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Code allowing the use of sonar without requiring a barometer.

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This code has been flight tested on a Naze32 acro, with no barometer onboard.  It also works when the target doesn't have BARO defined.
This commit is contained in:
Ben Hitchcock 2014-09-05 11:28:55 +08:00
parent f22953b37a
commit 66fce423bb
8 changed files with 72 additions and 19 deletions
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7
src/main/io/serial_msp.c
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@ -149,7 +149,7 @@ static const box_t const boxes[] = {
{ BOXANGLE, "ANGLE;", 1 },
{ BOXHORIZON, "HORIZON;", 2 },
{ BOXBARO, "BARO;", 3 },
//{ BOXVARIO, "VARIO;", 4 },
{ BOXSONAR, "SONAR;", 4 },
{ BOXMAG, "MAG;", 5 },
{ BOXHEADFREE, "HEADFREE;", 6 },
{ BOXHEADADJ, "HEADADJ;", 7 },
@ -421,6 +421,10 @@ void mspInit(serialConfig_t *serialConfig)
activeBoxIds[activeBoxIdCount++] = BOXBARO;
}
if (feature(FEATURE_SONAR)){
activeBoxIds[activeBoxIdCount++] = BOXSONAR;
}
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
activeBoxIds[activeBoxIdCount++] = BOXMAG;
activeBoxIds[activeBoxIdCount++] = BOXHEADFREE;
@ -491,6 +495,7 @@ static bool processOutCommand(uint8_t cmdMSP)
tmp = IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << BOXANGLE |
IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)) << BOXHORIZON |
IS_ENABLED(FLIGHT_MODE(BARO_MODE)) << BOXBARO |
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << BOXMAG |
IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)) << BOXHEADFREE |
rcOptions[BOXHEADADJ] << BOXHEADADJ |