Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 12:25:20 +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

2
src/main/config/config_profile.h
View file

@ -42,7 +42,7 @@ typedef struct profile_s {
uint8_t acc_unarmedcal; // turn automatic acc compensation on/off
uint32_t activate[CHECKBOX_ITEM_COUNT]; // activate switches, bitmask, 3 bits per channel, lower 16 bits aux1-4, upper 16 bits aux 5-8
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
// Radio/ESC-related configuration
uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.

4
src/main/flight/altitudehold.c
View file

@ -140,7 +140,7 @@ void applyAltHold(void)
void updateAltHoldState(void)
{
// Baro alt hold activate
if (!rcOptions[BOXBARO]) {
if (!IS_RC_MODE_ACTIVE(BOXBARO)) {
DISABLE_FLIGHT_MODE(BARO_MODE);
return;
}
@ -157,7 +157,7 @@ void updateAltHoldState(void)
void updateSonarAltHoldState(void)
{
// Sonar alt hold activate
if (!rcOptions[BOXSONAR]) {
if (!IS_RC_MODE_ACTIVE(BOXSONAR)) {
DISABLE_FLIGHT_MODE(SONAR_MODE);
return;
}

2
src/main/flight/mixer.c
View file

@ -532,7 +532,7 @@ void mixTable(void)
servo[0] = determineServoMiddleOrForwardFromChannel(0);
servo[1] = determineServoMiddleOrForwardFromChannel(1);
if (rcOptions[BOXCAMSTAB]) {
if (IS_RC_MODE_ACTIVE(BOXCAMSTAB)) {
if (gimbalConfig->gimbal_flags & GIMBAL_MIXTILT) {
servo[0] -= (-(int32_t)servoConf[0].rate) * inclination.values.pitchDeciDegrees / 50 - (int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees / 50;
servo[1] += (-(int32_t)servoConf[0].rate) * inclination.values.pitchDeciDegrees / 50 + (int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees / 50;

4
src/main/flight/navigation.c
View file

@ -652,7 +652,7 @@ void updateGpsWaypointsAndMode(void)
if (STATE(GPS_FIX) && GPS_numSat >= 5) {
// if both GPS_HOME & GPS_HOLD are checked => GPS_HOME is the priority
if (rcOptions[BOXGPSHOME]) {
if (IS_RC_MODE_ACTIVE(BOXGPSHOME)) {
if (!FLIGHT_MODE(GPS_HOME_MODE)) {
ENABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
@ -663,7 +663,7 @@ void updateGpsWaypointsAndMode(void)
} else {
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
if (rcOptions[BOXGPSHOLD] && areSticksInApModePosition(gpsProfile->ap_mode)) {
if (IS_RC_MODE_ACTIVE(BOXGPSHOLD) && areSticksInApModePosition(gpsProfile->ap_mode)) {
if (!FLIGHT_MODE(GPS_HOLD_MODE)) {
ENABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPSNavReset = 0;

4
src/main/io/beeper.c
View file

@ -68,7 +68,7 @@ void beepcodeUpdateState(bool warn_vbat)
static failsafeBeeperWarnings_e warn_failsafe = FAILSAFE_IDLE;
//===================== BeeperOn via rcOptions =====================
if (rcOptions[BOXBEEPERON]) { // unconditional beeper on via AUXn switch
if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) { // unconditional beeper on via AUXn switch
beeperOnBox = 1;
} else {
beeperOnBox = 0;
@ -95,7 +95,7 @@ void beepcodeUpdateState(bool warn_vbat)
#ifdef GPS
//===================== GPS fix notification handling =====================
if (sensors(SENSOR_GPS)) {
if ((rcOptions[BOXGPSHOME] || rcOptions[BOXGPSHOLD]) && !STATE(GPS_FIX)) { // if no fix and gps funtion is activated: do warning beeps
if ((IS_RC_MODE_ACTIVE(BOXGPSHOME) || IS_RC_MODE_ACTIVE(BOXGPSHOLD)) && !STATE(GPS_FIX)) { // if no fix and gps funtion is activated: do warning beeps
warn_noGPSfix = 1;
} else {
warn_noGPSfix = 0;

