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Merge pull request #6612 from tonyyng/auto-load-waypoints

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Automatically load waypoints during FC boot
This commit is contained in:
Paweł Spychalski 2021-05-15 08:50:08 +02:00 • committed by GitHub
commit bde46fb957
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5 changed files with 20 additions and 1 deletions
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12
src/main/navigation/navigation.c
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@ -120,6 +120,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.pos_failure_timeout = SETTING_NAV_POSITION_TIMEOUT_DEFAULT, // 5 sec
.waypoint_radius = SETTING_NAV_WP_RADIUS_DEFAULT, // 2m diameter
.waypoint_safe_distance = SETTING_NAV_WP_SAFE_DISTANCE_DEFAULT, // centimeters - first waypoint should be closer than this
.waypoint_load_on_boot = SETTING_NAV_WP_LOAD_ON_BOOT_DEFAULT, // load waypoints automatically during boot
.max_auto_speed = SETTING_NAV_AUTO_SPEED_DEFAULT, // 3 m/s = 10.8 km/h
.max_auto_climb_rate = SETTING_NAV_AUTO_CLIMB_RATE_DEFAULT, // 5 m/s
.max_manual_speed = SETTING_NAV_MANUAL_SPEED_DEFAULT,
@ -2868,6 +2869,12 @@ 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++) {
@ -3576,6 +3583,11 @@ 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
}
/*-----------------------------------------------------------