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Prearm MSP Enable Fix

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Added PREARM to rcMode dependant enables.
Fixes Issue #4756
Added other rcMode dependant BOX* enables.
Reordered copy mask, too.
Made ARMED check a block
Added note about flight and arm modes
This commit is contained in:
Dave Huber 2017-12-15 00:03:03 -06:00 • committed by U-JGI\dhuber
parent a0f6d10b72
commit 2526b1ab80
1 changed files with 38 additions and 10 deletions
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48
src/main/interface/msp_box.c
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@ -281,12 +281,17 @@ int packFlightModeFlags(boxBitmask_t *mspFlightModeFlags)
boxBitmask_t boxEnabledMask;
memset(&boxEnabledMask, 0, sizeof(boxEnabledMask));
// copy ARM state
if (ARMING_FLAG(ARMED)) {
bitArraySet(&boxEnabledMask, BOXARM);
}
// enable BOXes dependent on FLIGHT_MODE, use mapping table (from runtime_config.h)
// flightMode_boxId_map[HORIZON_MODE] == BOXHORIZON
static const int8_t flightMode_boxId_map[] = FLIGHT_MODE_BOXID_MAP_INITIALIZER;
flightModeFlags_e flightModeCopyMask = ~0; // only modes with bit set will be copied
for (unsigned i = 0; i < ARRAYLEN(flightMode_boxId_map); i++) {
if (flightMode_boxId_map[i] != -1 // boxId_e does exist for this FLIGHT_MODE
if (flightMode_boxId_map[i] != -1 // boxId_e does exist for this FLIGHT_MODE
&& (flightModeCopyMask & (1 << i)) // this flightmode is copy is enabled
&& FLIGHT_MODE(1 << i)) { // this flightmode is active
bitArraySet(&boxEnabledMask, flightMode_boxId_map[i]);
@ -294,14 +299,40 @@ int packFlightModeFlags(boxBitmask_t *mspFlightModeFlags)
}
// enable BOXes dependent on rcMode bits, indexes are the same.
// only subset of BOXes depend on rcMode, use mask to select them
// only subset of BOXes depend on rcMode (non-ARM or FLIGHT_MODE), use mask to select them
// NOTE: ARM and FLIGHT modes are potentially contingent on other conditions.
// Therefore, they must be masked/enabled separately from simple "range conditions" (RC)
#define BM(x) (1ULL << (x))
// limited to 64 BOXes now to keep code simple
const uint64_t rcModeCopyMask = BM(BOXHEADADJ) | BM(BOXCAMSTAB) | BM(BOXCAMTRIG) | BM(BOXBEEPERON)
| BM(BOXLEDMAX) | BM(BOXLEDLOW) | BM(BOXLLIGHTS) | BM(BOXCALIB) | BM(BOXGOV) | BM(BOXOSD)
| BM(BOXTELEMETRY) | BM(BOXGTUNE) | BM(BOXBLACKBOX) | BM(BOXBLACKBOXERASE) | BM(BOXAIRMODE)
| BM(BOXANTIGRAVITY) | BM(BOXFPVANGLEMIX) | BM(BOXFLIPOVERAFTERCRASH) | BM(BOX3DDISABLE)
| BM(BOXBEEPGPSCOUNT) | BM(BOXVTXPITMODE);
const uint64_t rcModeCopyMask = BM(BOXANTIGRAVITY)
| BM(BOXHEADADJ)
| BM(BOXCAMSTAB)
| BM(BOXCAMTRIG)
| BM(BOXBEEPERON)
| BM(BOXLEDMAX)
| BM(BOXLEDLOW)
| BM(BOXLLIGHTS)
| BM(BOXCALIB)
| BM(BOXGOV)
| BM(BOXOSD)
| BM(BOXTELEMETRY)
| BM(BOXGTUNE)
| BM(BOXSERVO1)
| BM(BOXSERVO2)
| BM(BOXSERVO3)
| BM(BOXBLACKBOX)
| BM(BOXAIRMODE)
| BM(BOX3DDISABLE)
| BM(BOXFPVANGLEMIX)
| BM(BOXBLACKBOXERASE)
| BM(BOXCAMERA1)
| BM(BOXCAMERA2)
| BM(BOXCAMERA3)
| BM(BOXFLIPOVERAFTERCRASH)
| BM(BOXPREARM)
| BM(BOXBEEPGPSCOUNT)
| BM(BOX3DONASWITCH)
| BM(BOXVTXPITMODE);
STATIC_ASSERT(sizeof(rcModeCopyMask) * 8 >= CHECKBOX_ITEM_COUNT, copy_mask_too_small_for_boxes);
for (unsigned i = 0; i < CHECKBOX_ITEM_COUNT; i++) {
if ((rcModeCopyMask & BM(i)) // mode copy is enabled
@ -310,9 +341,6 @@ int packFlightModeFlags(boxBitmask_t *mspFlightModeFlags)
}
}
#undef BM
// copy ARM state
if (ARMING_FLAG(ARMED))
bitArraySet(&boxEnabledMask, BOXARM);
// map boxId_e enabled bits to MSP status indexes
// only active boxIds are sent in status over MSP, other bits are not counted