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Code Issues Releases Activity

Merge remote-tracking branch 'origin/amorale/OP-1330_cannot_set_homelocation.set_false' into next

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This commit is contained in:
Alessio Morale 2014-05-15 20:30:32 +02:00
commit e082fbc04e
1 changed files with 21 additions and 7 deletions
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28
flight/modules/GPS/GPS.c
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@ -63,21 +63,24 @@ static float GravityAccel(float latitude, float longitude, float altitude);
// ****************
// 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 GPS_HOMELOCATION_SET_DELAY 5000
#ifdef PIOS_GPS_SETS_HOMELOCATION
// Unfortunately need a good size stack for the WMM calculation
#define STACK_SIZE_BYTES 1024
#define STACK_SIZE_BYTES 1024
#else
#if defined(PIOS_GPS_MINIMAL)
#define STACK_SIZE_BYTES 500
#define STACK_SIZE_BYTES 500
#else
#define STACK_SIZE_BYTES 650
#define STACK_SIZE_BYTES 650
#endif // PIOS_GPS_MINIMAL
#endif // PIOS_GPS_SETS_HOMELOCATION
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
// ****************
// Private variables
@ -200,6 +203,9 @@ static void gpsTask(__attribute__((unused)) void *parameters)
portTickType xDelay = 100 / portTICK_RATE_MS;
uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
#ifdef PIOS_GPS_SETS_HOMELOCATION
portTickType homelocationSetDelay = 0;
#endif
GPSPositionSensorData gpspositionsensor;
GPSSettingsData gpsSettings;
@ -260,7 +266,15 @@ static void gpsTask(__attribute__((unused)) void *parameters)
HomeLocationGet(&home);
if (home.Set == HOMELOCATION_SET_FALSE) {
setHomeLocation(&gpspositionsensor);
if (homelocationSetDelay == 0) {
homelocationSetDelay = xTaskGetTickCount();
}
if (xTaskGetTickCount() - homelocationSetDelay > GPS_HOMELOCATION_SET_DELAY) {
setHomeLocation(&gpspositionsensor);
homelocationSetDelay = 0;
}
} else {
homelocationSetDelay = 0;
}
#endif
} else if ((gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&