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Use an STATE() flag instead of an static variable in navigation.c
Also, make the check for setting the STATE() flag clearer. Previous implementation was a bit confusing.
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dc6d002bdc
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20fac46ee0
4 changed files with 23 additions and 30 deletions
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@ -375,12 +375,14 @@ void tryArm(void)
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}
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}
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#if defined(USE_NAV)
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#if defined(USE_NAV)
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// Check if we need to make the navigation safety
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// If nav_extra_arming_safety was bypassed we always
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// bypass permanent until power off. See documentation
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// allow bypassing it even without the sticks set
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// for these functions.
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// in the correct position to allow re-arming quickly
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// in case of a mid-air accidental disarm.
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bool usedBypass = false;
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bool usedBypass = false;
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if (navigationIsBlockingArming(&usedBypass)) {
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navigationIsBlockingArming(&usedBypass);
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navigationSetBlockingArmingBypassWithoutSticks(true);
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if (usedBypass) {
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ENABLE_STATE(NAV_EXTRA_ARMING_SAFETY_BYPASSED);
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}
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}
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#endif
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#endif
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@ -103,6 +103,7 @@ typedef enum {
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NAV_CRUISE_BRAKING = (1 << 11),
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NAV_CRUISE_BRAKING = (1 << 11),
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NAV_CRUISE_BRAKING_BOOST = (1 << 12),
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NAV_CRUISE_BRAKING_BOOST = (1 << 12),
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NAV_CRUISE_BRAKING_LOCKED = (1 << 13),
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NAV_CRUISE_BRAKING_LOCKED = (1 << 13),
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NAV_EXTRA_ARMING_SAFETY_BYPASSED = (1 << 14), // nav_extra_arming_safey was bypassed. Keep it until power cycle.
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} stateFlags_t;
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} stateFlags_t;
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#define DISABLE_STATE(mask) (stateFlags &= ~(mask))
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#define DISABLE_STATE(mask) (stateFlags &= ~(mask))
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@ -167,7 +167,6 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
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navigationPosControl_t posControl;
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navigationPosControl_t posControl;
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navSystemStatus_t NAV_Status;
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navSystemStatus_t NAV_Status;
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static bool blockingArmingBypassWithoutSticks;
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#if defined(NAV_BLACKBOX)
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#if defined(NAV_BLACKBOX)
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int16_t navCurrentState;
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int16_t navCurrentState;
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@ -2938,7 +2937,7 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
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// Apply extra arming safety only if pilot has any of GPS modes configured
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// Apply extra arming safety only if pilot has any of GPS modes configured
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if ((isUsingNavigationModes() || failsafeMayRequireNavigationMode()) && !((posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME))) {
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if ((isUsingNavigationModes() || failsafeMayRequireNavigationMode()) && !((posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME))) {
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if (navConfig()->general.flags.extra_arming_safety == NAV_EXTRA_ARMING_SAFETY_ALLOW_BYPASS &&
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if (navConfig()->general.flags.extra_arming_safety == NAV_EXTRA_ARMING_SAFETY_ALLOW_BYPASS &&
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(blockingArmingBypassWithoutSticks || rxGetChannelValue(YAW) > 1750)) {
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(STATE(NAV_EXTRA_ARMING_SAFETY_BYPASSED) || rxGetChannelValue(YAW) > 1750)) {
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if (usedBypass) {
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if (usedBypass) {
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*usedBypass = true;
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*usedBypass = true;
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}
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}
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@ -2967,11 +2966,6 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
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return NAV_ARMING_BLOCKER_NONE;
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return NAV_ARMING_BLOCKER_NONE;
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}
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}
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void navigationSetBlockingArmingBypassWithoutSticks(bool allow)
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{
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blockingArmingBypassWithoutSticks = allow;
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}
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bool navigationPositionEstimateIsHealthy(void)
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bool navigationPositionEstimateIsHealthy(void)
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{
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{
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return (posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME);
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return (posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME);
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@ -369,10 +369,6 @@ int8_t navigationGetHeadingControlState(void);
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// If usedBypass is provided, it will indicate wether any checks
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// If usedBypass is provided, it will indicate wether any checks
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// were bypassed due to user input.
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// were bypassed due to user input.
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navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass);
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navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass);
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// If navigation arming block bypass is used for arming, it's kept
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// until power off. This allows rearming quickly in case of an
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// accidentatal mid-air disarm.
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void navigationSetBlockingArmingBypassWithoutSticks(bool allow);
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bool navigationPositionEstimateIsHealthy(void);
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bool navigationPositionEstimateIsHealthy(void);
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bool navIsCalibrationComplete(void);
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bool navIsCalibrationComplete(void);
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bool navigationTerrainFollowingEnabled(void);
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bool navigationTerrainFollowingEnabled(void);
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