mirror of
https://github.com/betaflight/betaflight.git
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565f1f4db5
Checks various features, modes, and OSD elements to determine if ACC is needed. Generates an arming disabled warning if ACC calibration has never been completed.
132 lines
2.8 KiB
C
132 lines
2.8 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include "platform.h"
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#include "fc/runtime_config.h"
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#include "io/beeper.h"
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uint8_t armingFlags = 0;
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uint8_t stateFlags = 0;
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uint16_t flightModeFlags = 0;
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static uint32_t enabledSensors = 0;
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// Must be shorter than OSD_WARNINGS_MAX_SIZE (11) to be displayed fully in OSD
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const char *armingDisableFlagNames[]= {
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"NOGYRO",
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"FAILSAFE",
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"RXLOSS",
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"BADRX",
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"BOXFAILSAFE",
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"RUNAWAY",
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"CRASH",
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"THROTTLE",
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"ANGLE",
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"BOOTGRACE",
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"NOPREARM",
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"LOAD",
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"CALIB",
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"CLI",
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"CMS",
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"BST",
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"MSP",
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"PARALYZE",
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"GPS",
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"RESCUE_SW",
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"RPMFILTER",
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"REBOOT_REQD",
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"DSHOT_BBANG",
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"ACC_CALIB",
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"ARMSWITCH",
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};
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static armingDisableFlags_e armingDisableFlags = 0;
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void setArmingDisabled(armingDisableFlags_e flag)
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{
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armingDisableFlags = armingDisableFlags | flag;
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}
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void unsetArmingDisabled(armingDisableFlags_e flag)
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{
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armingDisableFlags = armingDisableFlags & ~flag;
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}
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bool isArmingDisabled(void)
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{
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return armingDisableFlags;
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}
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armingDisableFlags_e getArmingDisableFlags(void)
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{
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return armingDisableFlags;
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}
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/**
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* Enables the given flight mode. A beep is sounded if the flight mode
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* has changed. Returns the new 'flightModeFlags' value.
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*/
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uint16_t enableFlightMode(flightModeFlags_e mask)
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{
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uint16_t oldVal = flightModeFlags;
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flightModeFlags |= (mask);
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if (flightModeFlags != oldVal)
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beeperConfirmationBeeps(1);
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return flightModeFlags;
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}
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/**
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* Disables the given flight mode. A beep is sounded if the flight mode
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* has changed. Returns the new 'flightModeFlags' value.
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*/
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uint16_t disableFlightMode(flightModeFlags_e mask)
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{
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uint16_t oldVal = flightModeFlags;
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flightModeFlags &= ~(mask);
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if (flightModeFlags != oldVal)
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beeperConfirmationBeeps(1);
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return flightModeFlags;
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}
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bool sensors(uint32_t mask)
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{
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return enabledSensors & mask;
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}
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void sensorsSet(uint32_t mask)
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{
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enabledSensors |= mask;
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}
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void sensorsClear(uint32_t mask)
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{
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enabledSensors &= ~(mask);
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}
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uint32_t sensorsMask(void)
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{
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return enabledSensors;
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}
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