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Code Issues Wiki Activity

add Cli.md description for rth home offsets

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This commit is contained in:
Jonathan Hudson 2019-11-19 19:25:14 +00:00
parent af6d5ee76d
commit 41b2d112b8
4 changed files with 7 additions and 5 deletions
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3
src/main/navigation/navigation.c
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@ -56,6 +56,7 @@
#include "sensors/acceleration.h"
#include "sensors/boardalignment.h"
// Multirotors:
#define MR_RTH_CLIMB_OVERSHOOT_CM 100 // target this amount of cm *above* the target altitude to ensure it is actually reached (Vz > 0 at target alt)
#define MR_RTH_CLIMB_MARGIN_MIN_CM 100 // start cruising home this amount of cm *before* reaching the cruise altitude (while continuing the ascend)
@ -2221,7 +2222,6 @@ static navigationHomeFlags_t navigationActualStateHomeValidity(void)
/*-----------------------------------------------------------
* Update home position, calculate distance and bearing to home
*-----------------------------------------------------------*/
void updateHomePosition(void)
{
// Disarmed and have a valid position, constantly update home
@ -2566,7 +2566,6 @@ void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData)
// WP #0 - special waypoint - HOME
if ((wpNumber == 0) && ARMING_FLAG(ARMED) && (posControl.flags.estPosStatus >= EST_USABLE) && posControl.gpsOrigin.valid && posControl.flags.isGCSAssistedNavigationEnabled) {
// Forcibly set home position. Note that this is only valid if already armed, otherwise home will be reset instantly
geoConvertGeodeticToLocal(&wpPos.pos, &posControl.gpsOrigin, &wpLLH, GEO_ALT_RELATIVE);
setHomePosition(&wpPos.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, NAV_HOME_VALID_ALL);
}