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Improve behaviour when GPS Rescue is initiated close to home (#12715)

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* When initiated close to home, descend then land, 50 deg max

* restore divisions thanks -ffast-math

* fix typo in comment

* refactoring, improving flight behaviour

* modify comments, add a constraint

* refactor throttle D Multiplier and velocity iterm, improve comments

* move out if too close, boost IMU gain in fly home
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ctzsnooze 2023-05-25 18:02:24 +10:00 • committed by GitHub
parent aad197f791
commit f69fedd1f2
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3 changed files with 139 additions and 96 deletions
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4
src/main/cli/settings.c
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@ -1014,7 +1014,7 @@ const clivalue_t valueTable[] = {
#ifdef USE_GPS_RESCUE
// PG_GPS_RESCUE
{ PARAM_NAME_GPS_RESCUE_MIN_START_DIST, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 20, 1000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minRescueDth) },
{ PARAM_NAME_GPS_RESCUE_MIN_START_DIST, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 30 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minRescueDth) },
{ PARAM_NAME_GPS_RESCUE_ALT_MODE, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE_ALT_MODE }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, altitudeMode) },
{ PARAM_NAME_GPS_RESCUE_INITIAL_CLIMB, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, rescueAltitudeBufferM) },
{ PARAM_NAME_GPS_RESCUE_ASCEND_RATE, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 50, 2500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, ascendRate) },
@ -1025,7 +1025,7 @@ const clivalue_t valueTable[] = {
{ PARAM_NAME_GPS_RESCUE_ROLL_MIX, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 250 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, rollMix) },
{ PARAM_NAME_GPS_RESCUE_PITCH_CUTOFF, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 255 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, pitchCutoffHz) },
{ PARAM_NAME_GPS_RESCUE_DESCENT_DIST, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 5, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, descentDistanceM) },
{ PARAM_NAME_GPS_RESCUE_DESCENT_DIST, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, descentDistanceM) },
{ PARAM_NAME_GPS_RESCUE_DESCEND_RATE, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 25, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, descendRate) },
{ PARAM_NAME_GPS_RESCUE_LANDING_ALT, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 15 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, targetLandingAltitudeM) },
{ PARAM_NAME_GPS_RESCUE_DISARM_THRESHOLD, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 250 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, disarmThreshold) },