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Code Issues Releases Activity

LP-608 Prevent false warning alarms related to speed and distance from GPS

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This commit is contained in:
Laurent Lalanne 2019-02-16 12:27:26 +01:00
parent f602e04fad
commit 14a7e7a7cf
1 changed files with 10 additions and 8 deletions
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18
flight/modules/UAVOHottBridge/uavohottbridge.c
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@ -497,13 +497,13 @@ uint16_t build_EAM_message(struct hott_eam_message *msg)
float voltage = (telestate->Battery.Voltage > 0) ? telestate->Battery.Voltage : 0;
float current = (telestate->Battery.Current > 0) ? telestate->Battery.Current : 0;
float energy = (telestate->Battery.ConsumedEnergy > 0) ? telestate->Battery.ConsumedEnergy : 0;
msg->voltage = scale_float2uword(voltage, 10, 0);
msg->current = scale_float2uword(current, 10, 0);
msg->capacity = scale_float2uword(energy, 0.1f, 0);
msg->voltage = scale_float2uword(voltage, 10, 0);
msg->current = scale_float2uword(current, 10, 0);
msg->capacity = scale_float2uword(energy, 0.1f, 0);
// AirSpeed
float airspeed = (telestate->Airspeed.TrueAirspeed > 0) ? telestate->Airspeed.TrueAirspeed : 0;
msg->speed = scale_float2uword(airspeed, MS_TO_KMH, 0);
msg->speed = scale_float2uword(airspeed, MS_TO_KMH, 0);
// temperatures
msg->temperature1 = scale_float2uint8(telestate->Gyro.temperature, 1, OFFSET_TEMPERATURE);
@ -786,10 +786,12 @@ void update_telemetrydata()
*/
uint8_t generate_warning()
{
bool gps_ok = (telestate->SysAlarms.Alarm.GPS == SYSTEMALARMS_ALARM_OK);
// set warning tone with hardcoded priority
if ((telestate->Settings.Warning.MinSpeed == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.MinSpeed > telestate->GPS.Groundspeed * MS_TO_KMH)) {
return HOTT_TONE_A; // maximum speed
(telestate->Settings.Limit.MinSpeed > telestate->GPS.Groundspeed * MS_TO_KMH) && gps_ok) {
return HOTT_TONE_A; // minimum speed
}
if ((telestate->Settings.Warning.NegDifference2 == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.NegDifference2 > telestate->climbrate3s)) {
@ -800,7 +802,7 @@ uint8_t generate_warning()
return HOTT_TONE_C; // sink rate 1s
}
if ((telestate->Settings.Warning.MaxDistance == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.MaxDistance < telestate->homedistance)) {
(telestate->Settings.Limit.MaxDistance < telestate->homedistance) && gps_ok) {
return HOTT_TONE_D; // maximum distance
}
if ((telestate->Settings.Warning.MinSensor1Temp == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
@ -820,7 +822,7 @@ uint8_t generate_warning()
return HOTT_TONE_I; // maximum temperature sensor 2
}
if ((telestate->Settings.Warning.MaxSpeed == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.MaxSpeed < telestate->GPS.Groundspeed * MS_TO_KMH)) {
(telestate->Settings.Limit.MaxSpeed < telestate->GPS.Groundspeed * MS_TO_KMH) && gps_ok) {
return HOTT_TONE_L; // maximum speed
}
if ((telestate->Settings.Warning.PosDifference2 == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&