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Use an STATE() flag instead of an static variable in navigation.c

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Also, make the check for setting the STATE() flag clearer. Previous
implementation was a bit confusing.
This commit is contained in:
Alberto García Hierro 2019-04-25 13:59:20 +01:00
parent dc6d002bdc
commit 20fac46ee0
4 changed files with 23 additions and 30 deletions
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12
src/main/fc/fc_core.c
View file

@ -375,12 +375,14 @@ void tryArm(void)
} }
#if defined(USE_NAV) #if defined(USE_NAV)
// Check if we need to make the navigation safety // If nav_extra_arming_safety was bypassed we always
// bypass permanent until power off. See documentation // allow bypassing it even without the sticks set
// for these functions. // in the correct position to allow re-arming quickly
// in case of a mid-air accidental disarm.
bool usedBypass = false; bool usedBypass = false;
if (navigationIsBlockingArming(&usedBypass)) { navigationIsBlockingArming(&usedBypass);
navigationSetBlockingArmingBypassWithoutSticks(true); if (usedBypass) {
ENABLE_STATE(NAV_EXTRA_ARMING_SAFETY_BYPASSED);
} }
#endif #endif

29
src/main/fc/runtime_config.h
View file

@ -89,20 +89,21 @@ extern uint32_t flightModeFlags;
#define FLIGHT_MODE(mask) (flightModeFlags & (mask)) #define FLIGHT_MODE(mask) (flightModeFlags & (mask))
typedef enum { typedef enum {
GPS_FIX_HOME = (1 << 0), GPS_FIX_HOME = (1 << 0),
GPS_FIX = (1 << 1), GPS_FIX = (1 << 1),
CALIBRATE_MAG = (1 << 2), CALIBRATE_MAG = (1 << 2),
SMALL_ANGLE = (1 << 3), SMALL_ANGLE = (1 << 3),
FIXED_WING = (1 << 4), // set when in flying_wing or airplane mode. currently used by althold selection code FIXED_WING = (1 << 4), // set when in flying_wing or airplane mode. currently used by althold selection code
ANTI_WINDUP = (1 << 5), ANTI_WINDUP = (1 << 5),
FLAPERON_AVAILABLE = (1 << 6), FLAPERON_AVAILABLE = (1 << 6),
NAV_MOTOR_STOP_OR_IDLE = (1 << 7), // navigation requests MOTOR_STOP or motor idle regardless of throttle stick, will only activate if MOTOR_STOP feature is available NAV_MOTOR_STOP_OR_IDLE = (1 << 7), // navigation requests MOTOR_STOP or motor idle regardless of throttle stick, will only activate if MOTOR_STOP feature is available
COMPASS_CALIBRATED = (1 << 8), COMPASS_CALIBRATED = (1 << 8),
ACCELEROMETER_CALIBRATED = (1 << 9), ACCELEROMETER_CALIBRATED = (1 << 9),
PWM_DRIVER_AVAILABLE = (1 << 10), PWM_DRIVER_AVAILABLE = (1 << 10),
NAV_CRUISE_BRAKING = (1 << 11), NAV_CRUISE_BRAKING = (1 << 11),
NAV_CRUISE_BRAKING_BOOST = (1 << 12), NAV_CRUISE_BRAKING_BOOST = (1 << 12),
NAV_CRUISE_BRAKING_LOCKED = (1 << 13), NAV_CRUISE_BRAKING_LOCKED = (1 << 13),
NAV_EXTRA_ARMING_SAFETY_BYPASSED = (1 << 14), // nav_extra_arming_safey was bypassed. Keep it until power cycle.
} stateFlags_t; } stateFlags_t;
#define DISABLE_STATE(mask) (stateFlags &= ~(mask)) #define DISABLE_STATE(mask) (stateFlags &= ~(mask))

8
src/main/navigation/navigation.c
View file

@ -167,7 +167,6 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
navigationPosControl_t posControl; navigationPosControl_t posControl;
navSystemStatus_t NAV_Status; navSystemStatus_t NAV_Status;
static bool blockingArmingBypassWithoutSticks;
#if defined(NAV_BLACKBOX) #if defined(NAV_BLACKBOX)
int16_t navCurrentState; int16_t navCurrentState;
@ -2938,7 +2937,7 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
// Apply extra arming safety only if pilot has any of GPS modes configured // Apply extra arming safety only if pilot has any of GPS modes configured
if ((isUsingNavigationModes() || failsafeMayRequireNavigationMode()) && !((posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME))) { if ((isUsingNavigationModes() || failsafeMayRequireNavigationMode()) && !((posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME))) {
if (navConfig()->general.flags.extra_arming_safety == NAV_EXTRA_ARMING_SAFETY_ALLOW_BYPASS && if (navConfig()->general.flags.extra_arming_safety == NAV_EXTRA_ARMING_SAFETY_ALLOW_BYPASS &&
(blockingArmingBypassWithoutSticks || rxGetChannelValue(YAW) > 1750)) { (STATE(NAV_EXTRA_ARMING_SAFETY_BYPASSED) || rxGetChannelValue(YAW) > 1750)) {
if (usedBypass) { if (usedBypass) {
*usedBypass = true; *usedBypass = true;
} }
@ -2967,11 +2966,6 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
return NAV_ARMING_BLOCKER_NONE; return NAV_ARMING_BLOCKER_NONE;
} }
void navigationSetBlockingArmingBypassWithoutSticks(bool allow)
{
blockingArmingBypassWithoutSticks = allow;
}
bool navigationPositionEstimateIsHealthy(void) bool navigationPositionEstimateIsHealthy(void)
{ {
return (posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME); return (posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME);

4
src/main/navigation/navigation.h
View file

@ -369,10 +369,6 @@ int8_t navigationGetHeadingControlState(void);
// If usedBypass is provided, it will indicate wether any checks // If usedBypass is provided, it will indicate wether any checks
// were bypassed due to user input. // were bypassed due to user input.
navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass); navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass);
// If navigation arming block bypass is used for arming, it's kept
// until power off. This allows rearming quickly in case of an
// accidentatal mid-air disarm.
void navigationSetBlockingArmingBypassWithoutSticks(bool allow);
bool navigationPositionEstimateIsHealthy(void); bool navigationPositionEstimateIsHealthy(void);
bool navIsCalibrationComplete(void); bool navIsCalibrationComplete(void);
bool navigationTerrainFollowingEnabled(void); bool navigationTerrainFollowingEnabled(void);