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Add define for functions only

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This commit is contained in:
breadoven 2023-08-30 23:29:46 +01:00
parent 993c007a04
commit 1b79cbd232
7 changed files with 35 additions and 14 deletions
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17
src/main/fc/fc_core.c
View file

@ -177,7 +177,7 @@ int16_t getAxisRcCommand(int16_t rawData, int16_t rate, int16_t deadband)
{
int16_t stickDeflection = 0;
#if defined(SITL_BUILD) // Workaround due to strange bug in GCC > 10.2 https://gcc.gnu.org/bugzilla/show_bug.cgi?id=108914
#if defined(SITL_BUILD) // Workaround due to strange bug in GCC > 10.2 https://gcc.gnu.org/bugzilla/show_bug.cgi?id=108914
const int16_t value = rawData - PWM_RANGE_MIDDLE;
if (value < -500) {
stickDeflection = -500;
@ -187,9 +187,9 @@ int16_t getAxisRcCommand(int16_t rawData, int16_t rate, int16_t deadband)
stickDeflection = value;
}
#else
stickDeflection = constrain(rawData - PWM_RANGE_MIDDLE, -500, 500);
stickDeflection = constrain(rawData - PWM_RANGE_MIDDLE, -500, 500);
#endif
stickDeflection = applyDeadbandRescaled(stickDeflection, deadband, -500, 500);
return rcLookup(stickDeflection, rate);
}
@ -523,9 +523,12 @@ void tryArm(void)
}
#ifdef USE_DSHOT
if (STATE(MULTIROTOR) && (IS_RC_MODE_ACTIVE(BOXTURTLE) || MULTI_FUNC_FLAG(MF_TURTLE_MODE)) && !FLIGHT_MODE(TURTLE_MODE) &&
emergencyArmingCanOverrideArmingDisabled() && isMotorProtocolDshot()
) {
#ifdef USE_MULTI_FUNCTIONS
const bool turtleIsActive = IS_RC_MODE_ACTIVE(BOXTURTLE) || MULTI_FUNC_FLAG(MF_TURTLE_MODE);
#else
const bool turtleIsActive = IS_RC_MODE_ACTIVE(BOXTURTLE);
#endif
if (STATE(MULTIROTOR) && turtleIsActive && !FLIGHT_MODE(TURTLE_MODE) && emergencyArmingCanOverrideArmingDisabled() && isMotorProtocolDshot()) {
sendDShotCommand(DSHOT_CMD_SPIN_DIRECTION_REVERSED);
ENABLE_ARMING_FLAG(ARMED);
enableFlightMode(TURTLE_MODE);
@ -842,7 +845,7 @@ static float calculateThrottleTiltCompensationFactor(uint8_t throttleTiltCompens
void taskMainPidLoop(timeUs_t currentTimeUs)
{
cycleTime = getTaskDeltaTime(TASK_SELF);
dT = (float)cycleTime * 0.000001f;

5
src/main/fc/fc_msp_box.c
View file

@ -180,7 +180,9 @@ void initActiveBoxIds(void)
RESET_BOX_ID_COUNT;
ADD_ACTIVE_BOX(BOXARM);
ADD_ACTIVE_BOX(BOXPREARM);
#ifdef USE_MULTI_FUNCTIONS
ADD_ACTIVE_BOX(BOXMULTIFUNCTION);
#endif
if (sensors(SENSOR_ACC) && STATE(ALTITUDE_CONTROL)) {
ADD_ACTIVE_BOX(BOXANGLE);
@ -414,8 +416,9 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
#ifdef USE_MULTI_MISSION
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCHANGEMISSION)), BOXCHANGEMISSION);
#endif
#ifdef USE_MULTI_FUNCTIONS
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXMULTIFUNCTION)), BOXMULTIFUNCTION);
#endif
memset(mspBoxModeFlags, 0, sizeof(boxBitmask_t));
for (uint32_t i = 0; i < activeBoxIdCount; i++) {
if (activeBoxes[activeBoxIds[i]]) {

3
src/main/fc/multifunction.c
View file

@ -26,6 +26,8 @@
#include "build/debug.h"
#include "drivers/time.h"
#ifdef USE_MULTI_FUNCTIONS
#include "fc/fc_core.h"
#include "fc/multifunction.h"
#include "fc/rc_modes.h"
@ -127,3 +129,4 @@ multi_function_e multiFunctionSelection(void)
return selectedItem;
}
#endif

