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WP mission Home WP option (#6920)

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* Initial build

* Add new waypoint type FlyBy Home (FBH)

* Revert "Add new waypoint type FlyBy Home (FBH)"

This reverts commit a37dec5695.

* Remove FBH WP type, use Home flag instead

* Fixes
This commit is contained in:
breadoven 2021-06-13 14:07:45 +01:00 • committed by GitHub
parent 940169cf82
commit 1b2d75dec7
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 23 additions and 15 deletions
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2
src/main/fc/cli.c
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@ -1460,7 +1460,7 @@ static void cliWaypoints(char *cmdline)
if (!(validArgumentCount == 6 || validArgumentCount == 8)) { if (!(validArgumentCount == 6 || validArgumentCount == 8)) {
cliShowParseError(); cliShowParseError();
} else if (!(action == 0 || action == NAV_WP_ACTION_WAYPOINT || action == NAV_WP_ACTION_RTH || action == NAV_WP_ACTION_JUMP || action == NAV_WP_ACTION_HOLD_TIME || action == NAV_WP_ACTION_LAND || action == NAV_WP_ACTION_SET_POI || action == NAV_WP_ACTION_SET_HEAD) || !(flag == 0 || flag == NAV_WP_FLAG_LAST)) { } else if (!(action == 0 || action == NAV_WP_ACTION_WAYPOINT || action == NAV_WP_ACTION_RTH || action == NAV_WP_ACTION_JUMP || action == NAV_WP_ACTION_HOLD_TIME || action == NAV_WP_ACTION_LAND || action == NAV_WP_ACTION_SET_POI || action == NAV_WP_ACTION_SET_HEAD) || !(flag == 0 || flag == NAV_WP_FLAG_LAST || flag == NAV_WP_FLAG_HOME)) {
cliShowParseError(); cliShowParseError();
} else { } else {
posControl.waypointList[i].action = action; posControl.waypointList[i].action = action;

7
src/main/navigation/navigation.c
View file

@ -2933,8 +2933,15 @@ static void mapWaypointToLocalPosition(fpVector3_t * localPos, const navWaypoint
{ {
gpsLocation_t wpLLH; gpsLocation_t wpLLH;
/* Default to home position if lat & lon = 0 or HOME flag set
* Applicable to WAYPOINT, HOLD_TIME & LANDING WP types */
if ((waypoint->lat == 0 && waypoint->lon == 0) || waypoint->flag == NAV_WP_FLAG_HOME) {
wpLLH.lat = GPS_home.lat;
wpLLH.lon = GPS_home.lon;
} else {
wpLLH.lat = waypoint->lat; wpLLH.lat = waypoint->lat;
wpLLH.lon = waypoint->lon; wpLLH.lon = waypoint->lon;
}
wpLLH.alt = waypoint->alt; wpLLH.alt = waypoint->alt;
geoConvertGeodeticToLocal(localPos, &posControl.gpsOrigin, &wpLLH, altConv); geoConvertGeodeticToLocal(localPos, &posControl.gpsOrigin, &wpLLH, altConv);

1
src/main/navigation/navigation.h
View file

@ -306,6 +306,7 @@ typedef enum {
} navWaypointHeadings_e; } navWaypointHeadings_e;
typedef enum { typedef enum {
NAV_WP_FLAG_HOME = 0x48,
NAV_WP_FLAG_LAST = 0xA5 NAV_WP_FLAG_LAST = 0xA5
} navWaypointFlags_e; } navWaypointFlags_e;