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2nd
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Scavanger
parent
9370fdd49f
commit
d7b36611f9
6 changed files with 69 additions and 31 deletions
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@ -1312,7 +1312,7 @@ static void cliTempSensor(char *cmdline)
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#if defined(USE_SAFE_HOME)
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static void printSafeHomes(uint8_t dumpMask, const navSafeHome_t *navSafeHome, const navSafeHome_t *defaultSafeHome)
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{
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const char *format = "safehome %u %u %d %d %d %d %u %d %d"; // uint8_t enabled, int32_t lat; int32_t lon
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const char *format = "safehome %u %u %d %d %d %d %u %d %d %u"; // uint8_t enabled, int32_t lat; int32_t lon
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for (uint8_t i = 0; i < MAX_SAFE_HOMES; i++) {
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bool equalsDefault = false;
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if (defaultSafeHome) {
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@ -1320,15 +1320,16 @@ static void printSafeHomes(uint8_t dumpMask, const navSafeHome_t *navSafeHome, c
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&& navSafeHome[i].lat == defaultSafeHome[i].lat
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&& navSafeHome[i].lon == defaultSafeHome[i].lon
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&& navSafeHome[i].approachDirection == defaultSafeHome[i].approachDirection
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&& navSafeHome[i].approachAltMSL == defaultSafeHome[i].approachAltMSL
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&& navSafeHome[i].landAltMSL == defaultSafeHome[i].landAltMSL
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&& navSafeHome[i].approachAlt == defaultSafeHome[i].approachAlt
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&& navSafeHome[i].landAlt == defaultSafeHome[i].landAlt
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&& navSafeHome[i].landApproachHeading1 == defaultSafeHome[i].landApproachHeading1
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&& navSafeHome[i].landApproachHeading2 == defaultSafeHome[i].landApproachHeading2;
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&& navSafeHome[i].landApproachHeading2 == defaultSafeHome[i].landApproachHeading2
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&& navSafeHome[i].isSeaLevelRef == defaultSafeHome[i].isSeaLevelRef;
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cliDefaultPrintLinef(dumpMask, equalsDefault, format, i,
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defaultSafeHome[i].enabled, defaultSafeHome[i].lat, defaultSafeHome[i].lon, defaultSafeHome[i].approachAltMSL, defaultSafeHome[i].landAltMSL, defaultSafeHome[i].approachDirection, defaultSafeHome[i].landApproachHeading1, defaultSafeHome[i].landApproachHeading2);
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defaultSafeHome[i].enabled, defaultSafeHome[i].lat, defaultSafeHome[i].lon, defaultSafeHome[i].approachAlt, defaultSafeHome[i].landAlt, defaultSafeHome[i].approachDirection, defaultSafeHome[i].landApproachHeading1, defaultSafeHome[i].landApproachHeading2, defaultSafeHome[i].isSeaLevelRef);
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}
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cliDumpPrintLinef(dumpMask, equalsDefault, format, i,
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navSafeHome[i].enabled, navSafeHome[i].lat, navSafeHome[i].lon, navSafeHome[i].approachAltMSL, navSafeHome[i].landAltMSL, navSafeHome[i].approachDirection, navSafeHome[i].landApproachHeading1, navSafeHome[i].landApproachHeading2);
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navSafeHome[i].enabled, navSafeHome[i].lat, navSafeHome[i].lon, navSafeHome[i].approachAlt, navSafeHome[i].landAlt, navSafeHome[i].approachDirection, navSafeHome[i].landApproachHeading1, navSafeHome[i].landApproachHeading2, navSafeHome[i].isSeaLevelRef);
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}
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}
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@ -1340,7 +1341,7 @@ static void cliSafeHomes(char *cmdline)
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resetSafeHomes();
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} else {
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int32_t lat=0, lon=0, approachAlt = 0, heading1 = 0, heading2 = 0, landDirection = 0, landAlt = 0;
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bool enabled=false;
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bool enabled=false, isSeaLevelRef = false;
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uint8_t validArgumentCount = 0;
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const char *ptr = cmdline;
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int8_t i = fastA2I(ptr);
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@ -1383,11 +1384,28 @@ static void cliSafeHomes(char *cmdline)
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if ((ptr = nextArg(ptr))) {
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heading1 = fastA2I(ptr);
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if (heading1 < -360 || heading1 > 360) {
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cliShowParseError();
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return;
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}
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validArgumentCount++;
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}
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if ((ptr = nextArg(ptr))) {
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heading2 = fastA2I(ptr);
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if (heading2 < -360 || heading2 > 360) {
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cliShowParseError();
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return;
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}
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validArgumentCount++;
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}
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if ((ptr = nextArg(ptr))) {
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isSeaLevelRef = fastA2I(ptr);
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validArgumentCount++;
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}
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@ -1396,17 +1414,18 @@ static void cliSafeHomes(char *cmdline)
