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In GPS Rescue current altitude mode, ensure that return height is not less than climb height (#13276)

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* ensure that return altitude is not negative with current height mode

* Update src/main/flight/gps_rescue.c

* Update src/main/flight/gps_rescue.c

* Update src/main/flight/gps_rescue.c

---------

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
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ctzsnooze 2024-03-19 07:00:47 +11:00 • committed by GitHub
parent 3aabaf365d
commit 84d54051f1
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1 changed files with 5 additions and 3 deletions
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src/main/flight/gps_rescue.c
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@ -195,16 +195,18 @@ static void setReturnAltitude(void)
// Set this to the user's intended descent distance, but not more than half the distance to home to ensure some fly home time // Set this to the user's intended descent distance, but not more than half the distance to home to ensure some fly home time
rescueState.intent.descentDistanceM = fminf(0.5f * rescueState.sensor.distanceToHomeM, gpsRescueConfig()->descentDistanceM); rescueState.intent.descentDistanceM = fminf(0.5f * rescueState.sensor.distanceToHomeM, gpsRescueConfig()->descentDistanceM);
const float initialClimbCm = gpsRescueConfig()->initialClimbM * 100.0f;
switch (gpsRescueConfig()->altitudeMode) { switch (gpsRescueConfig()->altitudeMode) {
case GPS_RESCUE_ALT_MODE_FIXED: case GPS_RESCUE_ALT_MODE_FIXED:
rescueState.intent.returnAltitudeCm = gpsRescueConfig()->returnAltitudeM * 100.0f; rescueState.intent.returnAltitudeCm = gpsRescueConfig()->returnAltitudeM * 100.0f;
break; break;
case GPS_RESCUE_ALT_MODE_CURRENT: case GPS_RESCUE_ALT_MODE_CURRENT:
rescueState.intent.returnAltitudeCm = rescueState.sensor.currentAltitudeCm + gpsRescueConfig()->initialClimbM * 100.0f; // climb above current altitude, but always return at least initial height above takeoff point, in case current altitude was negative
rescueState.intent.returnAltitudeCm = fmaxf(initialClimbCm, rescueState.sensor.currentAltitudeCm + initialClimbCm);
break; break;
case GPS_RESCUE_ALT_MODE_MAX: case GPS_RESCUE_ALT_MODE_MAX:
default: default:
rescueState.intent.returnAltitudeCm = rescueState.intent.maxAltitudeCm + gpsRescueConfig()->initialClimbM * 100.0f; rescueState.intent.returnAltitudeCm = rescueState.intent.maxAltitudeCm + initialClimbCm;
break; break;
} }
} }