bbx 3d speed when gps_use_3d_speed==true (betaflight#13831)

tmuife · Aug 20, 2024 · 8feb741 · 8feb741
1 parent 295d542
commit 8feb741
Show file tree

Hide file tree

Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
@@ -1112,7 +1112,13 @@ static void writeGPSFrame(timeUs_t currentTimeUs)
     blackboxWriteSignedVB(gpsSol.llh.lat - gpsHistory.GPS_home[GPS_LATITUDE]);
     blackboxWriteSignedVB(gpsSol.llh.lon - gpsHistory.GPS_home[GPS_LONGITUDE]);
     blackboxWriteSignedVB(gpsSol.llh.altCm / 10);  // log altitude in increments of 0.1m
-    blackboxWriteUnsignedVB(gpsSol.groundSpeed);
+
+    if (gpsConfig()->gps_use_3d_speed) {
+        blackboxWriteUnsignedVB(gpsSol.speed3d);
+    } else {
+        blackboxWriteUnsignedVB(gpsSol.groundSpeed);
+    }
+
     blackboxWriteUnsignedVB(gpsSol.groundCourse);
 
     gpsHistory.GPS_numSat = gpsSol.numSat;

diff --git a/src/test/Makefile b/src/test/Makefile
@@ -96,7 +96,8 @@ blackbox_unittest_SRC :=  \
 		$(USER_DIR)/common/printf.c \
 		$(USER_DIR)/common/maths.c \
 		$(USER_DIR)/common/typeconversion.c \
-		$(USER_DIR)/drivers/accgyro/gyro_sync.c
+		$(USER_DIR)/drivers/accgyro/gyro_sync.c \
+		$(USER_DIR)/pg/gps.c
 
 blackbox_encoding_unittest_SRC :=  \
 		$(USER_DIR)/blackbox/blackbox_encoding.c \