void updateGpsWaypointsAndMode(void)
{
static uint8_t GPSNavReset = 1;
if (STATE(GPS_FIX) && GPS_numSat >= 5) {
// if both GPS_HOME & GPS_HOLD are checked => GPS_HOME is the priority
if (rcOptions[BOXGPSHOME]) {
if (!STATE(GPS_HOME_MODE)) {
ENABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPSNavReset = 0;
GPS_set_next_wp(&GPS_home[LAT], &GPS_home[LON]);
nav_mode = NAV_MODE_WP;
}
} else {
DISABLE_STATE(GPS_HOME_MODE);
if (rcOptions[BOXGPSHOLD] && areSticksInApModePosition(gpsProfile->ap_mode)) {
if (!FLIGHT_MODE(GPS_HOLD_MODE)) {
ENABLE_STATE(GPS_HOLD_MODE);
GPSNavReset = 0;
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
}
} else {
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
// both boxes are unselected here, nav is reset if not already done
if (GPSNavReset == 0) {
GPSNavReset = 1;
GPS_reset_nav();
}
}
}
} else {
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
nav_mode = NAV_MODE_NONE;
}
}
void updateGpsWaypointsAndMode(void)
{
bool resetNavNow = false;
if (STATE(GPS_FIX) && GPS_numSat >= 5) {
//
// process HOME mode
//
// HOME mode takes priority over HOLD mode.
if (IS_RC_MODE_ACTIVE(BOXGPSHOME)) {
if (!FLIGHT_MODE(GPS_HOME_MODE)) {
// Transition to HOME mode
ENABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPS_set_next_wp(&GPS_home[LAT], &GPS_home[LON]);
nav_mode = NAV_MODE_WP;
resetNavNow = true;
}
} else {
if (FLIGHT_MODE(GPS_HOME_MODE)) {
// Transition from HOME mode
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
//
// process HOLD mode
//
if (IS_RC_MODE_ACTIVE(BOXGPSHOLD) && areSticksInApModePosition(gpsProfile->ap_mode)) {
if (!FLIGHT_MODE(GPS_HOLD_MODE)) {
// Transition to HOLD mode
ENABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
resetNavNow = true;
}
} else {
if (FLIGHT_MODE(GPS_HOLD_MODE)) {
// Transition from HOLD mode
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
}
}
} else {
if (FLIGHT_MODE(GPS_HOLD_MODE | GPS_HOME_MODE)) {
// Transition from HOME or HOLD mode
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
}
if (resetNavNow) {
GPS_reset_nav();
}
}
void updateGpsWaypointsAndMode(void)
{
bool resetNavNow = false;
static bool gpsReadyBeepDone = false;
if (STATE(GPS_FIX) && GPS_numSat >= 5) {
//
// process HOME mode
//
// HOME mode takes priority over HOLD mode.
if (rcModeIsActive(BOXGPSHOME)) {
if (!FLIGHT_MODE(GPS_HOME_MODE)) {
// Transition to HOME mode
ENABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPS_set_next_wp(&GPS_home[LAT], &GPS_home[LON]);
nav_mode = NAV_MODE_WP;
resetNavNow = true;
}
} else {
if (FLIGHT_MODE(GPS_HOME_MODE)) {
// Transition from HOME mode
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
//
// process HOLD mode
//
if (rcModeIsActive(BOXGPSHOLD) && areSticksInApModePosition(gpsProfile()->ap_mode)) {
if (!FLIGHT_MODE(GPS_HOLD_MODE)) {
// Transition to HOLD mode
ENABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
resetNavNow = true;
}
} else {
if (FLIGHT_MODE(GPS_HOLD_MODE)) {
// Transition from HOLD mode
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
}
}
if (!gpsReadyBeepDone) { //if 'ready' beep not yet done
beeper(BEEPER_READY_BEEP); //do ready beep now
gpsReadyBeepDone = true; //only beep once
}
} else {
if (FLIGHT_MODE(GPS_HOLD_MODE | GPS_HOME_MODE)) {
// Transition from HOME or HOLD mode
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
}
if (resetNavNow) {
GPS_reset_nav();
}
}
