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Fix ANGLE mode and HORIZON mode resetting the errorAngle when they are

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both attempted to be enabled at the same time.  Angle mode now takes
precedence over horizon mode.

Fix using aux settings that are not applicable to in-use aux channels -
prior to this it was possible to configure aux4 and then switch to
RX_SERIAL using a 7 channel system (3 aux channels) and aux4 would still
have been processed.
This commit is contained in:
Dominic Clifton 2014-08-26 21:28:23 +01:00
parent d15b56f14e
commit 1c6ea1d397
9 changed files with 97 additions and 68 deletions
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47
src/main/mw.c
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@ -439,9 +439,6 @@ void executePeriodicTasks(void)
void processRx(void)
{
int i;
uint32_t auxState = 0;
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
@ -474,30 +471,14 @@ void processRx(void)
updateInflightCalibrationState();
}
// Check AUX switches
updateRcOptions(currentProfile->activate);
// auxState is a bitmask, 3 bits per channel. aux1 is first.
// lower 16 bits contain aux 1 to 4, upper 16 bits contain aux 5 to 8
//
// the three bits are as follows:
// bit 1 is SET when the stick is less than 1300
// bit 2 is SET when the stick is between 1300 and 1700
// bit 3 is SET when the stick is above 1700
// if the value is 1300 or 1700 NONE of the three bits are set.
for (i = 0; i < 4; i++) {
auxState |= (rcData[AUX1 + i] < 1300) << (3 * i) |
(1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (3 * i + 1) |
(rcData[AUX1 + i] > 1700) << (3 * i + 2);
auxState |= ((rcData[AUX5 + i] < 1300) << (3 * i) |
(1300 < rcData[AUX5 + i] && rcData[AUX5 + i] < 1700) << (3 * i + 1) |
(rcData[AUX5 + i] > 1700) << (3 * i + 2)) << 16;
}
for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
rcOptions[i] = (auxState & currentProfile->activate[i]) > 0;
bool canUseHorizonMode = true;
if ((rcOptions[BOXANGLE] || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
resetErrorAngle();
ENABLE_FLIGHT_MODE(ANGLE_MODE);
@ -506,15 +487,17 @@ void processRx(void)
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (rcOptions[BOXHORIZON]) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
resetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (rcOptions[BOXHORIZON] && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
resetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;