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add new settings

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breadoven 2024-09-10 09:41:22 +01:00
parent ef2d9c1084
commit d0b5dbee4e
4 changed files with 9 additions and 7 deletions
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2
docs/Settings.md
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@ -1994,7 +1994,7 @@ Uncertainty value for barometric sensor [cm]
### inav_default_alt_sensor
Sets the default altitude sensor to use, GPS or BARO, when the altitude error between the sensors exceeds a set limit. Only the default sensor will be used in this case. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv.
Sets the default altitude sensor to use. Settings GPS and BARO always use both sensors unless there is an altitude error between the sensors that exceeds a set limit. In this case only the selected sensor will be used while the altitude error limit is exceeded. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv. Settings GPS_ONLY and BARO_ONLY will use only the selected sensor even if the other sensor is working. The other sensor will only be used as a backup if the selected sensor is no longer available to use.
| Default | Min | Max |
| --- | --- | --- |

4
src/main/fc/settings.yaml
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@ -199,7 +199,7 @@ tables:
values: ["NONE", "SERIAL", "MSP"]
enum: headTrackerDevType_e
- name: default_altitude_source
values: ["GPS", "BARO"]
values: ["GPS", "BARO", "GPS ONLY", "BARO ONLY"]
enum: navDefaultAltitudeSensor_e
constants:
@ -2471,7 +2471,7 @@ groups:
min: 0
max: 9999
- name: inav_default_alt_sensor
description: "Sets the default altitude sensor to use, GPS or BARO, when the altitude error between the sensors exceeds a set limit. Only the default sensor will be used in this case. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv."
description: "Sets the default altitude sensor to use. Settings GPS and BARO always use both sensors unless there is an altitude error between the sensors that exceeds a set limit. In this case only the selected sensor will be used while the altitude error limit is exceeded. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv. Settings GPS_ONLY and BARO_ONLY will use only the selected sensor even if the other sensor is working. The other sensor will only be used as a backup if the selected sensor is no longer available to use."
default_value: "GPS"
field: default_alt_sensor
table: default_altitude_source

8
src/main/navigation/navigation_pos_estimator.c
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@ -559,11 +559,11 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx)
DEBUG_SET(DEBUG_ALTITUDE, 7, accGetClipCount()); // Clip count
bool correctOK = false;
float wBaro = 1.0f;
float wGps = 1.0f;
const uint8_t defaultAltitudeSource = positionEstimationConfig()->default_alt_sensor;
float wGps = defaultAltitudeSource == ALTITUDE_SOURCE_BARO_ONLY && ctx->newFlags & EST_BARO_VALID ? 0.0f : 1.0f;
float wBaro = defaultAltitudeSource == ALTITUDE_SOURCE_GPS_ONLY && ctx->newFlags & EST_GPS_Z_VALID ? 0.0f : 1.0f;
if (ctx->newFlags & EST_BARO_VALID && ctx->newFlags & EST_GPS_Z_VALID) {
const uint8_t defaultAltitudeSource = positionEstimationConfig()->default_alt_sensor;
if (wBaro && ctx->newFlags & EST_BARO_VALID && wGps && ctx->newFlags & EST_GPS_Z_VALID) {
const float gpsBaroResidual = fabsf(posEstimator.gps.pos.z - posEstimator.baro.alt);
// Fade out the non default sensor to prevent sudden jump

2
src/main/navigation/navigation_pos_estimator_private.h
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@ -149,6 +149,8 @@ typedef enum {
typedef enum {
ALTITUDE_SOURCE_GPS,
ALTITUDE_SOURCE_BARO,
ALTITUDE_SOURCE_GPS_ONLY,
ALTITUDE_SOURCE_BARO_ONLY,
} navDefaultAltitudeSensor_e;
typedef struct {