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Code Issues Wiki Activity

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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2
docs/Cli.md
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@ -201,7 +201,7 @@ A shorter form is also supported to enable and disable functions using `serial <
| nav_rth_altitude | 1000 | Used in EXTRA, FIXED and AT_LEAST rth alt modes [cm] (Default 1000 means 10 meters) |
| nav_rth_home_altitude | 0 | Aircraft will climb/descend to this altitude after reaching home if landing is not enabled. Set to 0 to stay at `nav_rth_altitude` (default) [cm] |
| nav_rth_abort_threshold | 50000 | RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds the threshold defined by this parameter, instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default is 500m which is safe enough for both multirotor machines and airplanes. [cm] |
| nav_rth_home_offset_distance | 0 | Distance offset from GPS established home to "safe" position used for RTH (metre, 0 disables) |
| nav_rth_home_offset_distance | 0 | Distance offset from GPS established home to "safe" position used for RTH (cm, 0 disables) |
| nav_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) |
| nav_mc_bank_angle | 30 | Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude |
| nav_mc_hover_thr | 1500 | Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering. |

5
src/main/fc/settings.yaml
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@ -80,7 +80,7 @@ tables:
- name: debug_modes
values: ["NONE", "GYRO", "AGL", "FLOW_RAW",
"FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE",
"VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC", "ITERM_RELAX",
"VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC", "ITERM_RELAX",
"ERPM", "RPM_FILTER", "RPM_FREQ"]
- name: async_mode
values: ["NONE", "GYRO", "ALL"]
@ -1482,11 +1482,10 @@ groups:
max: 65000
- name: nav_rth_home_offset_distance
field: general.rth_home_offset_distance
max: 650
max: 65000
- name: nav_rth_home_offset_direction
field: general.rth_home_offset_direction
max: 359
- name: nav_mc_bank_angle
field: mc.max_bank_angle
min: 15

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 {

2
src/main/navigation/navigation.h
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@ -171,7 +171,7 @@ typedef struct navConfig_s {
uint16_t min_rth_distance; // 0 Disables. Minimal distance for RTH in cm, otherwise it will just autoland
uint16_t rth_abort_threshold; // Initiate emergency landing if during RTH we get this much [cm] away from home
uint16_t max_terrain_follow_altitude; // Max altitude to be used in SURFACE TRACKING mode
uint16_t rth_home_offset_distance; // Distance offset from GPS established home to "safe" position used for RTH (metre, 0 disables)
uint16_t rth_home_offset_distance; // Distance offset from GPS established home to "safe" position used for RTH (cm, 0 disables)
uint16_t rth_home_offset_direction; // 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)
} general;