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Fixed review

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This commit is contained in:
Filipp Bakanov 2022-01-29 12:58:57 +03:00
parent 674d3b1e3b
commit 9a0e0b8a8d
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GPG key ID: A8B7CC1737CDF1D2
2 changed files with 10 additions and 4 deletions
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10
src/main/config/config.c
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@ -54,6 +54,7 @@
#include "flight/pid_init.h" #include "flight/pid_init.h"
#include "flight/rpm_filter.h" #include "flight/rpm_filter.h"
#include "flight/servos.h" #include "flight/servos.h"
#include "flight/position.h"
#include "io/beeper.h" #include "io/beeper.h"
#include "io/gps.h" #include "io/gps.h"
@ -201,6 +202,13 @@ static void validateAndFixRatesSettings(void)
} }
} }
static void validateAndFixPositionConfig(void)
{
if (positionConfig()->altNumSatsBaroFallback >= positionConfig()->altNumSatsGpsUse) {
PG_RESET(positionConfig);
}
}
static void validateAndFixConfig(void) static void validateAndFixConfig(void)
{ {
#if !defined(USE_QUAD_MIXER_ONLY) #if !defined(USE_QUAD_MIXER_ONLY)
@ -586,6 +594,8 @@ static void validateAndFixConfig(void)
// This should be done at the end of the validation // This should be done at the end of the validation
targetValidateConfiguration(); targetValidateConfiguration();
#endif #endif
validateAndFixPositionConfig();
} }
void validateAndFixGyroConfig(void) void validateAndFixGyroConfig(void)

4
src/main/flight/position.c
View file

@ -157,10 +157,6 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
if (haveBaroAlt) { if (haveBaroAlt) {
goodGpsSats = positionConfig()->altNumSatsGpsUse; goodGpsSats = positionConfig()->altNumSatsGpsUse;
badGpsSats = positionConfig()->altNumSatsBaroFallback; badGpsSats = positionConfig()->altNumSatsBaroFallback;
if (badGpsSats >= goodGpsSats) {
badGpsSats = goodGpsSats - 1;
positionConfigMutable()->altNumSatsBaroFallback = badGpsSats;
}
} }
if (ARMING_FLAG(ARMED)) { if (ARMING_FLAG(ARMED)) {