Improved fixed wing detection.

src/main/fc/core.c

@@ -197,7 +197,7 @@ static bool isCalibrating(void)
 #ifdef USE_LAUNCH_CONTROL
 bool canUseLaunchControl(void)
 {
-    if (!STATE(FIXED_WING)
+    if (!isFixedWing()
         && !isUsingSticksForArming()     // require switch arming for safety
         && IS_RC_MODE_ACTIVE(BOXLAUNCHCONTROL)
         && (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled())  // can't use when motors are stopped
@@ -795,7 +795,7 @@ bool processRx(timeUs_t currentTimeUs)
         && !runawayTakeoffCheckDisabled
         && !flipOverAfterCrashActive
         && !runawayTakeoffTemporarilyDisabled
-        && !STATE(FIXED_WING)) {
+        && !isFixedWing()) {
 
         // Determine if we're in "flight"
         //   - motors running
@@ -880,7 +880,7 @@ bool processRx(timeUs_t currentTimeUs)
     const timeUs_t autoDisarmDelayUs = armingConfig()->auto_disarm_delay * 1e6;
     if (ARMING_FLAG(ARMED)
         && featureIsEnabled(FEATURE_MOTOR_STOP)
-        && !STATE(FIXED_WING)
+        && !isFixedWing()
         && !featureIsEnabled(FEATURE_3D)
         && !airmodeIsEnabled()
         && !FLIGHT_MODE(GPS_RESCUE_MODE)  // disable auto-disarm when GPS Rescue is active
@@ -1082,7 +1082,7 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
     // and gyro rate for any axis is above the limit for at least the activate delay period.
     // If so, disarm for safety
     if (ARMING_FLAG(ARMED)
-        && !STATE(FIXED_WING)
+        && !isFixedWing()
         && pidConfig()->runaway_takeoff_prevention
         && !runawayTakeoffCheckDisabled
         && !flipOverAfterCrashActive

src/main/fc/runtime_config.h

@@ -115,7 +115,6 @@ typedef enum {
     GPS_FIX        = (1 << 1),
     CALIBRATE_MAG  = (1 << 2),
     SMALL_ANGLE    = (1 << 3),
-    FIXED_WING     = (1 << 4)                    // set when in flying_wing or airplane mode. currently used by althold selection code
 } stateFlags_t;
 
 #define DISABLE_STATE(mask) (stateFlags &= ~(mask))

src/main/flight/imu.c

@@ -451,7 +451,7 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
 #if defined(USE_GPS)
     if (!useMag && sensors(SENSOR_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5 && gpsSol.groundSpeed >= GPS_COG_MIN_GROUNDSPEED) {
         // Use GPS course over ground to correct attitude.values.yaw
-        if (STATE(FIXED_WING)) {
+        if (isFixedWing()) {
             courseOverGround = DECIDEGREES_TO_RADIANS(gpsSol.groundCourse);
             useCOG = true;
         } else {

src/main/flight/mixer.c

@@ -938,3 +938,25 @@ float mixerGetThrottle(void)
 {
     return mixerThrottle;
 }
+
+mixerMode_e getMixerMode(void)
+{
+    return currentMixerMode;
+}
+
+
+bool isFixedWing(void)
+{
+    switch (currentMixerMode) {
+    case MIXER_FLYING_WING:
+    case MIXER_AIRPLANE:
+    case MIXER_CUSTOM_AIRPLANE:
+        return true;
+
+        break;
+    default:
+        return false;
+
+        break;
+    }
+}

src/main/flight/mixer.h

@@ -112,3 +112,5 @@ bool mixerIsTricopter(void);
 
 void mixerSetThrottleAngleCorrection(int correctionValue);
 float mixerGetThrottle(void);
+mixerMode_e getMixerMode(void);
+bool isFixedWing(void);

src/main/flight/servos.c

@@ -32,15 +32,12 @@
 #include "common/filter.h"
 #include "common/maths.h"
 
+#include "config/config.h"
 #include "config/config_reset.h"
 #include "config/feature.h"
-#include "pg/pg.h"
-#include "pg/pg_ids.h"
-#include "pg/rx.h"
 
 #include "drivers/pwm_output.h"
 
-#include "config/config.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
@@ -52,11 +49,13 @@
 
 #include "io/gimbal.h"
 
+#include "pg/pg.h"
+#include "pg/pg_ids.h"
+#include "pg/rx.h"
+
 #include "rx/rx.h"
 
