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Merge branch 'development' into dzikuvx-mr-cruise-experiments

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2018-07-04 17:08:56 +02:00
commit 1231df9654
160 changed files with 6506 additions and 2781 deletions
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22
src/main/fc/fc_msp_box.c
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@ -79,7 +79,8 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXOSDALT1, "OSD ALT 1", 42 },
{ BOXOSDALT2, "OSD ALT 2", 43 },
{ BOXOSDALT3, "OSD ALT 3", 44 },
{ BOXBRAKING, "MC BRAKING", 45 },
{ BOXNAVCRUISE, "NAV CRUISE", 45 },
{ BOXBRAKING, "MC BRAKING", 46 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -184,12 +185,24 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
}
if ((feature(FEATURE_GPS) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) || (STATE(FIXED_WING) && sensors(SENSOR_ACC) && feature(FEATURE_GPS))) {
const bool navReadyQuads = !STATE(FIXED_WING) && (getHwCompassStatus() != HW_SENSOR_NONE) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
const bool navReadyPlanes = STATE(FIXED_WING) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
if (navFlowDeadReckoning || navReadyQuads || navReadyPlanes) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
}
if (navReadyQuads || navReadyPlanes) {
activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;
activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
if (feature(FEATURE_GPS)) {
activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
if (STATE(FIXED_WING)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;
}
}
}
if (mixerConfig()->platformType == PLATFORM_MULTIROTOR) {
@ -292,6 +305,7 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)), BOXFAILSAFE);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_ALTHOLD_MODE)), BOXNAVALTHOLD);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_POSHOLD_MODE)), BOXNAVPOSHOLD);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_CRUISE_MODE)), BOXNAVCRUISE);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_RTH_MODE)), BOXNAVRTH);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_WP_MODE)), BOXNAVWP);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)), BOXAIRMODE);
@ -331,7 +345,7 @@ uint16_t packSensorStatus(void)
IS_ENABLED(sensors(SENSOR_MAG)) << 2 |
IS_ENABLED(sensors(SENSOR_GPS)) << 3 |
IS_ENABLED(sensors(SENSOR_RANGEFINDER)) << 4 |
//IS_ENABLED(sensors(SENSOR_OPFLOW)) << 5 |
IS_ENABLED(sensors(SENSOR_OPFLOW)) << 5 |
IS_ENABLED(sensors(SENSOR_PITOT)) << 6;
// Hardware failure indication bit