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fixes
This commit is contained in:
Nicola De Pasquale 2019-05-19 02:36:21 +02:00
parent 194eac6a4b
commit c5adc0b549
3 changed files with 8 additions and 1 deletions
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1
src/main/cli/settings.c
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@ -908,6 +908,7 @@ const clivalue_t valueTable[] = {
{ "gps_rescue_min_sats", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 5, 50 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minSats) },
{ "gps_rescue_min_dth", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 50, 1000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minRescueDth) },
{ "gps_rescue_allow_arming_without_fix", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, allowArmingWithoutFix) },
{ "gps_rescue_climb_to_max_reached_alt", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, allowClimbToMaxReachedAlt) },
#ifdef USE_MAG
{ "gps_rescue_use_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, useMag) },
#endif

7
src/main/flight/gps_rescue.c
View file

@ -150,6 +150,7 @@ PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
.useMag = GPS_RESCUE_USE_MAG,
.targetLandingAltitudeM = 5,
.targetLandingDistanceM = 10,
.allowClimbToMaxReachedAlt = true,
);
static uint16_t rescueThrottle;
@ -549,7 +550,11 @@ void updateGPSRescueState(void)
}
rescueState.intent.targetGroundspeed = 500;
rescueState.intent.targetAltitudeCm = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500);
if (gpsRescueConfig()->allowClimbToMaxReachedAlt) {
rescueState.intent.targetAltitudeCm = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500);
} else {
rescueState.intent.targetAltitudeCm = gpsRescueConfig()->initialAltitudeM * 100;
}
rescueState.intent.crosstrack = true;
rescueState.intent.minAngleDeg = 10;
rescueState.intent.maxAngleDeg = 15;

1
src/main/flight/gps_rescue.h
View file

@ -39,6 +39,7 @@ typedef struct gpsRescue_s {
uint8_t useMag;
uint16_t targetLandingAltitudeM; //meters
uint16_t targetLandingDistanceM; //meters
uint8_t allowClimbToMaxReachedAlt;
} gpsRescueConfig_t;
PG_DECLARE(gpsRescueConfig_t, gpsRescueConfig);