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Update external defines for ALT / POS HOLD (#14069)

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* Update external defines for ALT / POS HOLD

* Update unit test define
This commit is contained in:
Mark Haslinghuis 2024-12-08 16:23:38 +01:00 • committed by GitHub
parent b5ab83b3bc
commit 2426f43502
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GPG key ID: B5690EEEBB952194
21 changed files with 39 additions and 39 deletions
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4
src/main/blackbox/blackbox.c
View file

@ -1815,12 +1815,12 @@ static bool blackboxWriteSysinfo(void)
#endif // USE_GPS_RESCUE #endif // USE_GPS_RESCUE
#endif // USE_GPS #endif // USE_GPS
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE, "%d", altHoldConfig()->alt_hold_adjust_rate); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE, "%d", altHoldConfig()->alt_hold_adjust_rate);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_DEADBAND, "%d", altHoldConfig()->alt_hold_deadband); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_DEADBAND, "%d", altHoldConfig()->alt_hold_deadband);
#endif #endif
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_WITHOUT_MAG, "%d", posHoldConfig()->pos_hold_without_mag); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_WITHOUT_MAG, "%d", posHoldConfig()->pos_hold_without_mag);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_DEADBAND, "%d", posHoldConfig()->pos_hold_deadband); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_DEADBAND, "%d", posHoldConfig()->pos_hold_deadband);
#endif #endif

4
src/main/cli/settings.c
View file

@ -1108,12 +1108,12 @@ const clivalue_t valueTable[] = {
{ PARAM_NAME_YAW_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_deadband) }, { PARAM_NAME_YAW_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_deadband) },
{ "yaw_control_reversed", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_control_reversed) }, { "yaw_control_reversed", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_control_reversed) },
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
{ PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_adjust_rate) }, { PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_adjust_rate) },
{ PARAM_NAME_ALT_HOLD_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 70 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_deadband) }, { PARAM_NAME_ALT_HOLD_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 70 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_deadband) },
#endif #endif
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
{ PARAM_NAME_POS_HOLD_WITHOUT_MAG, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_without_mag) }, { PARAM_NAME_POS_HOLD_WITHOUT_MAG, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_without_mag) },
{ PARAM_NAME_POS_HOLD_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_deadband) }, { PARAM_NAME_POS_HOLD_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_deadband) },
#endif #endif

8
src/main/fc/core.c
View file

@ -1016,10 +1016,10 @@ void processRxModes(timeUs_t currentTimeUs)
bool canUseHorizonMode = true; bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) if ((IS_RC_MODE_ACTIVE(BOXANGLE)
|| failsafeIsActive() || failsafeIsActive()
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
|| FLIGHT_MODE(ALT_HOLD_MODE) || FLIGHT_MODE(ALT_HOLD_MODE)
#endif #endif
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
|| FLIGHT_MODE(POS_HOLD_MODE) || FLIGHT_MODE(POS_HOLD_MODE)
#endif #endif
) && (sensors(SENSOR_ACC))) { ) && (sensors(SENSOR_ACC))) {
@ -1033,7 +1033,7 @@ void processRxModes(timeUs_t currentTimeUs)
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
} }
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
// only if armed; can coexist with position hold // only if armed; can coexist with position hold
if (ARMING_FLAG(ARMED) if (ARMING_FLAG(ARMED)
// and not in GPS_RESCUE_MODE, to give it priority over Altitude Hold // and not in GPS_RESCUE_MODE, to give it priority over Altitude Hold
@ -1054,7 +1054,7 @@ void processRxModes(timeUs_t currentTimeUs)
} }
#endif #endif
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
// only if armed; can coexist with altitude hold // only if armed; can coexist with altitude hold
if (ARMING_FLAG(ARMED) if (ARMING_FLAG(ARMED)
// and not in GPS_RESCUE_MODE, to give it priority over Position Hold // and not in GPS_RESCUE_MODE, to give it priority over Position Hold

4
src/main/fc/init.c
View file

@ -1009,11 +1009,11 @@ void init(void)
#endif #endif
// autopilot must be initialised before modes that require the autopilot pids // autopilot must be initialised before modes that require the autopilot pids
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
altHoldInit(); altHoldInit();
#endif #endif
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
posHoldInit(); posHoldInit();
#endif #endif

