Merge pull request #6952 from mikeller/improve_airmode_detection

Improved handling of airmode detection.

src/main/fc/core.c

@@ -578,7 +578,7 @@ bool processRx(timeUs_t currentTimeUs)
     const throttleStatus_e throttleStatus = calculateThrottleStatus();
     const uint8_t throttlePercent = calculateThrottlePercent();
 
-    if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
+    if (airmodeIsEnabled() && ARMING_FLAG(ARMED)) {
         if (throttlePercent >= rxConfig()->airModeActivateThreshold) {
             airmodeIsActivated = true; // Prevent iterm from being reset
         }
@@ -618,7 +618,7 @@ bool processRx(timeUs_t currentTimeUs)
         //   - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent
         //   - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
         bool inStableFlight = false;
-        if (!featureIsEnabled(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
+        if (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
             const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
             const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
             if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))
@@ -674,7 +674,7 @@ bool processRx(timeUs_t currentTimeUs)
         && featureIsEnabled(FEATURE_MOTOR_STOP)
         && !STATE(FIXED_WING)
         && !featureIsEnabled(FEATURE_3D)
-        && !isAirmodeActive()
+        && !airmodeIsEnabled()
     ) {
         if (isUsingSticksForArming()) {
             if (throttleStatus == THROTTLE_LOW) {
@@ -872,7 +872,7 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
         && !runawayTakeoffCheckDisabled
         && !flipOverAfterCrashMode
         && !runawayTakeoffTemporarilyDisabled
-        && (!featureIsEnabled(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
+        && (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || (calculateThrottleStatus() != THROTTLE_LOW))) {
 
         if (((fabsf(pidData[FD_PITCH].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
             || (fabsf(pidData[FD_ROLL].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)

src/main/fc/rc_modes.c

@@ -45,6 +45,8 @@
 boxBitmask_t rcModeActivationMask; // one bit per mode defined in boxId_e
 static boxBitmask_t stickyModesEverDisabled;
 
+static bool airmodeEnabled;
+
 PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions,
                   PG_MODE_ACTIVATION_PROFILE, 1);
 
@@ -58,8 +60,8 @@ void rcModeUpdate(boxBitmask_t *newState)
     rcModeActivationMask = *newState;
 }
 
-bool isAirmodeActive(void) {
-    return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || featureIsEnabled(FEATURE_AIRMODE));
+bool airmodeIsEnabled(void) {
+    return airmodeEnabled;
 }
 
 bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range) {
@@ -136,6 +138,8 @@ void updateActivatedModes(void)
     }
 
     rcModeUpdate(&newMask);
+
+    airmodeEnabled = featureIsEnabled(FEATURE_AIRMODE) || IS_RC_MODE_ACTIVE(BOXAIRMODE);
 }
 
 bool isModeActivationConditionPresent(boxId_e modeId)

src/main/fc/rc_modes.h

@@ -126,7 +126,7 @@ typedef struct modeActivationProfile_s {
 bool IS_RC_MODE_ACTIVE(boxId_e boxId);
 void rcModeUpdate(boxBitmask_t *newState);
 
-bool isAirmodeActive(void);
+bool airmodeIsEnabled(void);
 
 bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
 void updateActivatedModes(void);

src/main/flight/mixer.c

@@ -785,10 +785,12 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
         throttle = applyThrottleLimit(throttle);
     }
 
+    const bool airmodeEnabled = airmodeIsEnabled();
+
 #ifdef USE_YAW_SPIN_RECOVERY
     // 50% throttle provides the maximum authority for yaw recovery when airmode is not active.
     // When airmode is active the throttle setting doesn't impact recovery authority.
-    if (yawSpinDetected && !isAirmodeActive()) {
+    if (yawSpinDetected && !airmodeEnabled) {
         throttle = 0.5f;   // 
     }
 #endif // USE_YAW_SPIN_RECOVERY
@@ -835,11 +837,11 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
             motorMix[i] /= motorMixRange;
         }
         // Get the maximum correction by setting offset to center when airmode enabled
-        if (isAirmodeActive()) {
+        if (airmodeEnabled) {
             throttle = 0.5f;
         }
     } else {
-        if (isAirmodeActive() || throttle > 0.5f) {  // Only automatically adjust throttle when airmode enabled. Airmode logic is always active on high throttle
+        if (airmodeEnabled || throttle > 0.5f) {  // Only automatically adjust throttle when airmode enabled. Airmode logic is always active on high throttle
             const float throttleLimitOffset = motorMixRange / 2.0f;
             throttle = constrainf(throttle, 0.0f + throttleLimitOffset, 1.0f - throttleLimitOffset);
         }
@@ -848,7 +850,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
     if (featureIsEnabled(FEATURE_MOTOR_STOP)
         && ARMING_FLAG(ARMED)
         && !featureIsEnabled(FEATURE_3D)
-        && !isAirmodeActive()
+        && !airmodeEnabled
         && (rcData[THROTTLE] < rxConfig()->mincheck)) {
         // motor_stop handling
         applyMotorStop();

src/main/io/osd.c

@@ -637,7 +637,7 @@ static bool osdDrawSingleElement(uint8_t item)
                 strcpy(buff, "HOR ");
             } else if (IS_RC_MODE_ACTIVE(BOXACROTRAINER)) {
                 strcpy(buff, "ATRN");
-            } else if (isAirmodeActive()) {
+            } else if (airmodeIsEnabled()) {
                 strcpy(buff, "AIR ");
             } else {
                 strcpy(buff, "ACRO");

src/main/telemetry/crsf.c

@@ -268,7 +268,7 @@ void crsfFrameFlightMode(sbuf_t *dst)
 
     // use same logic as OSD, so telemetry displays same flight text as OSD
     const char *flightMode = "ACRO";
-    if (isAirmodeActive()) {
+    if (airmodeIsEnabled()) {
         flightMode = "AIR";
     }
     if (FLIGHT_MODE(FAILSAFE_MODE)) {

src/test/unit/osd_unittest.cc

@@ -976,7 +976,7 @@ extern "C" {
         return false;
     }
 
-    bool isAirmodeActive() {
+    bool airmodeIsEnabled() {
         return false;
     }
 

src/test/unit/telemetry_crsf_msp_unittest.cc

@@ -278,7 +278,7 @@ extern "C" {
 
     bool featureIsEnabled(uint32_t) {return false;}
 
-    bool isAirmodeActive(void) {return true;}
+    bool airmodeIsEnabled(void) {return true;}
 
     mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostProcessFnPtr *mspPostProcessFn) {
 

src/test/unit/telemetry_crsf_unittest.cc

@@ -312,7 +312,7 @@ bool telemetryCheckRxPortShared(const serialPortConfig_t *) {return true;}
 
 portSharing_e determinePortSharing(const serialPortConfig_t *, serialPortFunction_e) {return PORTSHARING_NOT_SHARED;}
 
-bool isAirmodeActive(void) {return airMode;}
+bool airmodeIsEnabled(void) {return airMode;}
 
 int32_t getAmperage(void) {
     return testAmperage;