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Merge branch 'master' of https://github.com/dragnea/inav into dragnea_autolaunch_refactor

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# Conflicts:
#	src/main/io/beeper.c
#	src/main/io/beeper.h
#	src/main/navigation/navigation_fw_launch.c
This commit is contained in:
DESKTOP-N53JVUO\mix 2020-11-14 22:30:09 +02:00
commit 6d1a7f0f44
100 changed files with 3851 additions and 1037 deletions
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22
src/main/navigation/navigation.c
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@ -83,11 +83,15 @@ PG_REGISTER_ARRAY(navSafeHome_t, MAX_SAFE_HOMES, safeHomeConfig, PG_SAFE_HOME_CO
#endif
#if defined(USE_NAV)
// waypoint 254, 255 are special waypoints
STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_range);
#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0);
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 7);
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 8);
PG_RESET_TEMPLATE(navConfig_t, navConfig,
.general = {
@ -102,7 +106,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.rth_tail_first = 0,
.disarm_on_landing = 0,
.rth_allow_landing = NAV_RTH_ALLOW_LANDING_ALWAYS,
.auto_overrides_motor_stop = 1,
.nav_overrides_motor_stop = NOMS_ALL_NAV,
},
// General navigation parameters
@ -2793,6 +2797,20 @@ void getWaypoint(uint8_t wpNumber, navWaypoint_t * wpData)
wpData->lon = wpLLH.lon;
wpData->alt = wpLLH.alt;
}
// WP #254 - special waypoint - get desiredPosition that was set by ground control station if in 3D-guided mode
else if (wpNumber == 254) {
navigationFSMStateFlags_t navStateFlags = navGetStateFlags(posControl.navState);
if ((posControl.gpsOrigin.valid) && (navStateFlags & NAV_CTL_ALT) && (navStateFlags & NAV_CTL_POS)) {
gpsLocation_t wpLLH;
geoConvertLocalToGeodetic(&wpLLH, &posControl.gpsOrigin, &posControl.desiredState.pos);
wpData->lat = wpLLH.lat;
wpData->lon = wpLLH.lon;
wpData->alt = wpLLH.alt;
}
}
// WP #1 - #60 - common waypoints - pre-programmed mission
else if ((wpNumber >= 1) && (wpNumber <= NAV_MAX_WAYPOINTS)) {
if (wpNumber <= posControl.waypointCount) {