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Drop NAV_BLACKBOX define

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Pawel Spychalski (DzikuVx) 2021-08-26 09:43:35 +02:00
parent 1ee5ed366e
commit 2e84ca62c5
5 changed files with 8 additions and 36 deletions
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20
src/main/navigation/navigation.c
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@ -199,7 +199,7 @@ navigationPosControl_t posControl;
navSystemStatus_t NAV_Status;
EXTENDED_FASTRAM multicopterPosXyCoefficients_t multicopterPosXyCoefficients;
#if defined(NAV_BLACKBOX)
// Blackbox states
int16_t navCurrentState;
int16_t navActualVelocity[3];
int16_t navDesiredVelocity[3];
@ -212,7 +212,7 @@ uint16_t navFlags;
uint16_t navEPH;
uint16_t navEPV;
int16_t navAccNEU[3];
#endif
//End of blackbox states
static fpVector3_t * rthGetHomeTargetPosition(rthTargetMode_e mode);
static void updateDesiredRTHAltitude(void);
@ -1950,12 +1950,11 @@ void updateActualHorizontalPositionAndVelocity(bool estPosValid, bool estVelVali
posControl.flags.horizontalPositionDataNew = 0;
}
#if defined(NAV_BLACKBOX)
//Update blackbox data
navLatestActualPosition[X] = newX;
navLatestActualPosition[Y] = newY;
navActualVelocity[X] = constrain(newVelX, -32678, 32767);
navActualVelocity[Y] = constrain(newVelY, -32678, 32767);
#endif
}
/*-----------------------------------------------------------
@ -2005,10 +2004,9 @@ void updateActualAltitudeAndClimbRate(bool estimateValid, float newAltitude, flo
posControl.actualState.surfaceMin = -1;
}
#if defined(NAV_BLACKBOX)
//Update blackbox data
navLatestActualPosition[Z] = navGetCurrentActualPositionAndVelocity()->pos.z;
navActualVelocity[Z] = constrain(navGetCurrentActualPositionAndVelocity()->vel.z, -32678, 32767);
#endif
}
/*-----------------------------------------------------------
@ -3066,7 +3064,7 @@ void applyWaypointNavigationAndAltitudeHold(void)
{
const timeUs_t currentTimeUs = micros();
#if defined(NAV_BLACKBOX)
//Updata blackbox data
navFlags = 0;
if (posControl.flags.estAltStatus == EST_TRUSTED) navFlags |= (1 << 0);
if (posControl.flags.estAglStatus == EST_TRUSTED) navFlags |= (1 << 1);
@ -3076,7 +3074,6 @@ void applyWaypointNavigationAndAltitudeHold(void)
if (isGPSGlitchDetected()) navFlags |= (1 << 4);
#endif
if (posControl.flags.estHeadingStatus == EST_TRUSTED) navFlags |= (1 << 5);
#endif
// Reset all navigation requests - NAV controllers will set them if necessary
DISABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
@ -3110,8 +3107,7 @@ void applyWaypointNavigationAndAltitudeHold(void)
if (posControl.flags.verticalPositionDataConsumed)
posControl.flags.verticalPositionDataNew = 0;
#if defined(NAV_BLACKBOX)
//Update blackbox data
if (posControl.flags.isAdjustingPosition) navFlags |= (1 << 6);
if (posControl.flags.isAdjustingAltitude) navFlags |= (1 << 7);
if (posControl.flags.isAdjustingHeading) navFlags |= (1 << 8);
@ -3119,7 +3115,6 @@ void applyWaypointNavigationAndAltitudeHold(void)
navTargetPosition[X] = lrintf(posControl.desiredState.pos.x);
navTargetPosition[Y] = lrintf(posControl.desiredState.pos.y);
navTargetPosition[Z] = lrintf(posControl.desiredState.pos.z);
#endif
}
/*-----------------------------------------------------------
@ -3463,9 +3458,8 @@ void updateWaypointsAndNavigationMode(void)
// Map navMode back to enabled flight modes
switchNavigationFlightModes();
#if defined(NAV_BLACKBOX)
//Update Blackbox data
navCurrentState = (int16_t)posControl.navPersistentId;
#endif
}
/*-----------------------------------------------------------