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NAV: Fixed an option to compile out navigation while still having GPS for telemetry and OSD (home position, distance and bearing is calculated correctly)

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Konstantin Sharlaimov (DigitalEntity) 2015-12-23 20:06:47 +10:00
parent dc3e84ea5b
commit f026603d8b
10 changed files with 117 additions and 40 deletions
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13
src/main/flight/navigation_rewrite_private.h
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@ -17,21 +17,18 @@
#pragma once
#include "config/runtime_config.h"
#define DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR 1.113195f // MagicEarthNumber from APM
#if defined(NAV)
#include "config/runtime_config.h"
#define LAND_DETECTOR_TRIGGER_TIME_MS 2000 // 2 seconds
#define MIN_POSITION_UPDATE_RATE_HZ 5 // Minimum position update rate at which XYZ controllers would be applied
#define NAV_THROTTLE_CUTOFF_FREQENCY_HZ 4 // low-pass filter on throttle output
#define NAV_ACCEL_CUTOFF_FREQUENCY_HZ 2 // low-pass filter on XY-acceleration target
#define NAV_FW_VEL_CUTOFF_FREQENCY_HZ 2 // low-pass filter on Z-velocity for fixed wing
#define NAV_DTERM_CUT_HZ 10
#define NAV_ACCELERATION_XY_MAX 980.0f // cm/s/s // approx 45 deg lean angle
#define HZ2US(hz) (1000000 / (hz))
@ -331,3 +328,5 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
bool isFixedWingLandingDetected(uint32_t * landingTimer);
void calculateFixedWingInitialHoldPosition(t_fp_vector * pos);
#endif