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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

30
src/main/io/rc_controls.c
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@ -83,16 +83,21 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
rcSticks = stTmp;
// perform actions
if (throttleStatus == THROTTLE_LOW) {
if (activate[BOXARM] > 0) { // Arming via ARM BOX
if (rcOptions[BOXARM] && f.OK_TO_ARM)
mwArm();
}
}
if (activate[BOXARM] > 0) {
if (activate[BOXARM] > 0) { // Disarming via ARM BOX
if (!rcOptions[BOXARM] && f.ARMED) {
mwDisarm();
// Arming via ARM BOX
if (throttleStatus == THROTTLE_LOW) {
if (rcOptions[BOXARM] && ARMING_FLAG(OK_TO_ARM)) {
mwArm();
}
}
// Disarming via ARM BOX
if (!rcOptions[BOXARM]) {
ENABLE_ARMING_FLAG(SEEN_BOXARM_OFF);
if (ARMING_FLAG(ARMED)) {
mwDisarm();
}
}
}
@ -100,10 +105,13 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
return;
}
if (f.ARMED) { // actions during armed
if (ARMING_FLAG(ARMED)) {
// actions during armed
// Disarm on throttle down + yaw
if (activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE))
mwDisarm();
// Disarm on roll (only when retarded_arm is enabled)
if (retarded_arm && activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO))
mwDisarm();
@ -174,7 +182,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) {
// Calibrating Mag
f.CALIBRATE_MAG = 1;
ENABLE_STATE(CALIBRATE_MAG);
return;
}