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Code Issues Wiki Activity

NAV: New mode 'HOME RESET' to reset home position to current drone position

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This commit is contained in:
Konstantin (DigitalEntity) Sharlaimov 2016-03-06 07:31:49 +02:00
parent a8cc9a6be8
commit ed5730fc63
3 changed files with 10 additions and 3 deletions
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5
src/main/flight/navigation_rewrite.c
View file

@ -1459,6 +1459,11 @@ void updateHomePosition(void)
}
}
else {
// If pilot so desires he may reset home position to current position
if (IS_RC_MODE_ACTIVE(BOXHOMERESET) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && posControl.flags.hasValidPositionSensor) {
setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw);
}
// Update distance and direction to home if armed (home is not updated when armed)
if (STATE(GPS_FIX_HOME)) {
posControl.homeDistance = calculateDistanceToDestination(&posControl.homePosition.pos);

1
src/main/io/rc_controls.h
View file

@ -49,6 +49,7 @@ typedef enum {
BOXFAILSAFE,
BOXNAVWP,
BOXAIRMODE,
BOXHOMERESET,
CHECKBOX_ITEM_COUNT
} boxId_e;

7
src/main/io/serial_msp.c
View file

@ -364,6 +364,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXFAILSAFE, "FAILSAFE;", 27 },
{ BOXNAVWP, "NAV WP;", 28 },
{ BOXAIRMODE, "AIR MODE;", 29 },
{ BOXHOMERESET, "HOME RESET;", 30 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -666,10 +667,9 @@ void mspInit(serialConfig_t *serialConfig)
}
if ((feature(FEATURE_GPS) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) || (isFixedWing && sensors(SENSOR_ACC) && feature(FEATURE_GPS))) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
}
if ((feature(FEATURE_GPS) && sensors(SENSOR_ACC) && sensors(SENSOR_MAG)) || (isFixedWing && sensors(SENSOR_ACC) && feature(FEATURE_GPS))) {
activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;
activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
}
#endif
@ -748,7 +748,8 @@ static uint32_t packFlightModeFlags(void)
IS_ENABLED(FLIGHT_MODE(NAV_POSHOLD_MODE)) << BOXNAVPOSHOLD |
IS_ENABLED(FLIGHT_MODE(NAV_RTH_MODE)) << BOXNAVRTH |
IS_ENABLED(FLIGHT_MODE(NAV_WP_MODE)) << BOXNAVWP |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE;
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)) << BOXHOMERESET;
for (i = 0; i < activeBoxIdCount; i++) {
int flag = (tmp & (1 << activeBoxIds[i]));