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Position estimation refactoring. Opflow position estimation. Rebase. