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add gps rescue mode

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This commit is contained in:
s0up 2018-05-15 14:32:03 -07:00 • committed by Diego Basch
parent 43c706fc95
commit ac6b8088c9
24 changed files with 653 additions and 32 deletions
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35
src/main/interface/settings.c
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@ -282,7 +282,7 @@ static const char * const lookupTableDtermLowpassType[] = {
static const char * const lookupTableFailsafe[] = {
"AUTO-LAND", "DROP"
"AUTO-LAND", "DROP", "GPS-RESCUE"
};
static const char * const lookupTableBusType[] = {
@ -328,6 +328,13 @@ static const char * const lookupTableThrottleLimitType[] = {
"OFF", "SCALE", "CLIP"
};
#ifdef USE_GPS_RESCUE
static const char * const lookupTableRescueSanityType[] = {
"RESCUE_SANITY_OFF", "RESCUE_SANITY_ON", "RESCUE_SANITY_FS_ONLY"
};
#endif
#ifdef USE_MAX7456
static const char * const lookupTableVideoSystem[] = {
"AUTO", "PAL", "NTSC"
@ -343,6 +350,9 @@ const lookupTableEntry_t lookupTables[] = {
#ifdef USE_GPS
LOOKUP_TABLE_ENTRY(lookupTableGPSProvider),
LOOKUP_TABLE_ENTRY(lookupTableGPSSBASMode),
#ifdef USE_GPS_RESCUE
LOOKUP_TABLE_ENTRY(lookupTableRescueSanityType),
#endif
#endif
#ifdef USE_BLACKBOX
LOOKUP_TABLE_ENTRY(lookupTableBlackboxDevice),
@ -681,8 +691,29 @@ const clivalue_t valueTable[] = {
{ "gps_sbas_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_SBAS_MODE }, PG_GPS_CONFIG, offsetof(gpsConfig_t, sbasMode) },
{ "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) },
#ifdef USE_GPS_RESCUE
// PG_GPS_RESCUE
{ "gps_rescue_angle", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, angle) },
{ "gps_rescue_initial_alt", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 20, 100 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, initialAltitude) },
{ "gps_rescue_descent_dist", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 30, 500 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, descentDistance) },
{ "gps_rescue_ground_speed", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 30, 3000 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, rescueGroundspeed) },
{ "gps_rescue_throttle_P", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, throttleP) },
{ "gps_rescue_throttle_I", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, throttleI) },
{ "gps_rescue_throttle_D", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, throttleD) },
{ "gps_rescue_velocity_P", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, velP) },
{ "gps_rescue_velocity_I", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, velI) },
{ "gps_rescue_velocity_D", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, velD) },
{ "gps_rescue_yaw_P", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, yawP) },
{ "gps_rescue_throttle_min", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, throttleMin) },
{ "gps_rescue_throttle_max", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, throttleMax) },
{ "gps_rescue_throttle_hover", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, throttleHover) },
{ "gps_rescue_sanity_checks", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE }, PG_GPS_RESCUE, offsetof(gpsRescue_t, sanityChecks) },
{ "gps_rescue_min_sats", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 50 }, PG_GPS_RESCUE, offsetof(gpsRescue_t, minSats) },
#endif
#endif
{ "deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 32 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, deadband) },
{ "yaw_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_deadband) },
{ "yaw_control_reversed", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_control_reversed) },