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

* Update external defines for ALT / POS HOLD * Update unit test define
2025-07-13 11:29:58 +03:00 · 2024-12-08 16:23:38 +01:00 · 2024-12-08 16:23:38 +01:00 · 2426f43502
commit 2426f43502
parent b5ab83b3bc
21 changed files with 39 additions and 39 deletions
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@ -1815,12 +1815,12 @@ static bool blackboxWriteSysinfo(void)
 #endif // USE_GPS_RESCUE
 #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_DEADBAND,    "%d", altHoldConfig()->alt_hold_deadband);
 #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_DEADBAND,    "%d", posHoldConfig()->pos_hold_deadband);
 #endif
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@ -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) },
    { "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_DEADBAND,          VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 70 },  PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_deadband) },
 #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_DEADBAND,    VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_deadband) },
 #endif
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@ -1016,10 +1016,10 @@ void processRxModes(timeUs_t currentTimeUs)
    bool canUseHorizonMode = true;
    if ((IS_RC_MODE_ACTIVE(BOXANGLE)
        || failsafeIsActive()
-#ifdef USE_ALT_HOLD_MODE
+#ifdef USE_ALTITUDE_HOLD
        || FLIGHT_MODE(ALT_HOLD_MODE)
 #endif
-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD
        || FLIGHT_MODE(POS_HOLD_MODE)
 #endif
        ) && (sensors(SENSOR_ACC))) {
@ -1033,7 +1033,7 @@ void processRxModes(timeUs_t currentTimeUs)
        DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
    }

-#ifdef USE_ALT_HOLD_MODE
+#ifdef USE_ALTITUDE_HOLD
    // only if armed; can coexist with position hold
    if (ARMING_FLAG(ARMED) 
        // and not in GPS_RESCUE_MODE, to give it priority over Altitude Hold
@ -1054,7 +1054,7 @@ void processRxModes(timeUs_t currentTimeUs)
    }
 #endif

-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD
    // only if armed; can coexist with altitude hold
    if (ARMING_FLAG(ARMED) 
        // and not in GPS_RESCUE_MODE, to give it priority over Position Hold
--- a/src/main/fc/init.c
+++ b/src/main/fc/init.c
@ -1009,11 +1009,11 @@ void init(void)
 #endif

 // autopilot must be initialised before modes that require the autopilot pids
-#ifdef USE_ALT_HOLD_MODE
+#ifdef USE_ALTITUDE_HOLD
    altHoldInit();
 #endif

-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD
    posHoldInit();
 #endif

--- a/src/main/fc/parameter_names.h
+++ b/src/main/fc/parameter_names.h
@ -247,12 +247,12 @@

 #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_THROTTLE_RESPONSE "alt_hold_throttle_response"
 #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_DEADBAND "pos_hold_deadband"
 #endif
--- a/src/main/fc/tasks.c
+++ b/src/main/fc/tasks.c
@ -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),
 #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),
 #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),
 #endif

@ -544,11 +544,11 @@ void tasksInit(void)
    setTaskEnabled(TASK_GPS_RESCUE, featureIsEnabled(FEATURE_GPS));
 #endif

-#ifdef USE_ALT_HOLD_MODE
+#ifdef USE_ALTITUDE_HOLD
    setTaskEnabled(TASK_ALTHOLD, sensors(SENSOR_BARO) || featureIsEnabled(FEATURE_GPS));
 #endif

-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD
    setTaskEnabled(TASK_POSHOLD, featureIsEnabled(FEATURE_GPS));
 #endif

--- a/src/main/flight/alt_hold.c
+++ b/src/main/flight/alt_hold.c
@ -18,7 +18,7 @@
 #include "platform.h"
 #include "math.h"

-#ifdef USE_ALT_HOLD_MODE
+#ifdef USE_ALTITUDE_HOLD

 #include "build/debug.h"
 #include "common/maths.h"
--- a/src/main/flight/alt_hold.h
+++ b/src/main/flight/alt_hold.h
@ -19,7 +19,7 @@

 #include "pg/alt_hold.h"

-#ifdef USE_ALT_HOLD_MODE
+#ifdef USE_ALTITUDE_HOLD
 #include "common/time.h"

 #define ALTHOLD_TASK_RATE_HZ 100         // hz
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@ -798,7 +798,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
    }
 #endif

-#ifdef USE_ALT_HOLD_MODE
+#ifdef USE_ALTITUDE_HOLD
    // Throttle value to be used during altitude hold mode (and failsafe landing mode)
    if (FLIGHT_MODE(ALT_HOLD_MODE)) {
        throttle = getAutopilotThrottle();
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@ -570,7 +570,7 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
 #ifdef USE_GPS_RESCUE
    angleTarget += gpsRescueAngle[axis] / 100.0f; // Angle is in centidegrees, stepped on roll at 10Hz but not on pitch
 #endif
-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD
    if (FLIGHT_MODE(POS_HOLD_MODE)) {
        angleFeedforward = 0.0f; // otherwise the lag of the PT3 carries recent stick inputs into the hold
        if (isAutopilotInControl()) {
@ -942,7 +942,7 @@ static FAST_CODE_NOINLINE void disarmOnImpact(void)
    if (wasThrottleRaised()
        // and, either sticks are centred and throttle zeroed,
        && ((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
            || FLIGHT_MODE(ALT_HOLD_MODE)
 #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
        // for more reliable disarm with gentle controlled landings
        float lowAltitudeSensitivity = 1.0f;
-#ifdef USE_ALT_HOLD_MODE
+#ifdef USE_ALTITUDE_HOLD
        lowAltitudeSensitivity = (FLIGHT_MODE(ALT_HOLD_MODE) && isBelowLandingAltitude()) ? 1.5f : 1.0f;
 #endif
        // 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;

