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NAV: Configurable position sensor timeout. Ability to disable emergency landing

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-12-21 23:24:48 +10:00
parent c8b7e8ae74
commit e321526a3f
5 changed files with 43 additions and 28 deletions
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12
src/main/flight/navigation_rewrite_private.h
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@ -22,7 +22,6 @@
#define DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR 1.113195f // MagicEarthNumber from APM
#define LAND_DETECTOR_TRIGGER_TIME_MS 2000 // 2 seconds
#define NAV_WAIT_FOR_GPS_TIMEOUT_MS 5000 // GPS wait time-out 5 sec
#define MIN_POSITION_UPDATE_RATE_HZ 5 // Minimum position update rate at which XYZ controllers would be applied
@ -218,11 +217,9 @@ typedef struct {
typedef struct {
/* Flags and navigation system state */
navigationFSMState_t navState;
uint32_t navStateActivationTimeMs;
navigationFSMState_t navState;
bool enabled;
navigationFlags_t flags;
navigationFlags_t flags;
/* Navigation PID controllers + pre-computed flight parameters */
navigationPIDControllers_t pids;
@ -233,6 +230,9 @@ typedef struct {
navigationEstimatedState_t actualState;
navigationDesiredState_t desiredState; // waypoint coordinates + velocity
uint32_t lastValidPositionTimeMs;
uint32_t lastValidAltitudeTimeMs;
/* INAV GPS origin (position where GPS fix was first acquired) */
gpsOrigin_s gpsOrigin;
@ -296,6 +296,8 @@ void updateActualHorizontalPositionAndVelocity(bool hasValidSensor, float newX,
void updateActualAltitudeAndClimbRate(bool hasValidSensor, float newAltitude, float newVelocity);
void updateActualSurfaceDistance(bool hasValidSensor, float surfaceDistance, float surfaceVelocity);
bool checkForPositionSensorTimeout(void);
bool isGPSGlitchDetected(void);
/* Autonomous navigation functions */