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Code Issues Releases Activity

OP-1330 Delay SetHomeLocation call from GPS module to be able to save HomeLocation.Set=false

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This commit is contained in:
Alessio Morale 2014-05-07 20:20:19 +02:00
parent 3f5f77d878
commit 8462adb579
1 changed files with 12 additions and 3 deletions
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15
flight/modules/GPS/GPS.c
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@ -64,7 +64,10 @@ static float GravityAccel(float latitude, float longitude, float altitude);
// Private constants // Private constants
#define GPS_TIMEOUT_MS 500 #define GPS_TIMEOUT_MS 500
// delay from detecting HomeLocation.Set == False before setting new homelocation
// this prevent that a save with homelocation.Set = false triggered by gps ends saving
// the new location with Set = true.
#define HOMELOCATIONSETDELAY 5000
#ifdef PIOS_GPS_SETS_HOMELOCATION #ifdef PIOS_GPS_SETS_HOMELOCATION
// Unfortunately need a good size stack for the WMM calculation // Unfortunately need a good size stack for the WMM calculation
@ -199,7 +202,7 @@ static void gpsTask(__attribute__((unused)) void *parameters)
{ {
portTickType xDelay = 100 / portTICK_RATE_MS; portTickType xDelay = 100 / portTICK_RATE_MS;
uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS; uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
portTickType homelocationSetDelay = 0;
GPSPositionSensorData gpspositionsensor; GPSPositionSensorData gpspositionsensor;
GPSSettingsData gpsSettings; GPSSettingsData gpsSettings;
@ -260,7 +263,13 @@ static void gpsTask(__attribute__((unused)) void *parameters)
HomeLocationGet(&home); HomeLocationGet(&home);
if (home.Set == HOMELOCATION_SET_FALSE) { if (home.Set == HOMELOCATION_SET_FALSE) {
setHomeLocation(&gpspositionsensor); if(homelocationSetDelay == 0){
homelocationSetDelay = xTaskGetTickCount();
}
if(xTaskGetTickCount() - homelocationSetDelay > HOMELOCATIONSETDELAY){
setHomeLocation(&gpspositionsensor);
homelocationSetDelay = 0;
}
} }
#endif #endif
} else if ((gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) && } else if ((gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&