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Code Issues Wiki Activity

Fix the OSD emergency landing warning message

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This commit is contained in:
Michel Pastor 2018-07-25 18:00:57 +02:00
parent 14738b5c90
commit 49873acc9a
3 changed files with 16 additions and 6 deletions
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7
src/main/io/osd.c
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@ -691,7 +691,10 @@ static const char * navigationStateMessage(void)
// Not used // Not used
break; break;
case MW_NAV_STATE_LAND_START: case MW_NAV_STATE_LAND_START:
return OSD_MESSAGE_STR("STARTING EMERGENCY LANDING"); // Not used
break;
case MW_NAV_STATE_EMERGENCY_LANDING:
return OSD_MESSAGE_STR("EMERGENCY LANDING");
case MW_NAV_STATE_LAND_IN_PROGRESS: case MW_NAV_STATE_LAND_IN_PROGRESS:
return OSD_MESSAGE_STR("LANDING"); return OSD_MESSAGE_STR("LANDING");
case MW_NAV_STATE_HOVER_ABOVE_HOME: case MW_NAV_STATE_HOVER_ABOVE_HOME:
@ -2041,7 +2044,7 @@ static bool osdDrawSingleElement(uint8_t item)
// will cause it to be missing from some frames. // will cause it to be missing from some frames.
} }
} else { } else {
if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE)) { if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
const char *navStateMessage = navigationStateMessage(); const char *navStateMessage = navigationStateMessage();
if (navStateMessage) { if (navStateMessage) {
messages[messageCount++] = navStateMessage; messages[messageCount++] = navStateMessage;

9
src/main/navigation/navigation.c
View file

@ -704,7 +704,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.timeoutMs = 0, .timeoutMs = 0,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE, .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
.mapToFlightModes = 0, .mapToFlightModes = 0,
.mwState = MW_NAV_STATE_LAND_START, .mwState = MW_NAV_STATE_EMERGENCY_LANDING,
.mwError = MW_NAV_ERROR_LANDING, .mwError = MW_NAV_ERROR_LANDING,
.onEvent = { .onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS, [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
@ -720,7 +720,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE, .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
.mapToFlightModes = 0, .mapToFlightModes = 0,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwState = MW_NAV_STATE_EMERGENCY_LANDING,
.mwError = MW_NAV_ERROR_LANDING, .mwError = MW_NAV_ERROR_LANDING,
.onEvent = { .onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS, // re-process the state [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS, // re-process the state
@ -3049,6 +3049,11 @@ rthState_e getStateOfForcedRTH(void)
} }
} }
bool navigationIsExecutingAnEmergencyLanding(void)
{
return navGetCurrentStateFlags() & NAV_CTL_EMERG;
}
bool navigationIsControllingThrottle(void) bool navigationIsControllingThrottle(void)
{ {
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags(); navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();

6
src/main/navigation/navigation.h
View file

@ -272,12 +272,13 @@ typedef enum {
MW_NAV_STATE_WP_ENROUTE, // WP Enroute MW_NAV_STATE_WP_ENROUTE, // WP Enroute
MW_NAV_STATE_PROCESS_NEXT, // Process next MW_NAV_STATE_PROCESS_NEXT, // Process next
MW_NAV_STATE_DO_JUMP, // Jump MW_NAV_STATE_DO_JUMP, // Jump
MW_NAV_STATE_LAND_START, // Start Land MW_NAV_STATE_LAND_START, // Start Land (unused)
MW_NAV_STATE_LAND_IN_PROGRESS, // Land in Progress MW_NAV_STATE_LAND_IN_PROGRESS, // Land in Progress
MW_NAV_STATE_LANDED, // Landed MW_NAV_STATE_LANDED, // Landed
MW_NAV_STATE_LAND_SETTLE, // Settling before land MW_NAV_STATE_LAND_SETTLE, // Settling before land
MW_NAV_STATE_LAND_START_DESCENT, // Start descent MW_NAV_STATE_LAND_START_DESCENT, // Start descent
MW_NAV_STATE_HOVER_ABOVE_HOME // Hover/Loitering above home MW_NAV_STATE_HOVER_ABOVE_HOME, // Hover/Loitering above home
MW_NAV_STATE_EMERGENCY_LANDING, // Emergency landing
} navSystemStatus_State_e; } navSystemStatus_State_e;
typedef enum { typedef enum {
@ -384,6 +385,7 @@ rthState_e getStateOfForcedRTH(void);
bool navigationIsControllingThrottle(void); bool navigationIsControllingThrottle(void);
bool isFixedWingAutoThrottleManuallyIncreased(void); bool isFixedWingAutoThrottleManuallyIncreased(void);
bool navigationIsFlyingAutonomousMode(void); bool navigationIsFlyingAutonomousMode(void);
bool navigationIsExecutingAnEmergencyLanding(void);
/* Returns true iff navConfig()->general.flags.rth_allow_landing is NAV_RTH_ALLOW_LANDING_ALWAYS /* Returns true iff navConfig()->general.flags.rth_allow_landing is NAV_RTH_ALLOW_LANDING_ALWAYS
* or if it's NAV_RTH_ALLOW_LANDING_FAILSAFE and failsafe mode is active. * or if it's NAV_RTH_ALLOW_LANDING_FAILSAFE and failsafe mode is active.
*/ */