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requested changes [ci skip]

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This commit is contained in:
Nicola De Pasquale 2019-06-29 19:39:57 +02:00
parent bb5f59a94d
commit 716eea26ff
1 changed files with 8 additions and 14 deletions
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22
src/main/flight/gps_rescue.c
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@ -304,9 +304,7 @@ static void rescueAttainPosition()
setBearing(rescueState.sensor.directionToHome); setBearing(rescueState.sensor.directionToHome);
} }
if (debugMode == DEBUG_RTH) { DEBUG_SET(DEBUG_RTH, 3, rescueState.failure); //Failure can change with no new GPS Data
DEBUG_SET(DEBUG_RTH, 3, rescueState.failure); //Failure can change with no new GPS Data
}
if (!newGPSData) { if (!newGPSData) {
return; return;
@ -370,18 +368,14 @@ static void rescueAttainPosition()
rescueThrottle = constrain(1000 + altitudeAdjustment + hoverAdjustment, gpsRescueConfig()->throttleMin, gpsRescueConfig()->throttleMax); rescueThrottle = constrain(1000 + altitudeAdjustment + hoverAdjustment, gpsRescueConfig()->throttleMin, gpsRescueConfig()->throttleMax);
if (debugMode == DEBUG_RTH) { 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);
}
if (debugMode == DEBUG_GPS_RESCUE_THROTTLE_PID) { DEBUG_SET(DEBUG_GPS_RESCUE_THROTTLE_PID, 0, throttle.Kp * zVelocityError);
DEBUG_SET(DEBUG_GPS_RESCUE_THROTTLE_PID, 0, throttle.Kp * zVelocityError); DEBUG_SET(DEBUG_GPS_RESCUE_THROTTLE_PID, 1, throttle.Ki * zVelocityIntegral);
DEBUG_SET(DEBUG_GPS_RESCUE_THROTTLE_PID, 1, throttle.Ki * zVelocityIntegral); DEBUG_SET(DEBUG_GPS_RESCUE_THROTTLE_PID, 2, throttle.Kd * zVelocityDerivative);
DEBUG_SET(DEBUG_GPS_RESCUE_THROTTLE_PID, 2, throttle.Kd * zVelocityDerivative); DEBUG_SET(DEBUG_GPS_RESCUE_THROTTLE_PID, 3, rescueState.sensor.zVelocity);
DEBUG_SET(DEBUG_GPS_RESCUE_THROTTLE_PID, 3, rescueState.sensor.zVelocity);
}
} }
static void performSanityChecks() static void performSanityChecks()