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validArgumentCount++;
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}
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if (validArgumentCount != 8) {
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if (validArgumentCount != 9) {
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cliShowParseError();
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} else {
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safeHomeConfigMutable(i)->enabled = enabled;
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safeHomeConfigMutable(i)->lat = lat;
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safeHomeConfigMutable(i)->lon = lon;
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safeHomeConfigMutable(i)->approachAltMSL = approachAlt;
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safeHomeConfigMutable(i)->landAltMSL = landAlt;
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safeHomeConfigMutable(i)->approachAlt = approachAlt;
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safeHomeConfigMutable(i)->landAlt = landAlt;
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safeHomeConfigMutable(i)->approachDirection = (fwAutolandApproachDirection_e)landDirection;
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safeHomeConfigMutable(i)->landApproachHeading1 = (int16_t)heading1;
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safeHomeConfigMutable(i)->landApproachHeading2 = (int16_t)heading2;
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safeHomeConfigMutable(i)->isSeaLevelRef = isSeaLevelRef;
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}
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}
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}
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@ -1653,6 +1653,12 @@ static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
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sbufWriteU8(dst, safeHomeConfig(safe_home_no)->enabled);
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sbufWriteU32(dst, safeHomeConfig(safe_home_no)->lat);
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sbufWriteU32(dst, safeHomeConfig(safe_home_no)->lon);
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sbufWriteU32(dst, safeHomeConfig(safe_home_no)->approachAlt);
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sbufWriteU32(dst, safeHomeConfig(safe_home_no)->landAlt);
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sbufWriteU8(dst, safeHomeConfig(safe_home_no)->approachDirection);
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sbufWriteU16(dst, safeHomeConfig(safe_home_no)->landApproachHeading1);
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sbufWriteU16(dst, safeHomeConfig(safe_home_no)->landApproachHeading2);
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sbufWriteU8(dst, safeHomeConfig(safe_home_no)->isSeaLevelRef);
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return MSP_RESULT_ACK;
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} else {
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return MSP_RESULT_ERROR;
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@ -3113,14 +3119,26 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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#endif
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#ifdef USE_SAFE_HOME
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case MSP2_INAV_SET_SAFEHOME:
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if (dataSize == 10) {
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uint8_t i;
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if (!sbufReadU8Safe(&i, src) || i >= MAX_SAFE_HOMES) {
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return MSP_RESULT_ERROR;
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}
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safeHomeConfigMutable(i)->enabled = sbufReadU8(src);
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safeHomeConfigMutable(i)->lat = sbufReadU32(src);
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safeHomeConfigMutable(i)->lon = sbufReadU32(src);
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if (dataSize == 24) {
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uint8_t i;
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if (!sbufReadU8Safe(&i, src) || i >= MAX_SAFE_HOMES) {
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return MSP_RESULT_ERROR;
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}
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safeHomeConfigMutable(i)->enabled = sbufReadU8(src);
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safeHomeConfigMutable(i)->lat = sbufReadU32(src);
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safeHomeConfigMutable(i)->lon = sbufReadU32(src);
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safeHomeConfigMutable(i)->approachAlt = sbufReadU32(src);
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safeHomeConfigMutable(i)->landAlt = sbufReadU32(src);
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safeHomeConfigMutable(i)->approachDirection = sbufReadU8(src);
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int16_t head1 = 0, head2 = 0;
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if (sbufReadI16Safe(&head1, src)) {
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safeHomeConfigMutable(i)->landApproachHeading1 = head1;
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}
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if (sbufReadI16Safe(&head2, src)) {
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safeHomeConfigMutable(i)->landApproachHeading2 = head2;
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}
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safeHomeConfigMutable(i)->isSeaLevelRef = sbufReadU8(src);
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} else {
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return MSP_RESULT_ERROR;
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}
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@ -4096,7 +4096,7 @@ groups:
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min: 100
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max: 100000
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- name: nav_fw_land_final_approach_pitch2throttle_mod
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description: "Modifier for pitch to throttle at final approach. In Percent."
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description: "Modifier for pitch to throttle ratio at final approach. In Percent."
