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Refactor

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This commit is contained in:
Filipp Bakanov 2022-01-28 15:14:29 +03:00
parent 3670b7d410
commit ca0f25b265
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GPG key ID: A8B7CC1737CDF1D2
3 changed files with 20 additions and 14 deletions
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31
src/main/flight/position.c
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@ -55,8 +55,7 @@ typedef enum {
PG_REGISTER_WITH_RESET_TEMPLATE(positionConfig_t, positionConfig, PG_POSITION, 1);
PG_RESET_TEMPLATE(positionConfig_t, positionConfig,
.altSource = DEFAULT,
.gpsAltMinSats = 9,
.altSource = DEFAULT,
);
static int32_t estimatedAltitudeCm = 0; // in cm
@ -87,7 +86,7 @@ int16_t calculateEstimatedVario(int32_t baroAlt, const uint32_t dTime) {
#endif
#if defined(USE_BARO) || defined(USE_GPS)
static bool altitudeOffsetSet = false;
static bool altitudeOffsetSetBaro = false;
static bool altitudeOffsetSetGPS = false;
void calculateEstimatedAltitude(timeUs_t currentTimeUs)
@ -141,20 +140,29 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
}
#endif
if (ARMING_FLAG(ARMED) && !altitudeOffsetSet) {
if (ARMING_FLAG(ARMED) && !altitudeOffsetSetBaro) {
baroAltOffset = baroAlt;
gpsAltOffset = gpsAlt;
altitudeOffsetSet = true;
} else if (!ARMING_FLAG(ARMED) && altitudeOffsetSet) {
altitudeOffsetSet = false;
altitudeOffsetSetBaro = true;
} else if (!ARMING_FLAG(ARMED) && altitudeOffsetSetBaro) {
altitudeOffsetSetBaro = false;
}
baroAlt -= baroAltOffset;
if (ARMING_FLAG(ARMED) && !altitudeOffsetSetGPS) {
if (haveBaroAlt && gpsNumSat >= positionConfig()->gpsAltMinSats && altitudeOffsetSet) {
int goodGpsSats = 999;
int badGpsSats = 0;
if (haveBaroAlt) {
goodGpsSats = 10;
badGpsSats = 7;
}
if (ARMING_FLAG(ARMED)) {
if (!altitudeOffsetSetGPS && gpsNumSat >= goodGpsSats) {
gpsAltOffset = gpsAlt - baroAlt;
altitudeOffsetSetGPS = true;
} else if (gpsNumSat <= badGpsSats) {
altitudeOffsetSetGPS = false;
}
} else if (!ARMING_FLAG(ARMED) && altitudeOffsetSetGPS) {
altitudeOffsetSetGPS = false;
@ -164,6 +172,7 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
if (!altitudeOffsetSetGPS) {
haveGpsAlt = false;
gpsTrust = 0.0f;
}
if (haveGpsAlt && haveBaroAlt && positionConfig()->altSource == DEFAULT) {
@ -200,7 +209,7 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
bool isAltitudeOffset(void)
{
return altitudeOffsetSet;
return altitudeOffsetSetBaro || altitudeOffsetSetGPS;
}
#endif