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Merge pull request #11896 from ctzsnooze/fix-beeper-ready-beep-on-gps-home-fix

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Beeper READY_BEEP when home fix is first achieved
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haslinghuis 2022-10-17 21:01:52 +02:00 • committed by GitHub
commit dc48259f16
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1 changed files with 15 additions and 10 deletions
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23
src/main/io/gps.c
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@ -870,7 +870,9 @@ void gpsUpdate(timeUs_t currentTimeUs)
if (sensors(SENSOR_GPS)) {
updateGpsIndicator(currentTimeUs);
}
if (!ARMING_FLAG(ARMED) && !gpsConfig()->gps_set_home_point_once) {
// clear the home fix icon between arms if the user configuration is to reset home point between arms
DISABLE_STATE(GPS_FIX_HOME);
}
@ -880,15 +882,14 @@ void gpsUpdate(timeUs_t currentTimeUs)
}
#endif
static bool hasFix = false;
if (STATE(GPS_FIX_HOME)) {
if (gpsIsHealthy() && gpsSol.numSat >= gpsConfig()->gpsRequiredSats && !hasFix) {
// ready beep sequence on fix or requirements for gps rescue met.
static bool hasBeeped = false;
if (!ARMING_FLAG(ARMED)) {
// while disarmed, beep when requirements for a home fix are met
// ?? should we also beep if home fix requirements first appear after arming?
if (!hasBeeped && STATE(GPS_FIX) && gpsSol.numSat >= gpsConfig()->gpsRequiredSats) {
beeper(BEEPER_READY_BEEP);
hasFix = true;
hasBeeped = true;
}
} else {
hasFix = false;
}
executeTimeUs = micros() - currentTimeUs;
@ -1806,15 +1807,19 @@ static void GPS_calculateDistanceFlownVerticalSpeed(bool initialize)
}
void GPS_reset_home_position(void)
// runs, if GPS is defined, on arming via tryArm() in core.c, and on gyro cal via processRcStickPositions() in rc_controls.c
{
if (!STATE(GPS_FIX_HOME) || !gpsConfig()->gps_set_home_point_once) {
if (STATE(GPS_FIX) && gpsSol.numSat >= gpsConfig()->gpsRequiredSats) {
// requires the full sat count to say we have a home fix
// those checks are always true for tryArm, but may not be true for gyro cal
GPS_home[GPS_LATITUDE] = gpsSol.llh.lat;
GPS_home[GPS_LONGITUDE] = gpsSol.llh.lon;
GPS_calc_longitude_scaling(gpsSol.llh.lat);
// need an initial value for distance and bearing calcs, and to set ground altitude
ENABLE_STATE(GPS_FIX_HOME);
// no point beeping success here since:
// when triggered by tryArm, the arming beep is modified to indicate the GPS home fix status on arming, and
// when triggered by gyro cal, the gyro cal beep takes priority over the GPS beep, so we won't hear the GPS beep
// PS: to test for gyro cal, check for !ARMED, since we cannot be here while disarmed other than via gyro cal
}
}
GPS_calculateDistanceFlownVerticalSpeed(true); // Initialize