Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 22:35:23 +03:00
Code Issues Wiki Activity

Merge pull request #7369 from TonyBlit/gps_set_home_once

Browse source 
Parameter for updating GPS Home point once
This commit is contained in:
Michael Keller 2019-01-12 19:21:11 +13:00 • committed by GitHub
commit 9b43b30b48
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
3 changed files with 14 additions and 9 deletions
Download patch file Download diff file Expand all files Collapse all files

1
src/main/interface/settings.c
View file

@ -838,6 +838,7 @@ const clivalue_t valueTable[] = {
{ "gps_auto_config", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoConfig) }, { "gps_auto_config", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoConfig) },
{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoBaud) }, { "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoBaud) },
{ "gps_ublox_use_galileo", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_ublox_use_galileo) }, { "gps_ublox_use_galileo", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_ublox_use_galileo) },
{ "gps_set_home_point_once", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_set_home_point_once) },
#ifdef USE_GPS_RESCUE #ifdef USE_GPS_RESCUE
// PG_GPS_RESCUE // PG_GPS_RESCUE

21
src/main/io/gps.c
View file

@ -244,7 +244,8 @@ PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
.sbasMode = SBAS_AUTO, .sbasMode = SBAS_AUTO,
.autoConfig = GPS_AUTOCONFIG_ON, .autoConfig = GPS_AUTOCONFIG_ON,
.autoBaud = GPS_AUTOBAUD_OFF, .autoBaud = GPS_AUTOBAUD_OFF,
.gps_ublox_use_galileo = false .gps_ublox_use_galileo = false,
.gps_set_home_point_once = false
); );
static void shiftPacketLog(void) static void shiftPacketLog(void)
@ -547,7 +548,7 @@ void gpsUpdate(timeUs_t currentTimeUs)
if (sensors(SENSOR_GPS)) { if (sensors(SENSOR_GPS)) {
updateGpsIndicator(currentTimeUs); updateGpsIndicator(currentTimeUs);
} }
if (!ARMING_FLAG(ARMED)) { if (!ARMING_FLAG(ARMED) && !gpsConfig()->gps_set_home_point_once) {
DISABLE_STATE(GPS_FIX_HOME); DISABLE_STATE(GPS_FIX_HOME);
} }
#if defined(USE_GPS_RESCUE) #if defined(USE_GPS_RESCUE)
@ -1286,7 +1287,7 @@ static void GPS_calculateDistanceFlownVerticalSpeed(bool initialize)
GPS_distanceFlownInCm = 0; GPS_distanceFlownInCm = 0;
GPS_verticalSpeedInCmS = 0; GPS_verticalSpeedInCmS = 0;
} else { } else {
if (STATE(GPS_FIX_HOME)) { if (STATE(GPS_FIX_HOME) && ARMING_FLAG(ARMED)) {
// Only add up movement when speed is faster than minimum threshold // Only add up movement when speed is faster than minimum threshold
if (gpsSol.groundSpeed > GPS_DISTANCE_FLOWN_MIN_GROUND_SPEED_THRESHOLD_CM_S) { if (gpsSol.groundSpeed > GPS_DISTANCE_FLOWN_MIN_GROUND_SPEED_THRESHOLD_CM_S) {
uint32_t dist; uint32_t dist;
@ -1307,12 +1308,14 @@ static void GPS_calculateDistanceFlownVerticalSpeed(bool initialize)
void GPS_reset_home_position(void) void GPS_reset_home_position(void)
{ {
if (STATE(GPS_FIX) && gpsSol.numSat >= 5) { if (!STATE(GPS_FIX_HOME) || !gpsConfig()->gps_set_home_point_once) {
GPS_home[LAT] = gpsSol.llh.lat; if (STATE(GPS_FIX) && gpsSol.numSat >= 5) {
GPS_home[LON] = gpsSol.llh.lon; GPS_home[LAT] = gpsSol.llh.lat;
GPS_calc_longitude_scaling(gpsSol.llh.lat); // need an initial value for distance and bearing calc GPS_home[LON] = gpsSol.llh.lon;
// Set ground altitude GPS_calc_longitude_scaling(gpsSol.llh.lat); // need an initial value for distance and bearing calc
ENABLE_STATE(GPS_FIX_HOME); // Set ground altitude
ENABLE_STATE(GPS_FIX_HOME);
}
} }
GPS_calculateDistanceFlownVerticalSpeed(true); //Initialize GPS_calculateDistanceFlownVerticalSpeed(true); //Initialize
} }

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

@ -74,6 +74,7 @@ typedef struct gpsConfig_s {
gpsAutoConfig_e autoConfig; gpsAutoConfig_e autoConfig;
gpsAutoBaud_e autoBaud; gpsAutoBaud_e autoBaud;
uint8_t gps_ublox_use_galileo; uint8_t gps_ublox_use_galileo;
uint8_t gps_set_home_point_once;
} gpsConfig_t; } gpsConfig_t;
PG_DECLARE(gpsConfig_t, gpsConfig); PG_DECLARE(gpsConfig_t, gpsConfig);