 
-extern mixerMode_e currentMixerMode;
-
 PG_REGISTER_WITH_RESET_FN(servoConfig_t, servoConfig, PG_SERVO_CONFIG, 0);
 
 void pgResetFn_servoConfig(servoConfig_t *servoConfig)
@@ -222,7 +221,7 @@ int servoDirection(int servoIndex, int inputSource)
 void servosInit(void)
 {
     // enable servos for mixes that require them. note, this shifts motor counts.
-    useServo = mixers[currentMixerMode].useServo;
+    useServo = mixers[getMixerMode()].useServo;
     // if we want camstab/trig, that also enables servos, even if mixer doesn't
     if (featureIsEnabled(FEATURE_SERVO_TILT) || featureIsEnabled(FEATURE_CHANNEL_FORWARDING)) {
         useServo = 1;
@@ -258,27 +257,21 @@ void loadCustomServoMixer(void)
 void servoConfigureOutput(void)
 {
     if (useServo) {
-        servoRuleCount = servoMixers[currentMixerMode].servoRuleCount;
+        servoRuleCount = servoMixers[getMixerMode()].servoRuleCount;
-        if (servoMixers[currentMixerMode].rule) {
+        if (servoMixers[getMixerMode()].rule) {
             for (int i = 0; i < servoRuleCount; i++)
-                currentServoMixer[i] = servoMixers[currentMixerMode].rule[i];
+                currentServoMixer[i] = servoMixers[getMixerMode()].rule[i];
         }
     }
 
-    // set flag that we're on something with wings
+    switch (getMixerMode()) {
-    if (currentMixerMode == MIXER_FLYING_WING ||
+    case MIXER_CUSTOM_AIRPLANE:
-        currentMixerMode == MIXER_AIRPLANE ||
+    case MIXER_CUSTOM_TRI:
-        currentMixerMode == MIXER_CUSTOM_AIRPLANE
+        loadCustomServoMixer();
-    ) {
+
-        ENABLE_STATE(FIXED_WING);
+        break;
-        if (currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
+    default:
-            loadCustomServoMixer();
+        break;
-        }
-    } else {
-        DISABLE_STATE(FIXED_WING);
-        if (currentMixerMode == MIXER_CUSTOM_TRI) {
-            loadCustomServoMixer();
-        }
     }
 }
 
@@ -333,7 +326,7 @@ void writeServos(void)
     filterServos();
 
     uint8_t servoIndex = 0;
-    switch (currentMixerMode) {
+    switch (getMixerMode()) {
     case MIXER_TRI:
     case MIXER_CUSTOM_TRI:
         // We move servo if unarmed flag set or armed
@@ -385,7 +378,7 @@ void writeServos(void)
     }
 
     // Two servos for SERVO_TILT, if enabled
-    if (featureIsEnabled(FEATURE_SERVO_TILT) || currentMixerMode == MIXER_GIMBAL) {
+    if (featureIsEnabled(FEATURE_SERVO_TILT) || getMixerMode() == MIXER_GIMBAL) {
         updateGimbalServos(servoIndex);
         servoIndex += 2;
     }
@@ -486,7 +479,7 @@ void servoMixer(void)
 static void servoTable(void)
 {
     // airplane / servo mixes
-    switch (currentMixerMode) {
+    switch (getMixerMode()) {
     case MIXER_CUSTOM_TRI:
     case MIXER_TRI:
         servosTricopterMixer();

src/test/unit/arming_prevention_unittest.cc

@@ -1090,4 +1090,5 @@ extern "C" {
     float getCosTiltAngle(void) { return 0.0f; }
     void pidSetItermReset(bool) {}
     void applyAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
+    bool isFixedWing(void) { return false; }
 }

src/test/unit/flight_imu_unittest.cc

@@ -246,4 +246,5 @@ bool gyroGetAccumulationAverage(float *) { return false; }
 bool accGetAccumulationAverage(float *) { return false; }
 void mixerSetThrottleAngleCorrection(int) {};
 bool gpsRescueIsRunning(void) { return false; }
+bool isFixedWing(void) { return false; }
 }

src/test/unit/vtx_unittest.cc

@@ -178,4 +178,5 @@ extern "C" {
     void osdSuppressStats(bool) {}
     void pidSetItermReset(bool) {}
     void applyAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
+    bool isFixedWing(void) { return false; }
 }