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Merge pull request #11691 from haslinghuis/rename_prevalitude

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Rename prevAlitude to prevAltitude
This commit is contained in:
J Blackman 2022-06-28 09:04:44 +10:00 • committed by GitHub
commit 877771e0fe
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1 changed files with 6 additions and 5 deletions
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11
src/main/flight/gps_rescue.c
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@ -439,7 +439,7 @@ static void performSanityChecks()
static int8_t secondsStalled = 0; // Stalled movement detection
static int8_t secondsNotDescending = 0; // Stalled descent detection
static int8_t secondsNotAscending = 0; // Stalled ascent detection
static int32_t prevAlitudeCm = 0.0f; // to calculate ascent or descent change
static int32_t prevAltitudeCm = 0.0f; // to calculate ascent or descent change
static int8_t secondsLowSats = 0; // Minimum sat detection
static int8_t secondsDoingNothing = 0; // Limit on doing nothing
const timeUs_t currentTimeUs = micros();
@ -453,7 +453,7 @@ static void performSanityChecks()
secondsStalled = 5; // Start the count at 5 to be less forgiving at the beginning
secondsNotDescending = 0;
secondsNotAscending = 0;
prevAlitudeCm = rescueState.sensor.currentAltitudeCm;
prevAltitudeCm = rescueState.sensor.currentAltitudeCm;
secondsLowSats = 5; // Start the count at 5 to be less forgiving at the beginning
secondsDoingNothing = 0;
return;
@ -510,7 +510,7 @@ static void performSanityChecks()
// These conditions are 'special', in that even with sanity checks off, they should still apply
if (rescueState.phase == RESCUE_ATTAIN_ALT) {
secondsNotAscending = constrain(secondsNotAscending + (((rescueState.sensor.currentAltitudeCm - prevAlitudeCm) > (0.5f * gpsRescueConfig()->ascendRate)) ? -1 : 1), 0, 10);
secondsNotAscending = constrain(secondsNotAscending + (((rescueState.sensor.currentAltitudeCm - prevAltitudeCm) > (0.5f * gpsRescueConfig()->ascendRate)) ? -1 : 1), 0, 10);
if (secondsNotAscending == 10) {
{
rescueState.phase = RESCUE_ABORT;
@ -518,7 +518,7 @@ static void performSanityChecks()
}
}
} else if (rescueState.phase == RESCUE_LANDING || rescueState.phase == RESCUE_DESCENT) {
secondsNotDescending = constrain(secondsNotDescending + (((prevAlitudeCm - rescueState.sensor.currentAltitudeCm) > (0.5f * gpsRescueConfig()->descendRate)) ? -1 : 1), 0, 10);
secondsNotDescending = constrain(secondsNotDescending + (((prevAltitudeCm - rescueState.sensor.currentAltitudeCm) > (0.5f * gpsRescueConfig()->descendRate)) ? -1 : 1), 0, 10);
if (secondsNotDescending == 10) {
{
rescueState.phase = RESCUE_ABORT;
@ -534,7 +534,7 @@ static void performSanityChecks()
// this is controversial
}
}
prevAlitudeCm = rescueState.sensor.currentAltitudeCm;
prevAltitudeCm = rescueState.sensor.currentAltitudeCm;
secondsLowSats = constrain(secondsLowSats + ((rescueState.sensor.numSat < (gpsRescueConfig()->minSats / 2)) ? 1 : -1), 0, 10);
@ -549,6 +549,7 @@ static void sensorUpdate()
{
static timeUs_t previousDataTimeUs = 0;
static float prevDistanceToHomeCm = 0.0f;
rescueState.sensor.currentAltitudeCm = getEstimatedAltitudeCm();
DEBUG_SET(DEBUG_GPS_RESCUE_TRACKING, 2, rescueState.sensor.currentAltitudeCm);
// may be updated more frequently than GPS data