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Merge pull request #1341 from iNavFlight/home-reset-once

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Only allow HOME_RESET to reset home position once
This commit is contained in:
Konstantin Sharlaimov 2017-02-28 18:53:56 +10:00 • committed by GitHub
commit 2e4ad66c85
1 changed files with 10 additions and 6 deletions
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16
src/main/navigation/navigation.c
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@ -1891,15 +1891,19 @@ void updateHomePosition(void)
}
}
else {
static bool isHomeResetAllowed = false;
// If pilot so desires he may reset home position to current position
if (IS_RC_MODE_ACTIVE(BOXHOMERESET) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && posControl.flags.hasValidPositionSensor) {
if (STATE(GPS_FIX_HOME)) {
setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING);
}
else {
setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
if (IS_RC_MODE_ACTIVE(BOXHOMERESET)) {
if (isHomeResetAllowed && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && posControl.flags.hasValidPositionSensor) {
const navSetWaypointFlags_t homeUpdateFlags = STATE(GPS_FIX_HOME) ? (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING) : (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw, homeUpdateFlags);
isHomeResetAllowed = false;
}
}
else {
isHomeResetAllowed = true;
}
// Update distance and direction to home if armed (home is not updated when armed)
if (STATE(GPS_FIX_HOME)) {