Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 04:45:24 +03:00
Code Issues Wiki Activity

Merge pull request #2856 from ledvinap/improvement-64bit-boxid

Browse source 
array based box masks
This commit is contained in:
Dominic Clifton 2017-06-17 11:37:14 +01:00 • committed by Michael Keller
parent 47e91874f5
commit db006b1585
32 changed files with 593 additions and 419 deletions
Download patch file Download diff file Expand all files Collapse all files

60
src/main/fc/rc_controls.c
View file

@ -65,8 +65,6 @@ static bool isUsingSticksToArm = true;
float rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
@ -85,15 +83,13 @@ PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
.auto_disarm_delay = 5
);
PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
bool isAirmodeActive(void) {
return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
}
bool isAntiGravityModeActive(void) {
return (IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || feature(FEATURE_ANTI_GRAVITY));
}
PG_REGISTER_WITH_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
PG_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig,
.deadband3d_low = 1406,
.deadband3d_high = 1514,
.neutral3d = 1460,
.deadband3d_throttle = 50
);
bool isUsingSticksForArming(void)
{
@ -308,51 +304,13 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
}
bool isModeActivationConditionPresent(const modeActivationCondition_t *modeActivationConditions, boxId_e modeId)
{
uint8_t index;
for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
const modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
if (modeActivationCondition->modeId == modeId && IS_RANGE_USABLE(&modeActivationCondition->range)) {
return true;
}
}
return false;
}
bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range) {
if (!IS_RANGE_USABLE(range)) {
return false;
}
const uint16_t channelValue = constrain(rcData[auxChannelIndex + NON_AUX_CHANNEL_COUNT], CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX - 1);
return (channelValue >= 900 + (range->startStep * 25) &&
channelValue < 900 + (range->endStep * 25));
}
void updateActivatedModes(void)
{
rcModeActivationMask = 0;
for (int index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
const modeActivationCondition_t *modeActivationCondition = modeActivationConditions(index);
if (isRangeActive(modeActivationCondition->auxChannelIndex, &modeActivationCondition->range)) {
ACTIVATE_RC_MODE(modeActivationCondition->modeId);
}
}
}
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
return MIN(ABS(rcData[axis] - midrc), 500);
}
void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, pidProfile_t *pidProfileToUse)
void useRcControlsConfig(pidProfile_t *pidProfileToUse)
{
pidProfile = pidProfileToUse;
isUsingSticksToArm = !isModeActivationConditionPresent(modeActivationConditions, BOXARM);
isUsingSticksToArm = !isModeActivationConditionPresent(BOXARM);
}