72
src/main/io/rc_controls.c
View file

@ -43,14 +43,7 @@
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
// each entry in the array is a bitmask, 3 bits per aux channel (only aux 1 to 4), aux1 is first, each bit corresponds to an rc channel reading
// bit 1 - stick LOW
// bit 2 - stick MIDDLE
// bit 3 - stick HIGH
// an option is enabled when ANY channel has an appropriate reading corresponding to the bit.
// an option is disabled when NO channel has an appropriate reading corresponding to the bit.
// example: 110000000001 - option is only enabled when AUX1 is LOW or AUX4 is MEDIUM or HIGH.
uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
bool areSticksInApModePosition(uint16_t ap_mode)
{
@ -67,7 +60,9 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
return THROTTLE_HIGH;
}
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, uint32_t *activate, bool retarded_arm, bool disarm_kill_switch)
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, modeActivationCondition_t *modeActivationConditions, bool retarded_arm, bool disarm_kill_switch)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
@ -90,10 +85,12 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
rcDelayCommand = 0;
rcSticks = stTmp;
// perform actions
if (activate[BOXARM] > 0) {
bool isUsingSticksToArm = true; // FIXME calculate from modeActivationConditions // FIXME this calculation only needs to be done after loading a profile
if (rcOptions[BOXARM]) {
// perform actions
if (!isUsingSticksToArm) {
if (IS_RC_MODE_ACTIVE(BOXARM)) {
// Arming via ARM BOX
if (throttleStatus == THROTTLE_LOW) {
if (ARMING_FLAG(OK_TO_ARM)) {
@ -119,14 +116,15 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
if (ARMING_FLAG(ARMED)) {
// actions during armed
if (isUsingSticksToArm) {
// Disarm on throttle down + yaw
if (activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE))
if (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))
if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO))
mwDisarm();
}
return;
}
@ -172,17 +170,20 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
return;
}
if (activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE)) {
if (isUsingSticksToArm) {
if (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
// Arm via YAW
mwArm();
return;
}
if (retarded_arm && activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI)) {
if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI)) {
// Arm via ROLL
mwArm();
return;
}
}
if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
// Calibrating Acc
@ -226,40 +227,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
#define MAX_AUX_STATE_CHANNELS 8
void updateRcOptions(uint32_t *activate)
void updateRcOptions(modeActivationCondition_t *modeActivationConditions)
{
// auxState is a bitmask, 3 bits per channel.
// lower 16 bits contain aux 4 to 1 (msb to lsb)
// upper 16 bits contain aux 8 to 5 (msb to lsb)
//
// the three bits are as follows:
// bit 1 is SET when the stick is less than 1300
// bit 2 is SET when the stick is between 1300 and 1700
// bit 3 is SET when the stick is above 1700
// if the value is 1300 or 1700 NONE of the three bits are set.
int i;
uint32_t auxState = 0;
uint8_t shift = 0;
int8_t chunkOffset = 0;
for (i = 0; i < rxRuntimeConfig.auxChannelCount && i < MAX_AUX_STATE_CHANNELS; i++) {
if (i > 0 && i % 4 == 0) {
chunkOffset -= 4;
shift += 16;
}
uint8_t bitIndex = 3 * (i + chunkOffset);
uint32_t temp =
(rcData[AUX1 + i] < 1300) << bitIndex |
(1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (bitIndex + 1) |
(rcData[AUX1 + i] > 1700) << (bitIndex + 2);
auxState |= temp << shift;
}
for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
rcOptions[i] = (auxState & activate[i]) > 0;
rcModeActivationMask = 0; // FIXME implement, use rcData & modeActivationConditions
}