4
src/main/fc/parameter_names.h
View file

@ -247,12 +247,12 @@
#endif // USE_GPS #endif // USE_GPS
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
#define PARAM_NAME_ALT_HOLD_DEADBAND "alt_hold_deadband" #define PARAM_NAME_ALT_HOLD_DEADBAND "alt_hold_deadband"
#define PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE "alt_hold_throttle_response" #define PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE "alt_hold_throttle_response"
#endif #endif
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
#define PARAM_NAME_POS_HOLD_WITHOUT_MAG "pos_hold_without_mag" #define PARAM_NAME_POS_HOLD_WITHOUT_MAG "pos_hold_without_mag"
#define PARAM_NAME_POS_HOLD_DEADBAND "pos_hold_deadband" #define PARAM_NAME_POS_HOLD_DEADBAND "pos_hold_deadband"
#endif #endif

8
src/main/fc/tasks.c
View file

@ -378,11 +378,11 @@ task_attribute_t task_attributes[TASK_COUNT] = {
[TASK_GPS_RESCUE] = DEFINE_TASK("GPS_RESCUE", NULL, NULL, taskGpsRescue, TASK_PERIOD_HZ(TASK_GPS_RESCUE_RATE_HZ), TASK_PRIORITY_MEDIUM), [TASK_GPS_RESCUE] = DEFINE_TASK("GPS_RESCUE", NULL, NULL, taskGpsRescue, TASK_PERIOD_HZ(TASK_GPS_RESCUE_RATE_HZ), TASK_PRIORITY_MEDIUM),
#endif #endif
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
[TASK_ALTHOLD] = DEFINE_TASK("ALTHOLD", NULL, NULL, updateAltHold, TASK_PERIOD_HZ(ALTHOLD_TASK_RATE_HZ), TASK_PRIORITY_LOW), [TASK_ALTHOLD] = DEFINE_TASK("ALTHOLD", NULL, NULL, updateAltHold, TASK_PERIOD_HZ(ALTHOLD_TASK_RATE_HZ), TASK_PRIORITY_LOW),
#endif #endif
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
[TASK_POSHOLD] = DEFINE_TASK("POSHOLD", NULL, NULL, updatePosHold, TASK_PERIOD_HZ(POSHOLD_TASK_RATE_HZ), TASK_PRIORITY_LOW), [TASK_POSHOLD] = DEFINE_TASK("POSHOLD", NULL, NULL, updatePosHold, TASK_PERIOD_HZ(POSHOLD_TASK_RATE_HZ), TASK_PRIORITY_LOW),
#endif #endif
@ -544,11 +544,11 @@ void tasksInit(void)
setTaskEnabled(TASK_GPS_RESCUE, featureIsEnabled(FEATURE_GPS)); setTaskEnabled(TASK_GPS_RESCUE, featureIsEnabled(FEATURE_GPS));
#endif #endif
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
setTaskEnabled(TASK_ALTHOLD, sensors(SENSOR_BARO) || featureIsEnabled(FEATURE_GPS)); setTaskEnabled(TASK_ALTHOLD, sensors(SENSOR_BARO) || featureIsEnabled(FEATURE_GPS));
#endif #endif
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
setTaskEnabled(TASK_POSHOLD, featureIsEnabled(FEATURE_GPS)); setTaskEnabled(TASK_POSHOLD, featureIsEnabled(FEATURE_GPS));
#endif #endif

2
src/main/flight/alt_hold.c
View file

@ -18,7 +18,7 @@
#include "platform.h" #include "platform.h"
#include "math.h" #include "math.h"
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
#include "build/debug.h" #include "build/debug.h"
#include "common/maths.h" #include "common/maths.h"

2
src/main/flight/alt_hold.h
View file

@ -19,7 +19,7 @@
#include "pg/alt_hold.h" #include "pg/alt_hold.h"
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
#include "common/time.h" #include "common/time.h"
#define ALTHOLD_TASK_RATE_HZ 100 // hz #define ALTHOLD_TASK_RATE_HZ 100 // hz

2
src/main/flight/mixer.c
View file

@ -798,7 +798,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
} }
#endif #endif
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
// Throttle value to be used during altitude hold mode (and failsafe landing mode) // Throttle value to be used during altitude hold mode (and failsafe landing mode)
if (FLIGHT_MODE(ALT_HOLD_MODE)) { if (FLIGHT_MODE(ALT_HOLD_MODE)) {
throttle = getAutopilotThrottle(); throttle = getAutopilotThrottle();

