Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 22:35:23 +03:00
Code Issues Wiki Activity

Added USE_ALT_HOLD build flag

Browse source
This commit is contained in:
Martin Budden 2017-11-19 10:10:47 +00:00
parent fc632c131b
commit d22b01b5ec
6 changed files with 21 additions and 12 deletions
Download patch file Download diff file Expand all files Collapse all files

12
src/main/fc/fc_tasks.c
View file

@ -140,12 +140,13 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
processRx(currentTimeUs);
isRXDataNew = true;
#if !defined(USE_BARO) && !defined(USE_SONAR)
#if !defined(USE_ALT_HOLD)
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
#endif
updateArmingStatus();
#ifdef USE_ALT_HOLD
#ifdef USE_BARO
if (sensors(SENSOR_BARO)) {
updateAltHoldState();
@ -157,6 +158,7 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
updateSonarAltHoldState();
}
#endif
#endif // USE_ALT_HOLD
}
#endif
@ -183,7 +185,7 @@ static void taskUpdateBaro(timeUs_t currentTimeUs)
}
#endif
#if defined(USE_BARO) || defined(USE_SONAR)
#if defined(USE_ALT_HOLD)
static void taskCalculateAltitude(timeUs_t currentTimeUs)
{
if (false
@ -196,7 +198,7 @@ static void taskCalculateAltitude(timeUs_t currentTimeUs)
) {
calculateEstimatedAltitude(currentTimeUs);
}}
#endif
#endif // USE_ALT_HOLD
#ifdef USE_TELEMETRY
static void taskTelemetry(timeUs_t currentTimeUs)
@ -295,7 +297,7 @@ void fcTasksInit(void)
#ifdef USE_SONAR
setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
#endif
#if defined(USE_BARO) || defined(USE_SONAR)
#ifdef USE_ALT_HOLD
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
#endif
#ifdef USE_DASHBOARD
@ -501,7 +503,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#if defined(USE_BARO) || defined(USE_SONAR)
#if defined(USE_ALT_HOLD)
[TASK_ALTITUDE] = {
.taskName = "ALTITUDE",
.taskFunc = taskCalculateAltitude,