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HomePosition: Add minimum position change needed to be recognised as new home position

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This commit is contained in:
Konrad
2024-04-17 13:42:25 +02:00
committed by KonradRudin
parent 1c213fa760
commit 664a0f2cda
2 changed files with 6 additions and 1 deletions
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src/modules/commander/HomePosition.cpp
+4 -1
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@@ -34,6 +34,8 @@
#include "HomePosition.hpp" #include "HomePosition.hpp"
#include <math.h>
#include <lib/geo/geo.h> #include <lib/geo/geo.h>
#include "commander_helper.h" #include "commander_helper.h"
@@ -83,7 +85,8 @@ bool HomePosition::hasMovedFromCurrentHomeLocation()
} }
} }
return (home_dist_xy > eph * 2.f) || (home_dist_z > epv * 2.f); return (home_dist_xy > fmaxf(eph * 2.f, kMinHomePositionChangeEPH))
|| (home_dist_z > fmaxf(epv * 2.f, kMinHomePositionChangeEPV));
} }
bool HomePosition::setHomePosition(bool force) bool HomePosition::setHomePosition(bool force)
src/modules/commander/HomePosition.hpp
+2
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@@ -45,6 +45,8 @@ static constexpr int kHomePositionGPSRequiredFixType = 2;
static constexpr float kHomePositionGPSRequiredEPH = 5.f; static constexpr float kHomePositionGPSRequiredEPH = 5.f;
static constexpr float kHomePositionGPSRequiredEPV = 10.f; static constexpr float kHomePositionGPSRequiredEPV = 10.f;
static constexpr float kHomePositionGPSRequiredEVH = 1.f; static constexpr float kHomePositionGPSRequiredEVH = 1.f;
static constexpr float kMinHomePositionChangeEPH = 1.f;
static constexpr float kMinHomePositionChangeEPV = 1.5f;
class HomePosition class HomePosition
{ {