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Add remaining flight time/distance calculations and OSD items

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This commit is contained in:
Michel Pastor 2018-06-04 16:07:51 +02:00
parent 46ef27db85
commit 83148a04d2
19 changed files with 401 additions and 37 deletions
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42
src/main/navigation/navigation.c
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@ -124,6 +124,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.max_climb_angle = 20,
.max_dive_angle = 15,
.cruise_throttle = 1400,
.cruise_speed = 0, // cm/s
.max_throttle = 1700,
.min_throttle = 1200,
.pitch_to_throttle = 10, // pwm units per degree of pitch (10pwm units ~ 1% throttle)
@ -1893,6 +1894,22 @@ static void updateHomePositionCompatibility(void)
GPS_directionToHome = posControl.homeDirection / 100;
}
float RTHAltitude() {
switch (navConfig()->general.flags.rth_alt_control_mode) {
case NAV_RTH_NO_ALT:
return(posControl.actualState.abs.pos.z);
case NAV_RTH_EXTRA_ALT: // Maintain current altitude + predefined safety margin
return(posControl.actualState.abs.pos.z + navConfig()->general.rth_altitude);
case NAV_RTH_MAX_ALT:
return(MAX(posControl.homeWaypointAbove.pos.z, posControl.actualState.abs.pos.z));
case NAV_RTH_AT_LEAST_ALT: // Climb to at least some predefined altitude above home
return(MAX(posControl.homePosition.pos.z + navConfig()->general.rth_altitude, posControl.actualState.abs.pos.z));
case NAV_RTH_CONST_ALT: // Climb/descend to predefined altitude above home
default:
return(posControl.homePosition.pos.z + navConfig()->general.rth_altitude);
}
}
/*-----------------------------------------------------------
* Reset home position to current position
*-----------------------------------------------------------*/
@ -1900,24 +1917,7 @@ static void updateDesiredRTHAltitude(void)
{
if (ARMING_FLAG(ARMED)) {
if (!(navGetStateFlags(posControl.navState) & NAV_AUTO_RTH)) {
switch (navConfig()->general.flags.rth_alt_control_mode) {
case NAV_RTH_NO_ALT:
posControl.homeWaypointAbove.pos.z = posControl.actualState.abs.pos.z;
break;
case NAV_RTH_EXTRA_ALT: // Maintain current altitude + predefined safety margin
posControl.homeWaypointAbove.pos.z = posControl.actualState.abs.pos.z + navConfig()->general.rth_altitude;
break;
case NAV_RTH_MAX_ALT:
posControl.homeWaypointAbove.pos.z = MAX(posControl.homeWaypointAbove.pos.z, posControl.actualState.abs.pos.z);
break;
case NAV_RTH_AT_LEAST_ALT: // Climb to at least some predefined altitude above home
posControl.homeWaypointAbove.pos.z = MAX(posControl.homePosition.pos.z + navConfig()->general.rth_altitude, posControl.actualState.abs.pos.z);
break;
case NAV_RTH_CONST_ALT: // Climb/descend to predefined altitude above home
default:
posControl.homeWaypointAbove.pos.z = posControl.homePosition.pos.z + navConfig()->general.rth_altitude;
break;
}
posControl.homeWaypointAbove.pos.z = RTHAltitude();
}
}
else {
@ -3053,6 +3053,11 @@ int32_t navigationGetHomeHeading(void)
return posControl.homePosition.yaw;
}
// returns m/s
float calculateAverageSpeed() {
return (float)getTotalTravelDistance() / (getFlightTime() * 100);
}
#else // NAV
#ifdef USE_GPS
@ -3115,6 +3120,7 @@ int32_t getTotalTravelDistance(void)
{
return lrintf(GPS_totalTravelDistance);
}
#endif
#endif // NAV