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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

20
src/main/io/gps.c
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@ -318,7 +318,7 @@ void gpsThread(void)
gpsData.lastMessage = millis();
// TODO - move some / all of these into gpsData
GPS_numSat = 0;
f.GPS_FIX = 0;
DISABLE_STATE(GPS_FIX);
gpsSetState(GPS_INITIALIZING);
break;
@ -506,7 +506,11 @@ static bool gpsNewFrameNMEA(char c)
gps_Msg.longitude *= -1;
break;
case 6:
f.GPS_FIX = string[0] > '0';
if (string[0] > '0') {
ENABLE_STATE(GPS_FIX);
} else {
DISABLE_STATE(GPS_FIX);
}
break;
case 7:
gps_Msg.numSat = grab_fields(string, 0);
@ -543,7 +547,7 @@ static bool gpsNewFrameNMEA(char c)
switch (gps_frame) {
case FRAME_GGA:
frameOK = 1;
if (f.GPS_FIX) {
if (STATE(GPS_FIX)) {
GPS_coord[LAT] = gps_Msg.latitude;
GPS_coord[LON] = gps_Msg.longitude;
GPS_numSat = gps_Msg.numSat;
@ -728,18 +732,22 @@ static bool UBLOX_parse_gps(void)
GPS_coord[LON] = _buffer.posllh.longitude;
GPS_coord[LAT] = _buffer.posllh.latitude;
GPS_altitude = _buffer.posllh.altitude_msl / 10 / 100; //alt in m
f.GPS_FIX = next_fix;
if (next_fix) {
ENABLE_STATE(GPS_FIX);
} else {
DISABLE_STATE(GPS_FIX);
}
_new_position = true;
break;
case MSG_STATUS:
next_fix = (_buffer.status.fix_status & NAV_STATUS_FIX_VALID) && (_buffer.status.fix_type == FIX_3D);
if (!next_fix)
f.GPS_FIX = false;
DISABLE_STATE(GPS_FIX);
break;
case MSG_SOL:
next_fix = (_buffer.solution.fix_status & NAV_STATUS_FIX_VALID) && (_buffer.solution.fix_type == FIX_3D);
if (!next_fix)
f.GPS_FIX = false;
DISABLE_STATE(GPS_FIX);
GPS_numSat = _buffer.solution.satellites;
// GPS_hdop = _buffer.solution.position_DOP;
break;