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Increase nav_wp_safe_distance

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This PR increases the maximum safe distance for the first waypoint to 1500m. A lot of fixed wing LR pilots are frustrated with the 650m limit. This corrects that while not increasing the memory used by the variable. I didn't see any reason for this to be in cm. It's not divided anywhere. So metres is much more fitting.
This commit is contained in:
Darren Lines 2022-11-27 09:26:10 +00:00
parent 94fc2531a1
commit 2b38a259c6
3 changed files with 7 additions and 7 deletions
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4
src/main/navigation/navigation.c
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@ -127,7 +127,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
// General navigation parameters
.pos_failure_timeout = SETTING_NAV_POSITION_TIMEOUT_DEFAULT, // 5 sec
.waypoint_radius = SETTING_NAV_WP_RADIUS_DEFAULT, // 2m diameter
.waypoint_safe_distance = SETTING_NAV_WP_SAFE_DISTANCE_DEFAULT, // centimeters - first waypoint should be closer than this
.waypoint_safe_distance = SETTING_NAV_WP_SAFE_DISTANCE_DEFAULT, // Metres - first waypoint should be closer than this
#ifdef USE_MULTI_MISSION
.waypoint_multi_mission_index = SETTING_NAV_WP_MULTI_MISSION_INDEX_DEFAULT, // mission index selected from multi mission WP entry
#endif
@ -3869,7 +3869,7 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
// Don't allow arming if first waypoint is farther than configured safe distance
if ((posControl.waypointCount > 0) && (navConfig()->general.waypoint_safe_distance != 0)) {
if (distanceToFirstWP() > navConfig()->general.waypoint_safe_distance && !checkStickPosition(YAW_HI)) {
if (distanceToFirstWP() > METERS_TO_CENTIMETERS(navConfig()->general.waypoint_safe_distance) && !checkStickPosition(YAW_HI)) {
return NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR;
}
}