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This is a combination of 4 commits.

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prevents newDescentDistanceM variable from going negative

fix lineSlope and lineOffsetM too

better solution

removed spaces
This commit is contained in:
Nicola De Pasquale 2019-05-30 14:42:34 +02:00
parent 2f3288502d
commit f6bd706cb7
1 changed files with 3 additions and 2 deletions
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5
src/main/flight/gps_rescue.c
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@ -125,6 +125,7 @@ typedef enum {
#define GPS_RESCUE_MAX_YAW_RATE 180 // deg/sec max yaw rate
#define GPS_RESCUE_RATE_SCALE_DEGREES 45 // Scale the commanded yaw rate when the error is less then this angle
#define GPS_RESCUE_SLOWDOWN_DISTANCE_M 200 // distance from home to start decreasing speed
#define GPS_RESCUE_MIN_DESCENT_DIST_M 30 // minimum descent distance allowed
#ifdef USE_MAG
#define GPS_RESCUE_USE_MAG true
@ -540,7 +541,7 @@ void updateGPSRescueState(void)
newSpeed = gpsRescueConfig()->rescueGroundspeed;
//set new descent distance if actual distance to home is lower
if (rescueState.sensor.distanceToHomeM < gpsRescueConfig()->descentDistanceM) {
newDescentDistanceM = rescueState.sensor.distanceToHomeM - 5;
newDescentDistanceM = MAX(rescueState.sensor.distanceToHomeM - 5, GPS_RESCUE_MIN_DESCENT_DIST_M);
} else {
newDescentDistanceM = gpsRescueConfig()->descentDistanceM;
}
@ -595,7 +596,7 @@ void updateGPSRescueState(void)
}
// Only allow new altitude and new speed to be equal or lower than the current values (to prevent parabolic movement on overshoot)
const int32_t newAlt = (lineSlope * rescueState.sensor.distanceToHomeM + lineOffsetM) * 100;
const int32_t newAlt = MAX((lineSlope * rescueState.sensor.distanceToHomeM + lineOffsetM) * 100, 0);
// Start to decrease proportionally the quad's speed when the distance to home is less or equal than GPS_RESCUE_SLOWDOWN_DISTANCE_M
if (rescueState.sensor.distanceToHomeM <= GPS_RESCUE_SLOWDOWN_DISTANCE_M) {