max speed filter m/s setting, when exceeded causes tracking to stop until reboot

[AlexC176]

Another field test and I've replicated a problem with the "max speed filter m/s" on SPRACINGF3 RC1-11.1.0. On previous test flights with the value set to 40m/s I completely lost the tracking function.

Steps to replicate 1) set the value to walking speed 4m/s. The tracker will track perfectly while you circle outside of the start tracking distance (m) at a steady walk. Then perform a fast sprint past the tracker to exceed the 4m/s threshold. The tracker will freeze and no longer track the target until powered off. I have zero the max speed filter m/s to 0 to avoid this bug.

File Main.c , function void updateTargetPosition(void)

if(masterConfig.max_speed_filter == 0 || targetCurrent.speed < masterConfig.max_speed_filter) {
epsVectorLoad(&targetCurrent,targetPosition.lat,targetPosition.lon,currentDistance,targetLast.time,currentTimeMillis);//epsVectorSpeed(targetLast.time,currentTimeMillis,currentDistance);

Once the max speed threshold is exceeded
epsVectorLoad(&targetCurrent,targetPosition.lat,targetPosition.lon,currentDistance,targetLast.time,currentTimeMillis);//epsVectorSpeed(targetLast.time,currentTimeMillis,currentDistance);

Is never updated with current state values and the subsequent function call epsVectorCurrentToLast(&targetCurrent,&targetLast) copies the identical values from targetCurrent to targetLast every call.

I think the fix is to update the filter if {} statement to the following ; you have already calculated the currentSpeed.

if(masterConfig.max_speed_filter == 0 || currentSpeed < masterConfig.max_speed_filter) {
epsVectorLoad(&targetCurrent,targetPosition.lat,targetPosition.lon,currentDistance,targetLast.time,currentTimeMillis);//epsVectorSpeed(targetLast.time,currentTimeMillis,currentDistance);

[raul-ortega]

I've updated development including this fix. This will be published in stable version 11.3.0.

Commit 82f7264