEBUG_RTH, 0, rescueThrottle); DEBUG_SET(DEBUG_RTH, 0, rescueThrottle);
DEBUG_SET(DEBUG_RTH, 1, gpsRescueAngle[AI_PITCH]); DEBUG_SET(DEBUG_RTH, 1, gpsRescueAngle[AI_PITCH]);
DEBUG_SET(DEBUG_RTH, 2, altitudeAdjustment); DEBUG_SET(DEBUG_RTH, 2, altitudeAdjustment);
DEBUG_SET(DEBUG_RTH, 3, rescueState.failure);
} }
static void performSanityChecks() static void performSanityChecks()
@ -327,7 +329,7 @@ static void performSanityChecks()
// Check if crash recovery mode is active, disarm if so. // Check if crash recovery mode is active, disarm if so.
if (crashRecoveryModeActive()) { if (crashRecoveryModeActive()) {
rescueState.failure = RESCUE_CRASH_DETECTED; rescueState.failure = RESCUE_CRASH_FLIP_DETECTED;
} }
// Things that should run at a low refresh rate (such as flyaway detection, etc) // Things that should run at a low refresh rate (such as flyaway detection, etc)
@ -345,7 +347,7 @@ static void performSanityChecks()
secondsStalled = constrain(secondsStalled + (rescueState.sensor.groundSpeed < 150) ? 1 : -1, -10, 10); secondsStalled = constrain(secondsStalled + (rescueState.sensor.groundSpeed < 150) ? 1 : -1, -10, 10);
if (secondsStalled == 10) { if (secondsStalled == 10) {
rescueState.failure = RESCUE_CRASH_DETECTED; rescueState.failure = RESCUE_STALLED;
} }
secondsLowSats = constrain(secondsLowSats + (rescueState.sensor.numSat < gpsRescueConfig()->minSats) ? 1 : -1, -5, 5); secondsLowSats = constrain(secondsLowSats + (rescueState.sensor.numSat < gpsRescueConfig()->minSats) ? 1 : -1, -5, 5);