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CLI option

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-02-05 20:10:27 +10:00
parent 8b213bdffe
commit 43f5f65ef2
4 changed files with 7 additions and 5 deletions
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8
src/main/navigation/navigation.c
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@ -70,8 +70,8 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.extra_arming_safety = 1,
.user_control_mode = NAV_GPS_ATTI,
.rth_alt_control_mode = NAV_RTH_AT_LEAST_ALT,
.rth_climb_first = 1, // Climb first, turn after reaching safe altitude
.rth_ignore_energency_on_climb = 0, // Ignore GPS loss on initial climb
.rth_climb_first = 1, // Climb first, turn after reaching safe altitude
.rth_climb_ignore_emerg = 0, // Ignore GPS loss on initial climb
.rth_tail_first = 0,
.disarm_on_landing = 0,
.rth_allow_landing = 1,
@ -994,7 +994,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_INITIALIZE(navig
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
else {
if (posControl.flags.hasValidPositionSensor || navConfig()->general.flags.rth_ignore_energency_on_climb) {
if (posControl.flags.hasValidPositionSensor || navConfig()->general.flags.rth_climb_ignore_emerg) {
// If close to home - reset home position and land
if (posControl.homeDistance < navConfig()->general.min_rth_distance) {
setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING);
@ -1038,7 +1038,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_CLIMB_TO_SAFE_AL
UNUSED(previousState);
// If we have valid pos sensor OR we are configured to ignore GPS loss
if (posControl.flags.hasValidPositionSensor || !checkForPositionSensorTimeout() || navConfig()->general.flags.rth_ignore_energency_on_climb) {
if (posControl.flags.hasValidPositionSensor || !checkForPositionSensorTimeout() || navConfig()->general.flags.rth_climb_ignore_emerg) {
if (((posControl.actualState.pos.V.Z - posControl.homeWaypointAbove.pos.V.Z) > -50.0f) || (!navConfig()->general.flags.rth_climb_first)) {
// Delayed initialization for RTH sanity check on airplanes - allow to finish climb first as it can take some distance
if (STATE(FIXED_WING)) {