10
src/main/flight/pid.c
View file

@ -570,7 +570,7 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
#ifdef USE_GPS_RESCUE #ifdef USE_GPS_RESCUE
angleTarget += gpsRescueAngle[axis] / 100.0f; // Angle is in centidegrees, stepped on roll at 10Hz but not on pitch angleTarget += gpsRescueAngle[axis] / 100.0f; // Angle is in centidegrees, stepped on roll at 10Hz but not on pitch
#endif #endif
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
if (FLIGHT_MODE(POS_HOLD_MODE)) { if (FLIGHT_MODE(POS_HOLD_MODE)) {
angleFeedforward = 0.0f; // otherwise the lag of the PT3 carries recent stick inputs into the hold angleFeedforward = 0.0f; // otherwise the lag of the PT3 carries recent stick inputs into the hold
if (isAutopilotInControl()) { if (isAutopilotInControl()) {
@ -942,7 +942,7 @@ static FAST_CODE_NOINLINE void disarmOnImpact(void)
if (wasThrottleRaised() if (wasThrottleRaised()
// and, either sticks are centred and throttle zeroed, // and, either sticks are centred and throttle zeroed,
&& ((getMaxRcDeflectionAbs() < 0.05f && mixerGetRcThrottle() < 0.05f) && ((getMaxRcDeflectionAbs() < 0.05f && mixerGetRcThrottle() < 0.05f)
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
// or, in altitude hold mode, where throttle can be non-zero // or, in altitude hold mode, where throttle can be non-zero
|| FLIGHT_MODE(ALT_HOLD_MODE) || FLIGHT_MODE(ALT_HOLD_MODE)
#endif #endif
@ -950,7 +950,7 @@ static FAST_CODE_NOINLINE void disarmOnImpact(void)
// increase sensitivity by 50% when low and in altitude hold or failsafe landing // increase sensitivity by 50% when low and in altitude hold or failsafe landing
// for more reliable disarm with gentle controlled landings // for more reliable disarm with gentle controlled landings
float lowAltitudeSensitivity = 1.0f; float lowAltitudeSensitivity = 1.0f;
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
lowAltitudeSensitivity = (FLIGHT_MODE(ALT_HOLD_MODE) && isBelowLandingAltitude()) ? 1.5f : 1.0f; lowAltitudeSensitivity = (FLIGHT_MODE(ALT_HOLD_MODE) && isBelowLandingAltitude()) ? 1.5f : 1.0f;
#endif #endif
// and disarm if jerk exceeds threshold... // and disarm if jerk exceeds threshold...
@ -1123,10 +1123,10 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
float horizonLevelStrength = 0.0f; float horizonLevelStrength = 0.0f;
const bool isExternalAngleModeRequest = FLIGHT_MODE(GPS_RESCUE_MODE) const bool isExternalAngleModeRequest = FLIGHT_MODE(GPS_RESCUE_MODE)
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
|| FLIGHT_MODE(ALT_HOLD_MODE) // todo - check if this is needed || FLIGHT_MODE(ALT_HOLD_MODE) // todo - check if this is needed
#endif #endif
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
|| FLIGHT_MODE(POS_HOLD_MODE) || FLIGHT_MODE(POS_HOLD_MODE)
#endif #endif
; ;

2
src/main/flight/pos_hold.c
View file

@ -17,7 +17,7 @@
#include "platform.h" #include "platform.h"
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
#include "math.h" #include "math.h"
#include "build/debug.h" #include "build/debug.h"

2
src/main/flight/pos_hold.h
View file

@ -19,7 +19,7 @@
// #include "pg/pos_hold.h" // #include "pg/pos_hold.h"
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
#include "common/time.h" #include "common/time.h"
#include "io/gps.h" #include "io/gps.h"

4
src/main/msp/msp.c
View file

@ -1805,7 +1805,7 @@ case MSP_NAME:
case MSP_RC_DEADBAND: case MSP_RC_DEADBAND:
sbufWriteU8(dst, rcControlsConfig()->deadband); sbufWriteU8(dst, rcControlsConfig()->deadband);
sbufWriteU8(dst, rcControlsConfig()->yaw_deadband); sbufWriteU8(dst, rcControlsConfig()->yaw_deadband);
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
sbufWriteU8(dst, posHoldConfig()->pos_hold_deadband); sbufWriteU8(dst, posHoldConfig()->pos_hold_deadband);
#else #else
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
@ -2965,7 +2965,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
case MSP_SET_RC_DEADBAND: case MSP_SET_RC_DEADBAND:
rcControlsConfigMutable()->deadband = sbufReadU8(src); rcControlsConfigMutable()->deadband = sbufReadU8(src);
rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src); rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
posHoldConfigMutable()->pos_hold_deadband = sbufReadU8(src); posHoldConfigMutable()->pos_hold_deadband = sbufReadU8(src);
#else #else
sbufReadU8(src); sbufReadU8(src);

