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Changes to box mode visibility

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2018-06-13 21:26:01 +02:00
parent 8a4b19a732
commit 1e1da303f5
1 changed files with 8 additions and 5 deletions
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13
src/main/fc/fc_msp_box.c
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@ -182,11 +182,14 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
}
// if ((feature(FEATURE_GPS) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) ||
// ((1) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) ||
// (STATE(FIXED_WING) && sensors(SENSOR_ACC) && feature(FEATURE_GPS))) {
if (sensors(SENSOR_ACC)) {
const bool navReadyQuads = !STATE(FIXED_WING) && sensors(SENSOR_MAG) && 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;
@ -329,7 +332,7 @@ 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