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Merge pull request #5851 from robertlacroix/graveyard

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Add Paralyze mode support
This commit is contained in:
Michael Keller 2018-05-12 12:02:18 +12:00 • committed by GitHub
commit ea8432b941
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9 changed files with 164 additions and 4 deletions
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20
src/main/fc/fc_core.c
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@ -56,6 +56,7 @@
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/fc_core.h"
#include "fc/fc_dispatch.h"
#include "fc/fc_rc.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
@ -120,6 +121,7 @@ enum {
#define DEBUG_RUNAWAY_TAKEOFF_FALSE 0
#endif
#define PARALYZE_PREVENT_MODE_CHANGES_DELAY_US 100000 // Delay after paralyze mode activates to let other mode changes propagate
#if defined(USE_GPS) || defined(USE_MAG)
int16_t magHold;
@ -140,6 +142,14 @@ static timeUs_t runawayTakeoffTriggerUs = 0;
static bool runawayTakeoffTemporarilyDisabled = false;
#endif
static bool paralyzeModeAllowed = false;
void preventModeChangesDispatch(dispatchEntry_t *self) {
UNUSED(self);
preventModeChanges();
}
static dispatchEntry_t preventModeChangesDispatchEntry = { .dispatch = preventModeChangesDispatch};
PG_REGISTER_WITH_RESET_TEMPLATE(throttleCorrectionConfig_t, throttleCorrectionConfig, PG_THROTTLE_CORRECTION_CONFIG, 0);
@ -244,6 +254,11 @@ void updateArmingStatus(void)
}
}
if (IS_RC_MODE_ACTIVE(BOXPARALYZE) && paralyzeModeAllowed) {
setArmingDisabled(ARMING_DISABLED_PARALYZE);
dispatchAdd(&preventModeChangesDispatchEntry, PARALYZE_PREVENT_MODE_CHANGES_DELAY_US);
}
if (!isUsingSticksForArming()) {
/* Ignore ARMING_DISABLED_CALIBRATING if we are going to calibrate gyro on first arm */
bool ignoreGyro = armingConfig()->gyro_cal_on_first_arm
@ -280,6 +295,11 @@ void updateArmingStatus(void)
warningLedUpdate();
}
// Check if entering into paralyze mode can be allowed regardless of arming status
if (!IS_RC_MODE_ACTIVE(BOXPARALYZE) && !paralyzeModeAllowed) {
paralyzeModeAllowed = true;
}
}
void disarm(void)