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Use a function in gps.c to initate the posHold activity on new GPS data

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This commit is contained in:
ctzsnooze 2024-10-18 23:50:24 +11:00
parent 4c9fa613ff
commit 9a80b75abe
3 changed files with 11 additions and 14 deletions
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13
src/main/flight/pos_hold.c
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@ -78,13 +78,10 @@ void posHoldUpdateTargetLocation(void)
} }
} }
void posHoldUpdate(timeUs_t currentTimeUs) { void posHoldNewGpsData(void) {
UNUSED(currentTimeUs);
// check for enabling Alt Hold, otherwise do as little as possible while inactive
posHoldProcessTransitions();
if (posHold.isPosHoldRequested) { if (posHold.isPosHoldRequested) {
posHoldUpdateTargetLocation(); posHoldUpdateTargetLocation();
if (getIsNewDataForPosHold() && posHold.posHoldIsOK) { if (posHold.posHoldIsOK) {
posHold.posHoldIsOK = positionControl(posHold.useStickAdjustment, posHold.deadband); posHold.posHoldIsOK = positionControl(posHold.useStickAdjustment, posHold.deadband);
} }
} else { } else {
@ -93,6 +90,12 @@ void posHoldUpdate(timeUs_t currentTimeUs) {
} }
} }
void posHoldUpdate(timeUs_t currentTimeUs) {
UNUSED(currentTimeUs);
// check for enabling Alt Hold, otherwise do as little as possible while inactive
posHoldProcessTransitions();
}
bool posHoldFailure(void) { bool posHoldFailure(void) {
return (posHold.isPosHoldRequested && !posHold.posHoldIsOK); return (posHold.isPosHoldRequested && !posHold.posHoldIsOK);
} }

11
src/main/io/gps.c
View file

@ -93,7 +93,6 @@ GPS_svinfo_t GPS_svinfo[GPS_SV_MAXSATS_M8N];
static serialPort_t *gpsPort; static serialPort_t *gpsPort;
static float gpsDataIntervalSeconds; static float gpsDataIntervalSeconds;
static bool newDataForPosHold = false;
typedef struct gpsInitData_s { typedef struct gpsInitData_s {
uint8_t index; uint8_t index;
@ -2613,13 +2612,9 @@ void onGpsNewData(void)
gpsLapTimerNewGpsData(); gpsLapTimerNewGpsData();
#endif // USE_GPS_LAP_TIMER #endif // USE_GPS_LAP_TIMER
newDataForPosHold = true; #ifdef USE_POS_HOLD
} posHoldNewGpsData();
#endif
bool getIsNewDataForPosHold(void) {
bool currentState = newDataForPosHold; // true only when new data arrives
newDataForPosHold = false; // clear flag once new data has been handled
return currentState;
} }
void gpsSetFixState(bool state) void gpsSetFixState(bool state)

1
src/main/io/gps.h
View file

@ -392,6 +392,5 @@ void GPS_distance_cm_bearing(const gpsLocation_t *from, const gpsLocation_t *to,
void gpsSetFixState(bool state); void gpsSetFixState(bool state);
float getGpsDataIntervalSeconds(void); // sends GPS Nav Data interval to GPS Rescue float getGpsDataIntervalSeconds(void); // sends GPS Nav Data interval to GPS Rescue
bool getIsNewDataForPosHold(void);
baudRate_e getGpsPortActualBaudRateIndex(void); baudRate_e getGpsPortActualBaudRateIndex(void);