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Replace global flags with stateFlags, flightModeFlags and armingFlags.

Browse source 
Each flag was previously a whole byte, now all of the flags only take up
4 bytes as they are represented by bit masks.

This is cleaner because the different kind of flags are now separated.

Additionally this changes the behaviour of arming slightly.  When using
a switch to arm the aircraft will not arm unless the switch has been in
the off state once.  This prevents arming if you power the aircraft with
a low throttle and the switch in the on position.
This commit is contained in:
Dominic Clifton 2014-08-24 12:11:30 +01:00
parent 1ea014ae25
commit 3f0754d295
18 changed files with 220 additions and 164 deletions
Download patch file Download diff file Expand all files Collapse all files

16
src/main/flight/mixer.c
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@ -296,9 +296,9 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
// set flag that we're on something with wings
if (currentMixerConfiguration == MULTITYPE_FLYING_WING ||
currentMixerConfiguration == MULTITYPE_AIRPLANE)
f.FIXED_WING = 1;
ENABLE_STATE(FIXED_WING);
else
f.FIXED_WING = 0;
DISABLE_STATE(FIXED_WING);
mixerResetMotors();
}
@ -351,7 +351,7 @@ void writeServos(void)
pwmWriteServo(0, servo[5]);
} else {
// otherwise, only move servo when copter is armed
if (f.ARMED)
if (ARMING_FLAG(ARMED))
pwmWriteServo(0, servo[5]);
else
pwmWriteServo(0, 0); // kill servo signal completely.
@ -412,7 +412,7 @@ static void airplaneMixer(void)
int16_t flapperons[2] = { 0, 0 };
int i;
if (!f.ARMED)
if (!ARMING_FLAG(ARMED))
servo[7] = escAndServoConfig->mincommand; // Kill throttle when disarmed
else
servo[7] = constrain(rcCommand[THROTTLE], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
@ -435,7 +435,7 @@ static void airplaneMixer(void)
servo[2] += rxConfig->midrc;
}
if (f.PASSTHRU_MODE) { // Direct passthru from RX
if (FLIGHT_MODE(PASSTHRU_MODE)) { // Direct passthru from RX
servo[3] = rcCommand[ROLL] + flapperons[0]; // Wing 1
servo[4] = rcCommand[ROLL] + flapperons[1]; // Wing 2
servo[5] = rcCommand[YAW]; // Rudder
@ -489,12 +489,12 @@ void mixTable(void)
break;
case MULTITYPE_FLYING_WING:
if (!f.ARMED)
if (!ARMING_FLAG(ARMED))
servo[7] = escAndServoConfig->mincommand;
else
servo[7] = constrain(rcCommand[THROTTLE], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
motor[0] = servo[7];
if (f.PASSTHRU_MODE) {
if (FLIGHT_MODE(PASSTHRU_MODE)) {
// do not use sensors for correction, simple 2 channel mixing
servo[3] = (servoDirection(3, 1) * rcCommand[PITCH]) + (servoDirection(3, 2) * rcCommand[ROLL]);
servo[4] = (servoDirection(4, 1) * rcCommand[PITCH]) + (servoDirection(4, 2) * rcCommand[ROLL]);
@ -587,7 +587,7 @@ void mixTable(void)
motor[i] = escAndServoConfig->mincommand;
}
}
if (!f.ARMED) {
if (!ARMING_FLAG(ARMED)) {
motor[i] = motor_disarmed[i];
}
}