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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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2
src/main/navigation/navigation.c
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@ -2328,7 +2328,7 @@ void applyWaypointNavigationAndAltitudeHold(void)
if (posControl.flags.hasValidAltitudeSensor) navFlags |= (1 << 0);
if (posControl.flags.hasValidSurfaceSensor) navFlags |= (1 << 1);
if (posControl.flags.hasValidPositionSensor) navFlags |= (1 << 2);
if ((STATE(GPS_FIX) && gpsSol.numSat >= positionEstimationConfig()->gps_min_sats)) navFlags |= (1 << 3);
//if (STATE(GPS_FIX)) navFlags |= (1 << 3);
#if defined(NAV_GPS_GLITCH_DETECTION)
if (isGPSGlitchDetected()) navFlags |= (1 << 4);
#endif