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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-02-18 17:39:38 +01:00
parent d5d47b3515
commit 339b1047e0
18 changed files with 80 additions and 78 deletions
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12
src/main/fc/fc_msp_box.c
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@ -187,17 +187,17 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXCAMSTAB;
#ifdef USE_GPS
if (sensors(SENSOR_BARO) || (STATE(AIRPLANE_ROVER_BOAT) && feature(FEATURE_GPS))) {
if (sensors(SENSOR_BARO) || (STATE(FIXED_WING) && feature(FEATURE_GPS))) {
activeBoxIds[activeBoxIdCount++] = BOXNAVALTHOLD;
activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
}
const bool navReadyQuads = !STATE(AIRPLANE_ROVER_BOAT) && (getHwCompassStatus() != HW_SENSOR_NONE) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
const bool navReadyPlanes = STATE(AIRPLANE_ROVER_BOAT) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
const bool navReadyQuads = !STATE(FIXED_WING) && (getHwCompassStatus() != HW_SENSOR_NONE) && 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 (STATE(AIRPLANE_ROVER_BOAT)) {
if (STATE(FIXED_WING)) {
activeBoxIds[activeBoxIdCount++] = BOXLOITERDIRCHN;
}
}
@ -209,7 +209,7 @@ void initActiveBoxIds(void)
if (feature(FEATURE_GPS)) {
activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
if (STATE(AIRPLANE_ROVER_BOAT)) {
if (STATE(FIXED_WING)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;
}
}
@ -223,7 +223,7 @@ void initActiveBoxIds(void)
#endif
if (STATE(AIRPLANE_ROVER_BOAT)) {
if (STATE(FIXED_WING)) {
activeBoxIds[activeBoxIdCount++] = BOXMANUAL;
if (!feature(FEATURE_FW_LAUNCH)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVLAUNCH;