Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 00:05:33 +03:00
Code Issues Wiki Activity

Remove failsafe vtable usage.

Browse source
This commit is contained in:
Dominic Clifton 2015-03-09 22:19:09 +00:00
parent 60a95f1d22
commit e40a3663d2
8 changed files with 88 additions and 113 deletions
Download patch file Download diff file Expand all files Collapse all files

9
src/main/mw.c
View file

@ -102,7 +102,6 @@ int16_t telemTemperature1; // gyro sensor temperature
static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
extern uint8_t dynP8[3], dynI8[3], dynD8[3];
extern failsafe_t *failsafe;
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
@ -511,11 +510,11 @@ void processRx(void)
if (feature(FEATURE_FAILSAFE)) {
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafe->vTable->isEnabled()) {
failsafe->vTable->enable();
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsEnabled()) {
failsafeEnable();
}
failsafe->vTable->updateState();
failsafeUpdateState();
}
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
@ -555,7 +554,7 @@ void processRx(void)
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeHasTimerElapsed())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;