35
src/main/io/rc_controls.h
View file

@ -44,7 +44,9 @@ typedef enum {
CHECKBOX_ITEM_COUNT
} boxId_e;
extern uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
extern uint32_t rcModeActivationMask;
#define IS_RC_MODE_ACTIVE(modeId) ((1 << modeId) & rcModeActivationMask)
typedef enum rc_alias {
ROLL = 0,
@ -79,6 +81,33 @@ typedef enum {
#define THR_CE (3 << (2 * THROTTLE))
#define THR_HI (2 << (2 * THROTTLE))
#define MAX_MODE_ACTIVATION_CONDITION_COUNT 40
// 40 is enough for 1 mode for each position of 11 * 3 position switches and a 6 pos switch.
// however, that is unlikely because you don't define the 'off' positions, so for a 3 position
// switch it's normal that only 2 values would be configured.
// this leaves plenty of 'slots' free for cases where you enable multiple modes for a switch
// position (like gps rth + horizon + baro + beeper)
#define MODE_STEP_TO_CHANNEL_VALUE(step) (900 + 25 * step)
#define CHANNEL_VALUE_TO_STEP(channelValue) (constrain(channelValue, 900, 2100) - 900 / 25)
typedef struct modeActivationCondition_s {
boxId_e modeId;
uint8_t auxChannelIndex;
// steps are 25 apart
// a value of 0 corresponds to a channel value of 900 or less
// a value of 47 corresponds to a channel value of 2100 or more
// 48 steps between 900 and 1200
uint8_t rangeStartStep;
uint8_t rangeEndStep;
} modeActivationCondition_t;
// sizeof(modeActivationCondition_t) * MAX_MODE_ACTIVATION_COUNT = 4 * 40 = 160 bytes
// sizeof(uint32_t) * CHECKBOX_ITEM_COUNT = 4 * 21 = 84
typedef struct controlRateConfig_s {
uint8_t rcRate8;
uint8_t rcExpo8;
@ -92,8 +121,8 @@ extern int16_t rcCommand[4];
bool areSticksInApModePosition(uint16_t ap_mode);
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, uint32_t *activate, bool retarded_arm, bool disarm_kill_switch);
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, modeActivationCondition_t *modeActivationConditions, bool retarded_arm, bool disarm_kill_switch);
void updateRcOptions(uint32_t *activate);
void updateRcOptions(modeActivationCondition_t *modeActivationConditions);

23
src/main/io/serial_cli.c
View file

@ -139,7 +139,7 @@ typedef struct {
// should be sorted a..z for bsearch()
const clicmd_t cmdTable[] = {
{ "aux", "feature_name auxflag or blank for list", cliAux },
{ "aux", "show/set aux settings", cliAux },
{ "cmix", "design custom mixer", cliCMix },
#ifdef LED_STRIP
{ "color", "configure colors", cliColor },
@ -396,24 +396,31 @@ static int cliCompare(const void *a, const void *b)
static void cliAux(char *cmdline)
{
int i, val = 0;
int i = 0;
uint8_t len;
char *ptr;
len = strlen(cmdline);
if (len == 0) {
// print out aux channel settings
for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
printf("aux %u %u\r\n", i, currentProfile->activate[i]);
for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
modeActivationCondition_t *mac = &currentProfile->modeActivationConditions[i];
printf("aux %u %u\r\n",
i,
mac->modeId,
mac->auxChannelIndex,
MODE_STEP_TO_CHANNEL_VALUE(mac->rangeStartStep),
MODE_STEP_TO_CHANNEL_VALUE(mac->rangeEndStep)
);
}
} else {
ptr = cmdline;
i = atoi(ptr);
if (i < CHECKBOX_ITEM_COUNT) {
if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
ptr = strchr(cmdline, ' ');
val = atoi(ptr);
currentProfile->activate[i] = val;
// FIXME implement setting currentProfile->modeActivationConditions based on remaining string
} else {
printf("Invalid Feature index: must be < %u\r\n", CHECKBOX_ITEM_COUNT);
printf("index: must be < %u\r\n", MAX_MODE_ACTIVATION_CONDITION_COUNT);
}
}
}

