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define home offset in cm (vice m) for commonality, if not convenience.

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This commit is contained in:
Jonathan Hudson 2019-12-22 20:56:41 +00:00
parent d39c8e2867
commit c1419b60be
4 changed files with 7 additions and 8 deletions
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6
src/main/navigation/navigation.c
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@ -115,7 +115,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.rth_home_altitude = 0, // altitude in centimeters
.rth_abort_threshold = 50000, // centimeters - 500m should be safe for all aircraft
.max_terrain_follow_altitude = 100, // max altitude in centimeters in terrain following mode
.rth_home_offset_distance = 0, // Distance offset from GPS established home to "safe" position used for RTH (metre, 0 disables)
.rth_home_offset_distance = 0, // Distance offset from GPS established home to "safe" position used for RTH (cm, 0 disables)
.rth_home_offset_direction = 0, // Direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance)
},
@ -2251,8 +2251,8 @@ void updateHomePosition(void)
if (setHome) {
if (navConfig()->general.rth_home_offset_distance != 0) { // apply user defined offset
fpVector3_t offsetHome;
offsetHome.x = posControl.actualState.abs.pos.x + 100 * navConfig()->general.rth_home_offset_distance * cos_approx(DEGREES_TO_RADIANS(navConfig()->general.rth_home_offset_direction));
offsetHome.y = posControl.actualState.abs.pos.y + 100 * navConfig()->general.rth_home_offset_distance * sin_approx(DEGREES_TO_RADIANS(navConfig()->general.rth_home_offset_direction));
offsetHome.x = posControl.actualState.abs.pos.x + navConfig()->general.rth_home_offset_distance * cos_approx(DEGREES_TO_RADIANS(navConfig()->general.rth_home_offset_direction));
offsetHome.y = posControl.actualState.abs.pos.y + navConfig()->general.rth_home_offset_distance * sin_approx(DEGREES_TO_RADIANS(navConfig()->general.rth_home_offset_direction));
offsetHome.z = posControl.actualState.abs.pos.z;
setHomePosition(&offsetHome, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
} else {