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default_value: 100
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field: finalApproachPitchToThrottleMod
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min: 100
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@ -4108,7 +4108,7 @@ groups:
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min: 100
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max: 5000
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- name: nav_fw_land_flare_alt
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description: "Initial altitude of the flare"
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description: "Initial altitude of the flare phase"
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default_value: 2000
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field: flareAltitude
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min: 0
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@ -2311,7 +2311,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH(nav
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return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT;
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}
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if (getEstimatedActualPosition(Z) <= safeHomeConfig(safehome_index)->landAltMSL + navFwAutolandConfig()->glideAltitude - GPS_home.alt) {
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if (getEstimatedActualPosition(Z) <= safeHomeConfig(safehome_index)->landAlt + navFwAutolandConfig()->glideAltitude - (safeHomeConfig(safehome_index)->isSeaLevelRef ? GPS_home.alt : 0)) {
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resetPositionController();
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posControl.fwLandState = FW_AUTOLAND_STATE_GLIDE;
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return NAV_FSM_EVENT_SUCCESS;
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@ -4986,8 +4986,8 @@ int32_t navigationGetHeadingError(void)
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static void resetFwAutoland(void)
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{
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posControl.fwLandAltAgl = safeHomeConfig(safehome_index)->landAltMSL - GPS_home.alt;
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posControl.fwLandAproachAltAgl = safeHomeConfig(safehome_index)->approachAltMSL + posControl.fwLandAltAgl - GPS_home.alt;
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posControl.fwLandAltAgl = safeHomeConfig(safehome_index)->isSeaLevelRef ? safeHomeConfig(safehome_index)->landAlt - GPS_home.alt : safeHomeConfig(safehome_index)->landAlt;
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posControl.fwLandAproachAltAgl = safeHomeConfig(safehome_index)->isSeaLevelRef ? safeHomeConfig(safehome_index)->approachAlt - GPS_home.alt : safeHomeConfig(safehome_index)->approachAlt;
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posControl.fwLandLoiterStartTime = 0;
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posControl.fwLandWpReached = false;
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}
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@ -61,8 +61,9 @@ typedef struct {
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uint8_t enabled;
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int32_t lat;
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int32_t lon;
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int32_t approachAltMSL;
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int32_t landAltMSL;
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int32_t approachAlt;
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int32_t landAlt;
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bool isSeaLevelRef;
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fwAutolandApproachDirection_e approachDirection;
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int16_t landApproachHeading1;
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int16_t landApproachHeading2;
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@ -230,7 +230,7 @@ static bool isLandWpReached(const fpVector3_t * waypointPos, const int32_t * way
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static fwAutolandEvent_t fwAutolandState_ABOVE_LOITER_ALT(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs);
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int32_t approachAltAbs = safeHomeConfig(safehome_index)->approachAltMSL - GPS_home.alt;
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int32_t approachAltAbs = safeHomeConfig(safehome_index)->approachAlt - GPS_home.alt;
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if (ABS(getEstimatedActualPosition(Z) - approachAltAbs) < TARGET_ALT_TOLERANCE) {
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return FW_AUTOLAND_EVENT_SUCCSESS;
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@ -249,8 +249,8 @@ static fwAutolandEvent_t fwAutolandState_LOITER(timeUs_t currentTimeUs)
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return FW_AUTOLAND_EVENT_ABORT;
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#endif
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int32_t landAltAbs = safeHomeConfig(safehome_index)->landAltMSL - GPS_home.alt;
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int32_t approachAltAbs = safeHomeConfig(safehome_index)->approachAltMSL + landAltAbs - GPS_home.alt;
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int32_t landAltAbs = safeHomeConfig(safehome_index)->landAlt - GPS_home.alt;
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int32_t approachAltAbs = safeHomeConfig(safehome_index)->approachAlt + landAltAbs - GPS_home.alt;
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if (fwAutoland.loiterStartTime == 0) {
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fwAutoland.loiterStartTime = currentTimeUs;
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} else if (micros() - fwAutoland.loiterStartTime > LOITER_MIN_TIME) {
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@ -364,7 +364,7 @@ static fwAutolandEvent_t fwAutolandState_BASE(timeUs_t currentTimeUs)
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static fwAutolandEvent_t fwAutolandState_FINAL_APPROACH(timeUs_t currentTimeUs)
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{
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if (getEstimatedActualPosition(Z) <= safeHomeConfig(safehome_index)->landAltMSL + navFwAutolandConfig()->glideAltitude - GPS_home.alt) {
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if (getEstimatedActualPosition(Z) <= safeHomeConfig(safehome_index)->landAlt + navFwAutolandConfig()->glideAltitude - GPS_home.alt) {
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setLandWaypoint(&fwAutoland.waypoint[LAND_WP_LAND], NULL);
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return FW_AUTOLAND_EVENT_SUCCSESS;
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}
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@ -375,7 +375,7 @@ static fwAutolandEvent_t fwAutolandState_FINAL_APPROACH(timeUs_t currentTimeUs)
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static fwAutolandEvent_t fwAutolandState_GLIDE(timeUs_t currentTimeUs)
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{
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if (getEstimatedActualPosition(Z) <= safeHomeConfig(safehome_index)->landAltMSL + navFwAutolandConfig()->flareAltitude - GPS_home.alt) {
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if (getEstimatedActualPosition(Z) <= safeHomeConfig(safehome_index)->landAlt + navFwAutolandConfig()->flareAltitude - GPS_home.alt) {
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return FW_AUTOLAND_EVENT_SUCCSESS;
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}
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posControl.wpDistance = calculateDistanceToDestination(&fwAutoland.waypoint[LAND_WP_LAND]);
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