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Merge pull request #1229 from iNavFlight/nav-improvements

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Navigation and GPS improvements
This commit is contained in:
Konstantin Sharlaimov 2017-02-05 21:07:23 +10:00 • committed by GitHub
commit dcc163f185
8 changed files with 82 additions and 30 deletions
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4
src/main/fc/fc_msp.c
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@ -1208,7 +1208,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_v * 100); // 2 inav_w_z_gps_v float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_p * 100); // 2 inav_w_xy_gps_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_v * 100); // 2 inav_w_xy_gps_v float as value * 100
sbufWriteU8(dst, positionEstimationConfig()->gps_min_sats); // 1 inav_gps_min_sats
sbufWriteU8(dst, 0); // 1 not used (was inav_gps_min_sats)
sbufWriteU8(dst, positionEstimationConfig()->use_gps_velned); // 1 inav_use_gps_velned ON/OFF
#else
@ -1680,7 +1680,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
positionEstimationConfigMutable()->w_z_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_xy_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_xy_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->gps_min_sats = constrain(sbufReadU8(src), 5, 10);
//positionEstimationConfigMutable()->gps_min_sats = constrain(sbufReadU8(src), 5, 10);
positionEstimationConfigMutable()->use_gps_velned = constrain(sbufReadU8(src), 0, 1);
#endif
break;