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 profile.activate and rcOptions with

Browse source 
profile.modeActivationCondition and rcModeActivationMask.

Implementation of using and setting modeActivationConditions is missing.
This commit is contained in:
Dominic Clifton 2014-10-12 10:38:04 +01:00
parent 6f4ef82f7d
commit c0fd0c1f33
11 changed files with 119 additions and 108 deletions
Download patch file Download diff file Expand all files Collapse all files

28
src/main/mw.c
View file

@ -111,7 +111,7 @@ void updateAutotuneState(void)
static bool landedAfterAutoTuning = false;
static bool autoTuneWasUsed = false;
if (rcOptions[BOXAUTOTUNE]) {
if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE)) {
if (!FLIGHT_MODE(AUTOTUNE_MODE)) {
if (ARMING_FLAG(ARMED)) {
if (isAutotuneIdle() || landedAfterAutoTuning) {
@ -246,7 +246,7 @@ void annexCode(void)
if (ARMING_FLAG(ARMED)) {
LED0_ON;
} else {
if (rcOptions[BOXARM] == 0) {
if (IS_RC_MODE_ACTIVE(BOXARM) == 0) {
ENABLE_ARMING_FLAG(OK_TO_ARM);
}
@ -259,7 +259,7 @@ void annexCode(void)
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (rcOptions[BOXAUTOTUNE]) {
if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE)) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
@ -342,11 +342,11 @@ void handleInflightCalibrationStickPosition(void)
void updateInflightCalibrationState(void)
{
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
if (AccInflightCalibrationArmed && ARMING_FLAG(ARMED) && rcData[THROTTLE] > masterConfig.rxConfig.mincheck && !IS_RC_MODE_ACTIVE(BOXARM)) { // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = false;
}
if (rcOptions[BOXCALIB]) { // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored
if (IS_RC_MODE_ACTIVE(BOXCALIB)) { // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
InflightcalibratingA = 50;
AccInflightCalibrationActive = true;
@ -466,7 +466,7 @@ void processRx(void)
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!rcOptions[BOXARM])
if (!IS_RC_MODE_ACTIVE(BOXARM))
mwDisarm();
}
@ -488,17 +488,17 @@ void processRx(void)
resetErrorGyro();
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile->activate, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile->modeActivationConditions, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateRcOptions(currentProfile->activate);
updateRcOptions(currentProfile->modeActivationConditions);
bool canUseHorizonMode = true;
if ((rcOptions[BOXANGLE] || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
@ -510,7 +510,7 @@ void processRx(void)
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (rcOptions[BOXHORIZON] && canUseHorizonMode) {
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
@ -530,7 +530,7 @@ void processRx(void)
#ifdef MAG
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (rcOptions[BOXMAG]) {
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = heading;
@ -538,14 +538,14 @@ void processRx(void)
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
if (rcOptions[BOXHEADFREE]) {
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (rcOptions[BOXHEADADJ]) {
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
headFreeModeHold = heading; // acquire new heading
}
}
@ -557,7 +557,7 @@ void processRx(void)
}
#endif
if (rcOptions[BOXPASSTHRU]) {
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);