3
src/main/fc/multifunction.h
View file

@ -24,6 +24,8 @@
#pragma once
#ifdef USE_MULTI_FUNCTIONS
extern uint8_t multiFunctionFlags;
#define MULTI_FUNC_FLAG_DISABLE(mask) (multiFunctionFlags &= ~(mask))
@ -50,3 +52,4 @@ typedef enum {
multi_function_e multiFunctionSelection(void);
bool isNextMultifunctionItemAvailable(void);
void setMultifunctionSelection(multi_function_e item);
#endif

4
src/main/io/osd.c
View file

@ -5053,6 +5053,7 @@ static textAttributes_t osdGetMultiFunctionMessage(char *buff)
static uint8_t warningsCount;
const char *message = NULL;
#ifdef USE_MULTI_FUNCTIONS
/* --- FUNCTIONS --- */
multi_function_e selectedFunction = multiFunctionSelection();
@ -5086,7 +5087,7 @@ static textAttributes_t osdGetMultiFunctionMessage(char *buff)
case MULTI_FUNC_5:
#ifdef USE_DSHOT
if (STATE(MULTIROTOR)) {
message = MULTI_FUNC_FLAG(MF_TURTLE_MODE) ? "USE TURTLE" : "END TURTLE";
message = MULTI_FUNC_FLAG(MF_TURTLE_MODE) ? "END TURTLE" : "USE TURTLE";
break;
}
#endif
@ -5112,6 +5113,7 @@ static textAttributes_t osdGetMultiFunctionMessage(char *buff)
return elemAttr;
}
#endif // MULTIFUNCTION - functions only, warnings always defined
/* --- WARNINGS --- */
const char *messages[7];

16
src/main/navigation/navigation.c
View file

@ -1305,8 +1305,13 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_TRACKBACK(navigatio
if (posControl.flags.estPosStatus >= EST_USABLE) {
const int32_t distFromStartTrackback = calculateDistanceToDestination(&posControl.rthTBPointsList[posControl.rthTBLastSavedIndex]) / 100;
#ifdef USE_MULTI_FUNCTIONS
const bool overrideTrackback = rthAltControlStickOverrideCheck(ROLL) || MULTI_FUNC_FLAG(MF_SUSPEND_TRACKBACK);
#else
const bool overrideTrackback = rthAltControlStickOverrideCheck(ROLL);
#endif
const bool cancelTrackback = distFromStartTrackback > navConfig()->general.rth_trackback_distance ||
((rthAltControlStickOverrideCheck(ROLL) || MULTI_FUNC_FLAG(MF_SUSPEND_TRACKBACK)) && !posControl.flags.forcedRTHActivated);
(overrideTrackback && !posControl.flags.forcedRTHActivated);
if (posControl.activeRthTBPointIndex < 0 || cancelTrackback) {
posControl.rthTBWrapAroundCounter = posControl.activeRthTBPointIndex = -1;
@ -2437,10 +2442,11 @@ static navigationHomeFlags_t navigationActualStateHomeValidity(void)
#if defined(USE_SAFE_HOME)
void checkSafeHomeState(bool shouldBeEnabled)
{
const bool safehomeNotApplicable = navConfig()->general.flags.safehome_usage_mode == SAFEHOME_USAGE_OFF ||
(MULTI_FUNC_FLAG(MF_SUSPEND_SAFEHOMES) && !posControl.flags.forcedRTHActivated) ||
posControl.flags.rthTrackbackActive ||
(!posControl.safehomeState.isApplied && posControl.homeDistance < navConfig()->general.min_rth_distance);
bool safehomeNotApplicable = navConfig()->general.flags.safehome_usage_mode == SAFEHOME_USAGE_OFF || posControl.flags.rthTrackbackActive ||
(!posControl.safehomeState.isApplied && posControl.homeDistance < navConfig()->general.min_rth_distance);
#ifdef USE_MULTI_FUNCTIONS
safehomeNotApplicable = safehomeNotApplicable || (MULTI_FUNC_FLAG(MF_SUSPEND_SAFEHOMES) && !posControl.flags.forcedRTHActivated);
#endif
if (safehomeNotApplicable) {
shouldBeEnabled = false;

1
src/main/target/common.h
View file

@ -161,6 +161,7 @@
#define NAV_MAX_WAYPOINTS 120
#define USE_RCDEVICE
#define USE_MULTI_MISSION
#define USE_MULTI_FUNCTIONS // defines functions only, warnings always defined
//Enable VTX control
#define USE_VTX_CONTROL