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Code Issues Wiki Activity

Automatically load waypoints

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This commit is contained in:
Tony Yeung 2021-02-16 15:15:54 +00:00
parent 02b3cc907d
commit 6da3858d5b
5 changed files with 20 additions and 1 deletions
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12
src/main/navigation/navigation.c
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@ -113,6 +113,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.pos_failure_timeout = 5, // 5 sec
.waypoint_radius = 100, // 2m diameter
.waypoint_safe_distance = 10000, // centimeters - first waypoint should be closer than this
.waypoint_load_on_boot = false, // load waypoints automatically during boot
.max_auto_speed = 300, // 3 m/s = 10.8 km/h
.max_auto_climb_rate = 500, // 5 m/s
.max_manual_speed = 500,
@ -2828,6 +2829,12 @@ bool loadNonVolatileWaypointList(void)
if (ARMING_FLAG(ARMED))
return false;
// if waypoints are already loaded, just unload them.
if (posControl.waypointCount > 0) {
resetWaypointList();
return false;
}
resetWaypointList();
for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) {
@ -3520,6 +3527,11 @@ void navigationInit(void)
} else {
DISABLE_STATE(FW_HEADING_USE_YAW);
}
#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
if (navConfig()->general.waypoint_load_on_boot)
loadNonVolatileWaypointList();
#endif
}
/*-----------------------------------------------------------