pass some variations from int8_t to int16_t, so that in the future th…

…e number of trackback points can be increased
iNavFlight · Oct 30, 2023 · bee5128 · bee5128
1 parent 9aa64c6
commit bee5128
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Showing 2 changed files with 6 additions and 8 deletions.
diff --git a/src/main/navigation/rth_trackback.c b/src/main/navigation/rth_trackback.c
@@ -46,7 +46,7 @@ void rthTrackBackUpdate(bool forceSaveTrackPoint)
 {
     static bool suspendTracking = false;
     bool fwLoiterIsActive = STATE(AIRPLANE) && (NAV_Status.state == MW_NAV_STATE_HOLD_TIMED || FLIGHT_MODE(NAV_POSHOLD_MODE));
-    
+
     if (!fwLoiterIsActive && suspendTracking) {
         suspendTracking = false;
     }
@@ -55,8 +55,7 @@ void rthTrackBackUpdate(bool forceSaveTrackPoint)
         return;
     }
 
-    // Record trackback points based on significant change in course/altitude until
-    // points limit reached. Overwrite older points from then on.
+    // Record trackback points based on significant change in course/altitude until points limit reached. Overwrite older points from then on.
     if (posControl.flags.estPosStatus >= EST_USABLE && posControl.flags.estAltStatus >= EST_USABLE) {
         static int32_t previousTBTripDist;      // cm
         static int16_t previousTBCourse;        // degrees
@@ -82,8 +81,7 @@ void rthTrackBackUpdate(bool forceSaveTrackPoint)
                 if (ABS(wrap_18000(DEGREES_TO_CENTIDEGREES(DECIDEGREES_TO_DEGREES(gpsSol.groundCourse) - previousTBCourse))) > DEGREES_TO_CENTIDEGREES(45)) {
                     saveTrackpoint = true;
                 } else if (distanceCounter >= 9) {
-                    // Distance based trackpoint logged if at least 10 distance increments occur without altitude or course change
-                    // and deviation from projected course path > 20m
+                    // Distance based trackpoint logged if at least 10 distance increments occur without altitude or course change and deviation from projected course path > 20m
                     float distToPrevPoint = calculateDistanceToDestination(&rth_trackback.pointsList[rth_trackback.activePointIndex]);
 
                     fpVector3_t virtualCoursePoint;

diff --git a/src/main/navigation/rth_trackback.h b/src/main/navigation/rth_trackback.h
@@ -28,9 +28,9 @@
 typedef struct
 {
     fpVector3_t pointsList[NAV_RTH_TRACKBACK_POINTS]; // buffer of points stored
-    int8_t lastSavedIndex;                                 // last trackback point index saved
-    int8_t activePointIndex;                               // trackback points counter
-    int8_t WrapAroundCounter;                              // stores trackpoint array overwrite index position
+    int16_t lastSavedIndex;                           // last trackback point index saved
+    int16_t activePointIndex;                         // trackback points counter
+    int16_t WrapAroundCounter;                        // stores trackpoint array overwrite index position
 } rth_trackback_t;
 
 extern rth_trackback_t rth_trackback;