Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 17:25:20 +03:00
Code Issues Wiki Activity

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

94
src/main/mw.c
View file

@ -110,14 +110,14 @@ void updateAutotuneState(void)
static bool autoTuneWasUsed = false;
if (rcOptions[BOXAUTOTUNE]) {
if (!f.AUTOTUNE_MODE) {
if (f.ARMED) {
if (!FLIGHT_MODE(AUTOTUNE_MODE)) {
if (ARMING_FLAG(ARMED)) {
if (isAutotuneIdle() || landedAfterAutoTuning) {
autotuneReset();
landedAfterAutoTuning = false;
}
autotuneBeginNextPhase(&currentProfile->pidProfile, currentProfile->pidController);
f.AUTOTUNE_MODE = 1;
ENABLE_FLIGHT_MODE(AUTOTUNE_MODE);
autoTuneWasUsed = true;
} else {
if (havePidsBeenUpdatedByAutotune()) {
@ -129,12 +129,12 @@ void updateAutotuneState(void)
return;
}
if (f.AUTOTUNE_MODE) {
if (FLIGHT_MODE(AUTOTUNE_MODE)) {
autotuneEndPhase();
f.AUTOTUNE_MODE = 0;
DISABLE_FLIGHT_MODE(AUTOTUNE_MODE);
}
if (!f.ARMED && autoTuneWasUsed) {
if (!ARMING_FLAG(ARMED) && autoTuneWasUsed) {
landedAfterAutoTuning = true;
}
}
@ -214,7 +214,7 @@ void annexCode(void)
tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
if (f.HEADFREE_MODE) {
if (FLIGHT_MODE(HEADFREE_MODE)) {
float radDiff = degreesToRadians(heading - headFreeModeHold);
float cosDiff = cosf(radDiff);
float sinDiff = sinf(radDiff);
@ -241,25 +241,29 @@ void annexCode(void)
beepcodeUpdateState(batteryWarningEnabled);
if (f.ARMED) {
if (ARMING_FLAG(ARMED)) {
LED0_ON;
} else {
ENABLE_ARMING_FLAG(OK_TO_ARM);
if (isCalibrating()) {
LED0_TOGGLE;
f.OK_TO_ARM = 0;
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
f.OK_TO_ARM = 1;
if (!STATE(SMALL_ANGLE)) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (!f.SMALL_ANGLE) {
f.OK_TO_ARM = 0;
if (rcOptions[BOXARM] && !ARMING_FLAG(SEEN_BOXARM_OFF)) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (rcOptions[BOXAUTOTUNE]) {
f.OK_TO_ARM = 0;
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (f.OK_TO_ARM) {
if (ARMING_FLAG(OK_TO_ARM)) {
disableWarningLed();
} else {
enableWarningLed(currentTime);
@ -287,24 +291,24 @@ void annexCode(void)
void mwDisarm(void)
{
if (f.ARMED)
f.ARMED = 0;
if (ARMING_FLAG(ARMED))
DISABLE_ARMING_FLAG(ARMED);
}
void mwArm(void)
{
if (f.OK_TO_ARM) {
if (f.ARMED) {
if (ARMING_FLAG(OK_TO_ARM)) {
if (ARMING_FLAG(ARMED)) {
return;
}
if (!f.PREVENT_ARMING) {
f.ARMED = 1;
if (!ARMING_FLAG(PREVENT_ARMING)) {
ENABLE_ARMING_FLAG(ARMED);
headFreeModeHold = heading;
return;
}
}
if (!f.ARMED) {
if (!ARMING_FLAG(ARMED)) {
blinkLedAndSoundBeeper(2, 255, 1);
}
}
@ -334,7 +338,7 @@ void handleInflightCalibrationStickPosition(void)
void updateInflightCalibrationState(void)
{
if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > masterConfig.rxConfig.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
if (AccInflightCalibrationArmed && ARMING_FLAG(ARMED) && rcData[THROTTLE] > masterConfig.rxConfig.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = false;
}
@ -342,7 +346,7 @@ void updateInflightCalibrationState(void)
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
InflightcalibratingA = 50;
AccInflightCalibrationActive = true;
} else if (AccInflightCalibrationMeasurementDone && !f.ARMED) {
} else if (AccInflightCalibrationMeasurementDone && !ARMING_FLAG(ARMED)) {
AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = true;
}
@ -350,14 +354,14 @@ void updateInflightCalibrationState(void)
void updateMagHold(void)
{
if (abs(rcCommand[YAW]) < 70 && f.MAG_MODE) {
if (abs(rcCommand[YAW]) < 70 && FLIGHT_MODE(MAG_MODE)) {
int16_t dif = heading - magHold;
if (dif <= -180)
dif += 360;
if (dif >= +180)
dif -= 360;
dif *= -masterConfig.yaw_control_direction;
if (f.SMALL_ANGLE)
if (STATE(SMALL_ANGLE))
rcCommand[YAW] -= dif * currentProfile->pidProfile.P8[PIDMAG] / 30; // 18 deg
} else
magHold = heading;
@ -492,25 +496,25 @@ void processRx(void)
if ((rcOptions[BOXANGLE] || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
if (!f.ANGLE_MODE) {
if (!FLIGHT_MODE(ANGLE_MODE)) {
resetErrorAngle();
f.ANGLE_MODE = 1;
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
f.ANGLE_MODE = 0; // failsafe support
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (rcOptions[BOXHORIZON]) {
f.ANGLE_MODE = 0;
if (!f.HORIZON_MODE) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
resetErrorAngle();
f.HORIZON_MODE = 1;
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
f.HORIZON_MODE = 0;
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (f.ANGLE_MODE || f.HORIZON_MODE) {
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
} else {
LED1_OFF;
@ -519,19 +523,19 @@ void processRx(void)
#ifdef MAG
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (rcOptions[BOXMAG]) {
if (!f.MAG_MODE) {
f.MAG_MODE = 1;
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = heading;
}
} else {
f.MAG_MODE = 0;
DISABLE_FLIGHT_MODE(MAG_MODE);
}
if (rcOptions[BOXHEADFREE]) {
if (!f.HEADFREE_MODE) {
f.HEADFREE_MODE = 1;
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
f.HEADFREE_MODE = 0;
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (rcOptions[BOXHEADADJ]) {
headFreeModeHold = heading; // acquire new heading
@ -546,13 +550,13 @@ void processRx(void)
#endif
if (rcOptions[BOXPASSTHRU]) {
f.PASSTHRU_MODE = 1;
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
f.PASSTHRU_MODE = 0;
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING || masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE) {
f.HEADFREE_MODE = 0;
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
}
@ -609,20 +613,20 @@ void loop(void)
#ifdef BARO
if (sensors(SENSOR_BARO)) {
if (f.BARO_MODE) {
if (FLIGHT_MODE(BARO_MODE)) {
updateAltHold();
}
}
#endif
if (currentProfile->throttle_correction_value && (f.ANGLE_MODE || f.HORIZON_MODE)) {
if (currentProfile->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile->throttle_correction_value);
}
#ifdef GPS
if (sensors(SENSOR_GPS)) {
if ((f.GPS_HOME_MODE || f.GPS_HOLD_MODE) && f.GPS_FIX_HOME) {
if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
updateGpsStateForHomeAndHoldMode();
}
}