Add new parameter for controlling home position reset

src/main/fc/settings.yaml

@@ -49,7 +49,7 @@ tables:
   - name: gps_dyn_model
     values: ["PEDESTRIAN", "AIR_1G", "AIR_4G"]
     enum: gpsDynModel_e
-  - name: reset_altitude
+  - name: reset_type
     values: ["NEVER", "FIRST_ARM", "EACH_ARM"]
   - name: nav_user_control_mode
     values: ["ATTI", "CRUISE"]
@@ -1079,7 +1079,10 @@ groups:
         type: bool
       - name: inav_reset_altitude
         field: reset_altitude_type
-        table: reset_altitude
+        table: reset_type
+      - name: inav_reset_home
+        field: reset_home_type
+        table: reset_type
       - name: inav_max_surface_altitude
         field: max_surface_altitude
         min: 0

src/main/navigation/navigation.c

@@ -1714,6 +1714,8 @@ void setHomePosition(const fpVector3_t * pos, int32_t yaw, navSetWaypointFlags_t
     posControl.homeDistance = 0;
     posControl.homeDirection = 0;
 
+    posControl.flags.isHomeValid = true;
+
     // Update target RTH altitude as a waypoint above home
     posControl.homeWaypointAbove = posControl.homePosition;
     updateDesiredRTHAltitude();
@@ -1729,8 +1731,21 @@ void updateHomePosition(void)
 {
     // Disarmed and have a valid position, constantly update home
     if (!ARMING_FLAG(ARMED)) {
-        if ((posControl.flags.estPosStatue >= EST_USABLE)) {
-            setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING );
+        if (posControl.flags.estPosStatue >= EST_USABLE) {
+            bool setHome = !posControl.flags.isHomeValid;
+            switch ((nav_reset_type_e)positionEstimationConfig()->reset_home_type) {
+                case NAV_RESET_NEVER:
+                    break;
+                case NAV_RESET_ON_FIRST_ARM:
+                    setHome |= !ARMING_FLAG(WAS_EVER_ARMED);
+                    break;
+                case NAV_RESET_ON_EACH_ARM:
+                    setHome = true;
+                    break;
+            }
+            if (setHome) {
+                setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
+            }
         }
     }
     else {

src/main/navigation/navigation.h

@@ -62,11 +62,11 @@ enum {
     NAV_HEADING_CONTROL_MANUAL
 };
 
-enum {
-    NAV_RESET_ALTITUDE_NEVER = 0,
-    NAV_RESET_ALTITUDE_ON_FIRST_ARM,
-    NAV_RESET_ALTITUDE_ON_EACH_ARM,
-};
+typedef enum {
+    NAV_RESET_NEVER = 0,
+    NAV_RESET_ON_FIRST_ARM,
+    NAV_RESET_ON_EACH_ARM,
+} nav_reset_type_e;
 
 typedef enum {
     NAV_RTH_ALLOW_LANDING_NEVER = 0,
@@ -76,7 +76,8 @@ typedef enum {
 
 typedef struct positionEstimationConfig_s {
     uint8_t automatic_mag_declination;
-    uint8_t reset_altitude_type;
+    uint8_t reset_altitude_type; // from nav_reset_type_e
+    uint8_t reset_home_type; // nav_reset_type_e
     uint8_t gravity_calibration_tolerance;    // Tolerance of gravity calibration (cm/s/s)
     uint8_t use_gps_velned;
 

src/main/navigation/navigation_pos_estimator.c

@@ -177,12 +177,13 @@ typedef struct {
 
 static navigationPosEstimator_t posEstimator;
 
-PG_REGISTER_WITH_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, PG_POSITION_ESTIMATION_CONFIG, 2);
+PG_REGISTER_WITH_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, PG_POSITION_ESTIMATION_CONFIG, 3);
 
 PG_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig,
         // Inertial position estimator parameters
         .automatic_mag_declination = 1,
-        .reset_altitude_type = NAV_RESET_ALTITUDE_ON_FIRST_ARM,
+        .reset_altitude_type = NAV_RESET_ON_FIRST_ARM,
+        .reset_home_type = NAV_RESET_ON_EACH_ARM,
         .gravity_calibration_tolerance = 5,     // 5 cm/s/s calibration error accepted (0.5% of gravity)
         .use_gps_velned = 1,         // "Disabled" is mandatory with gps_dyn_model = Pedestrian
 
@@ -243,12 +244,12 @@ static bool updateTimer(navigationTimer_t * tim, timeUs_t interval, timeUs_t cur
 
 static bool shouldResetReferenceAltitude(void)
 {
-    switch (positionEstimationConfig()->reset_altitude_type) {
-        case NAV_RESET_ALTITUDE_NEVER:
+    switch ((nav_reset_type_e)positionEstimationConfig()->reset_altitude_type) {
+        case NAV_RESET_NEVER:
             return false;
-        case NAV_RESET_ALTITUDE_ON_FIRST_ARM:
+        case NAV_RESET_ON_FIRST_ARM:
             return !ARMING_FLAG(ARMED) && !ARMING_FLAG(WAS_EVER_ARMED);
-        case NAV_RESET_ALTITUDE_ON_EACH_ARM:
+        case NAV_RESET_ON_EACH_ARM:
             return !ARMING_FLAG(ARMED);
     }
 

src/main/navigation/navigation_private.h

@@ -85,6 +85,8 @@ typedef struct navigationFlags_s {
     bool isTerrainFollowEnabled;            // Does iNav use rangefinder for terrain following (adjusting baro altitude target according to rangefinders readings)
 
     bool forcedRTHActivated;
+
+    bool isHomeValid;
 } navigationFlags_t;
 
 typedef struct {