4
src/main/msp/msp_box.c
View file

@ -221,10 +221,10 @@ void initActiveBoxIds(void)
if (sensors(SENSOR_ACC)) { if (sensors(SENSOR_ACC)) {
BME(BOXANGLE); BME(BOXANGLE);
BME(BOXHORIZON); BME(BOXHORIZON);
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
BME(BOXALTHOLD); BME(BOXALTHOLD);
#endif #endif
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
BME(BOXPOSHOLD); BME(BOXPOSHOLD);
#endif #endif
BME(BOXHEADFREE); BME(BOXHEADFREE);

2
src/main/msp/msp_build_info.c
View file

@ -101,7 +101,7 @@ void sbufWriteBuildInfoFlags(sbuf_t *dst)
#ifdef USE_AKK_SMARTAUDIO #ifdef USE_AKK_SMARTAUDIO
BUILD_OPTION_AKK_SMARTAUDIO, BUILD_OPTION_AKK_SMARTAUDIO,
#endif #endif
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
BUILD_OPTION_ALT_HOLD_MODE, BUILD_OPTION_ALT_HOLD_MODE,
#endif #endif
#ifdef USE_BATTERY_CONTINUE #ifdef USE_BATTERY_CONTINUE

2
src/main/osd/osd_warnings.c
View file

@ -249,7 +249,7 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
#endif // USE_GPS_RESCUE #endif // USE_GPS_RESCUE
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
if (osdWarnGetState(OSD_WARNING_POSHOLD_FAILED) && posHoldFailure()) { if (osdWarnGetState(OSD_WARNING_POSHOLD_FAILED) && posHoldFailure()) {
tfp_sprintf(warningText, "POSHOLD FAIL"); tfp_sprintf(warningText, "POSHOLD FAIL");
*displayAttr = DISPLAYPORT_SEVERITY_WARNING; *displayAttr = DISPLAYPORT_SEVERITY_WARNING;

2
src/main/pg/alt_hold.c
View file

@ -21,7 +21,7 @@
#include "platform.h" #include "platform.h"
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
#include "flight/alt_hold.h" #include "flight/alt_hold.h"

2
src/main/pg/pos_hold.c
View file

@ -21,7 +21,7 @@
#include "platform.h" #include "platform.h"
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
#include "flight/pos_hold.h" #include "flight/pos_hold.h"

4
src/main/scheduler/scheduler.h
View file

@ -119,10 +119,10 @@ typedef enum {
#ifdef USE_GPS_RESCUE #ifdef USE_GPS_RESCUE
TASK_GPS_RESCUE, TASK_GPS_RESCUE,
#endif #endif
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALTITUDE_HOLD
TASK_ALTHOLD, TASK_ALTHOLD,
#endif #endif
#ifdef USE_POS_HOLD_MODE #ifdef USE_POSITION_HOLD
TASK_POSHOLD, TASK_POSHOLD,
#endif #endif
#ifdef USE_MAG #ifdef USE_MAG

4
src/main/target/common_pre.h
View file

@ -245,8 +245,8 @@
#define USE_EMFAT_AUTORUN #define USE_EMFAT_AUTORUN
#define USE_EMFAT_ICON #define USE_EMFAT_ICON
#define USE_ESCSERIAL_SIMONK #define USE_ESCSERIAL_SIMONK
#define USE_ALT_HOLD_MODE #define USE_ALTITUDE_HOLD
#define USE_POS_HOLD_MODE #define USE_POSITION_HOLD
#if !defined(USE_GPS) #if !defined(USE_GPS)
#define USE_GPS #define USE_GPS

2
src/test/Makefile
View file

@ -45,7 +45,7 @@ althold_unittest_SRC := \
$(USER_DIR)/pg/rx.c $(USER_DIR)/pg/rx.c
althold_unittest_DEFINES := \ althold_unittest_DEFINES := \
USE_ALT_HOLD_MODE= \ USE_ALTITUDE_HOLD= \
arming_prevention_unittest_SRC := \ arming_prevention_unittest_SRC := \
$(USER_DIR)/common/bitarray.c \ $(USER_DIR)/common/bitarray.c \