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Fix ANGLE mode and HORIZON mode resetting the errorAngle when they are

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both attempted to be enabled at the same time.  Angle mode now takes
precedence over horizon mode.

Fix using aux settings that are not applicable to in-use aux channels -
prior to this it was possible to configure aux4 and then switch to
RX_SERIAL using a 7 channel system (3 aux channels) and aux4 would still
have been processed.
This commit is contained in:
Dominic Clifton 2014-08-26 21:28:23 +01:00
parent d15b56f14e
commit 1c6ea1d397
9 changed files with 97 additions and 68 deletions
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41
src/main/io/rc_controls.c
View file

@ -43,6 +43,15 @@
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
// each entry in the array is a bitmask, 3 bits per aux channel (only aux 1 to 4), aux1 is first, each bit corresponds to an rc channel reading
// bit 1 - stick LOW
// bit 2 - stick MIDDLE
// bit 3 - stick HIGH
// an option is enabled when ANY channel has an appropriate reading corresponding to the bit.
// an option is disabled when NO channel has an appropriate reading corresponding to the bit.
// example: 110000000001 - option is only enabled when AUX1 is LOW or AUX4 is MEDIUM or HIGH.
uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
bool areSticksInApModePosition(uint16_t ap_mode)
{
return abs(rcCommand[ROLL]) < ap_mode && abs(rcCommand[PITCH]) < ap_mode;
@ -210,3 +219,35 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
return;
}
}
#define MAX_AUX_STATE_CHANNELS 8
void updateRcOptions(uint32_t *activate)
{
// Check AUX switches
// auxState is a bitmask, 3 bits per channel. aux1 is first.
// lower 16 bits contain aux 1 to 4, upper 16 bits contain aux 5 to 8
//
// the three bits are as follows:
// bit 1 is SET when the stick is less than 1300
// bit 2 is SET when the stick is between 1300 and 1700
// bit 3 is SET when the stick is above 1700
// if the value is 1300 or 1700 NONE of the three bits are set.
int i;
uint32_t auxState = 0;
for (i = 0; i < rxRuntimeConfig.auxChannelCount && i < MAX_AUX_STATE_CHANNELS; i++) {
uint32_t temp = (rcData[AUX1 + i] < 1300) << (3 * i) |
(1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (3 * i + 1) |
(rcData[AUX1 + i] > 1700) << (3 * i + 2);
if (i >= 4 && i < 8) {
temp <<= 16;
}
auxState |= temp;
}
for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
rcOptions[i] = (auxState & activate[i]) > 0;
}