29
src/main/io/serial_msp.c
View file

@ -146,6 +146,7 @@ typedef struct box_e {
const uint8_t permanentId; //
} box_t;
// FIXME remove ;'s
static const box_t const boxes[] = {
{ BOXARM, "ARM;", 0 },
{ BOXANGLE, "ANGLE;", 1 },
@ -505,20 +506,20 @@ static bool processOutCommand(uint8_t cmdMSP)
IS_ENABLED(FLIGHT_MODE(BARO_MODE)) << BOXBARO |
IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << BOXMAG |
IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)) << BOXHEADFREE |
rcOptions[BOXHEADADJ] << BOXHEADADJ |
rcOptions[BOXCAMSTAB] << BOXCAMSTAB |
rcOptions[BOXCAMTRIG] << BOXCAMTRIG |
IS_RC_MODE_ACTIVE(BOXHEADADJ) << BOXHEADADJ |
IS_RC_MODE_ACTIVE(BOXCAMSTAB) << BOXCAMSTAB |
IS_RC_MODE_ACTIVE(BOXCAMTRIG) << BOXCAMTRIG |
IS_ENABLED(FLIGHT_MODE(GPS_HOME_MODE)) << BOXGPSHOME |
IS_ENABLED(FLIGHT_MODE(GPS_HOLD_MODE)) << BOXGPSHOLD |
IS_ENABLED(FLIGHT_MODE(PASSTHRU_MODE)) << BOXPASSTHRU |
rcOptions[BOXBEEPERON] << BOXBEEPERON |
rcOptions[BOXLEDMAX] << BOXLEDMAX |
rcOptions[BOXLLIGHTS] << BOXLLIGHTS |
rcOptions[BOXCALIB] << BOXCALIB |
rcOptions[BOXGOV] << BOXGOV |
rcOptions[BOXOSD] << BOXOSD |
rcOptions[BOXTELEMETRY] << BOXTELEMETRY |
rcOptions[BOXAUTOTUNE] << BOXAUTOTUNE |
IS_RC_MODE_ACTIVE(BOXBEEPERON) << BOXBEEPERON |
IS_RC_MODE_ACTIVE(BOXLEDMAX) << BOXLEDMAX |
IS_RC_MODE_ACTIVE(BOXLLIGHTS) << BOXLLIGHTS |
IS_RC_MODE_ACTIVE(BOXCALIB) << BOXCALIB |
IS_RC_MODE_ACTIVE(BOXGOV) << BOXGOV |
IS_RC_MODE_ACTIVE(BOXOSD) << BOXOSD |
IS_RC_MODE_ACTIVE(BOXTELEMETRY) << BOXTELEMETRY |
IS_RC_MODE_ACTIVE(BOXAUTOTUNE) << BOXAUTOTUNE |
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM;
for (i = 0; i < activeBoxIdCount; i++) {
@ -632,6 +633,8 @@ static bool processOutCommand(uint8_t cmdMSP)
headSerialReply(sizeof(pidnames) - 1);
serializeNames(pidnames);
break;
// FIXME provide backward compatible solution? what what version of MSP? 6pos? would only work if all step values are on 6pos boundaries
/*
case MSP_BOX:
headSerialReply(4 * activeBoxIdCount);
for (i = 0; i < activeBoxIdCount; i++)
@ -639,6 +642,7 @@ static bool processOutCommand(uint8_t cmdMSP)
for (i = 0; i < activeBoxIdCount; i++)
serialize16((currentProfile->activate[activeBoxIds[i]] >> 16) & ACTIVATE_MASK);
break;
*/
case MSP_BOXNAMES:
// headSerialReply(sizeof(boxnames) - 1);
serializeBoxNamesReply();
@ -803,12 +807,15 @@ static bool processInCommand(void)
}
}
break;
// FIXME provide backward compatible solution? what what version of MSP? 6pos? would only work if all step values are on 6pos boundaries
/*
case MSP_SET_BOX:
for (i = 0; i < activeBoxIdCount; i++)
currentProfile->activate[activeBoxIds[i]] = read16() & ACTIVATE_MASK;
for (i = 0; i < activeBoxIdCount; i++)
currentProfile->activate[activeBoxIds[i]] |= (read16() & ACTIVATE_MASK) << 16;
break;
*/
case MSP_SET_RC_TUNING:
currentProfile->controlRateConfig.rcRate8 = read8();
currentProfile->controlRateConfig.rcExpo8 = read8();

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);

2
src/main/telemetry/telemetry.c
View file

@ -106,7 +106,7 @@ bool determineNewTelemetryEnabledState(void)
if (telemetryPortIsShared) {
if (telemetryConfig->telemetry_switch)
enabled = rcOptions[BOXTELEMETRY];
enabled = IS_RC_MODE_ACTIVE(BOXTELEMETRY);
else
enabled = ARMING_FLAG(ARMED);
}