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Merge pull request #1229 from iNavFlight/nav-improvements
Navigation and GPS improvements
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commit
dcc163f185
8 changed files with 82 additions and 30 deletions
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@ -290,6 +290,11 @@ static const char * const lookupTableNavControlMode[] = {
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static const char * const lookupTableNavRthAltMode[] = {
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"CURRENT", "EXTRA", "FIXED", "MAX", "AT_LEAST"
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};
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static const char * const lookupTableNavResetAltitude[] = {
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"NEVER", "FIRST_ARM", "EACH_ARM"
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};
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#endif
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static const char * const lookupTableAuxOperator[] = {
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@ -368,6 +373,7 @@ typedef enum {
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#ifdef NAV
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TABLE_NAV_USER_CTL_MODE,
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TABLE_NAV_RTH_ALT_MODE,
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TABLE_NAV_RESET_ALTITUDE,
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#endif
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TABLE_AUX_OPERATOR,
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TABLE_MOTOR_PWM_PROTOCOL,
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@ -422,6 +428,7 @@ static const lookupTableEntry_t lookupTables[] = {
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#ifdef NAV
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{ lookupTableNavControlMode, sizeof(lookupTableNavControlMode) / sizeof(char *) },
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{ lookupTableNavRthAltMode, sizeof(lookupTableNavRthAltMode) / sizeof(char *) },
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{ lookupTableNavResetAltitude, sizeof(lookupTableNavResetAltitude) / sizeof(char *) },
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#endif
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{ lookupTableAuxOperator, sizeof(lookupTableAuxOperator) / sizeof(char *) },
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{ lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
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@ -678,6 +685,7 @@ static const clivalue_t valueTable[] = {
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{ "gps_dyn_model", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_DYN_MODEL }, PG_GPS_CONFIG, offsetof(gpsConfig_t, dynModel) },
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{ "gps_auto_config", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoConfig) },
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{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoBaud) },
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{ "gps_min_sats", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 5, 10}, PG_GPS_CONFIG, offsetof(gpsConfig_t, gpsMinSats) },
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#endif
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// PG_RC_CONTROLS_CONFIG
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@ -771,7 +779,7 @@ static const clivalue_t valueTable[] = {
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{ "inav_accz_unarmedcal", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_POSITION_ESTIMATION_CONFIG, offsetof(positionEstimationConfig_t, accz_unarmed_cal) },
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{ "inav_use_gps_velned", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_POSITION_ESTIMATION_CONFIG, offsetof(positionEstimationConfig_t, use_gps_velned) },
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{ "inav_gps_delay", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 500 }, PG_POSITION_ESTIMATION_CONFIG, offsetof(positionEstimationConfig_t, gps_delay_ms) },
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{ "inav_gps_min_sats", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 5, 10}, PG_POSITION_ESTIMATION_CONFIG, offsetof(positionEstimationConfig_t, gps_min_sats) },
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{ "inav_reset_altitude", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_NAV_RESET_ALTITUDE }, PG_POSITION_ESTIMATION_CONFIG, offsetof(positionEstimationConfig_t, use_gps_velned) },
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{ "inav_w_z_baro_p", VAR_FLOAT | MASTER_VALUE, .config.minmax = { 0, 10 }, PG_POSITION_ESTIMATION_CONFIG, offsetof(positionEstimationConfig_t, w_z_baro_p) },
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{ "inav_w_z_gps_p", VAR_FLOAT | MASTER_VALUE, .config.minmax = { 0, 10 }, PG_POSITION_ESTIMATION_CONFIG, offsetof(positionEstimationConfig_t, w_z_gps_p) },
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@ -792,6 +800,7 @@ static const clivalue_t valueTable[] = {
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{ "nav_user_control_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_NAV_USER_CTL_MODE }, PG_NAV_CONFIG, offsetof(navConfig_t, general.flags.user_control_mode) },
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{ "nav_position_timeout", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 10 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.pos_failure_timeout) },
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{ "nav_wp_radius", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 10000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.waypoint_radius) },
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{ "nav_wp_safe_distance", VAR_UINT16 | MASTER_VALUE | MODE_MAX, .config.max = { 65000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.waypoint_safe_distance) },
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{ "nav_max_speed", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 2000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.max_speed) },
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{ "nav_max_climb_rate", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 2000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.max_climb_rate) },
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{ "nav_manual_speed", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 2000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.max_manual_speed) },
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