    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
 #endif
-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD
                || FLIGHT_MODE(POS_HOLD_MODE) 
 #endif
                ;
--- a/src/main/flight/pos_hold.c
+++ b/src/main/flight/pos_hold.c
@ -17,7 +17,7 @@

 #include "platform.h"

-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD

 #include "math.h"
 #include "build/debug.h"
--- a/src/main/flight/pos_hold.h
+++ b/src/main/flight/pos_hold.h
@ -19,7 +19,7 @@

 // #include "pg/pos_hold.h"

-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD
 #include "common/time.h"
 #include "io/gps.h"

--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@ -1805,7 +1805,7 @@ case MSP_NAME:
    case MSP_RC_DEADBAND:
        sbufWriteU8(dst, rcControlsConfig()->deadband);
        sbufWriteU8(dst, rcControlsConfig()->yaw_deadband);
-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD
        sbufWriteU8(dst, posHoldConfig()->pos_hold_deadband);
 #else
        sbufWriteU8(dst, 0);
@ -2965,7 +2965,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
    case MSP_SET_RC_DEADBAND:
        rcControlsConfigMutable()->deadband = sbufReadU8(src);
        rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD
        posHoldConfigMutable()->pos_hold_deadband = sbufReadU8(src);
 #else
        sbufReadU8(src);
--- a/src/main/msp/msp_box.c
+++ b/src/main/msp/msp_box.c
@ -221,10 +221,10 @@ void initActiveBoxIds(void)
    if (sensors(SENSOR_ACC)) {
        BME(BOXANGLE);
        BME(BOXHORIZON);
-#ifdef USE_ALT_HOLD_MODE
+#ifdef USE_ALTITUDE_HOLD
        BME(BOXALTHOLD);
 #endif
-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD
        BME(BOXPOSHOLD);
 #endif
        BME(BOXHEADFREE);
--- a/src/main/msp/msp_build_info.c
+++ b/src/main/msp/msp_build_info.c
@ -101,7 +101,7 @@ void sbufWriteBuildInfoFlags(sbuf_t *dst)
 #ifdef USE_AKK_SMARTAUDIO
        BUILD_OPTION_AKK_SMARTAUDIO,
 #endif
-#ifdef USE_ALT_HOLD_MODE
+#ifdef USE_ALTITUDE_HOLD
        BUILD_OPTION_ALT_HOLD_MODE,
 #endif
 #ifdef USE_BATTERY_CONTINUE
--- a/src/main/osd/osd_warnings.c
+++ b/src/main/osd/osd_warnings.c
@ -249,7 +249,7 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)

 #endif // USE_GPS_RESCUE

-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD
    if (osdWarnGetState(OSD_WARNING_POSHOLD_FAILED) && posHoldFailure()) {
        tfp_sprintf(warningText, "POSHOLD FAIL");
        *displayAttr = DISPLAYPORT_SEVERITY_WARNING;
--- a/src/main/pg/alt_hold.c
+++ b/src/main/pg/alt_hold.c
@ -21,7 +21,7 @@

 #include "platform.h"

-#ifdef USE_ALT_HOLD_MODE
+#ifdef USE_ALTITUDE_HOLD

 #include "flight/alt_hold.h"

--- a/src/main/pg/pos_hold.c
+++ b/src/main/pg/pos_hold.c
@ -21,7 +21,7 @@

 #include "platform.h"

-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD

 #include "flight/pos_hold.h"

--- a/src/main/scheduler/scheduler.h
+++ b/src/main/scheduler/scheduler.h
@ -119,10 +119,10 @@ typedef enum {
 #ifdef USE_GPS_RESCUE
    TASK_GPS_RESCUE,
 #endif
-#ifdef USE_ALT_HOLD_MODE
+#ifdef USE_ALTITUDE_HOLD
    TASK_ALTHOLD,
 #endif
-#ifdef USE_POS_HOLD_MODE
+#ifdef USE_POSITION_HOLD
    TASK_POSHOLD,
 #endif
 #ifdef USE_MAG
--- a/src/main/target/common_pre.h
+++ b/src/main/target/common_pre.h
@ -245,8 +245,8 @@
 #define USE_EMFAT_AUTORUN
 #define USE_EMFAT_ICON
 #define USE_ESCSERIAL_SIMONK
-#define USE_ALT_HOLD_MODE
-#define USE_POS_HOLD_MODE
+#define USE_ALTITUDE_HOLD
+#define USE_POSITION_HOLD

 #if !defined(USE_GPS)
 #define USE_GPS
--- a/src/test/Makefile
+++ b/src/test/Makefile
@ -45,7 +45,7 @@ althold_unittest_SRC := \
 		$(USER_DIR)/pg/rx.c

 althold_unittest_DEFINES := \
-		USE_ALT_HOLD_MODE= \
+		USE_ALTITUDE_HOLD= \

 arming_prevention_unittest_SRC := \
 		$(USER_DIR)/common/bitarray.c \