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Option to control altitude zero reset logic; Moved gps_num_sats to gpsConfig and made system-wide for GPS_FIX acquisition

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Konstantin Sharlaimov (DigitalEntity) 2017-02-04 22:03:09 +10:00
parent fa476e7f02
commit dd723fca2b
8 changed files with 52 additions and 23 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;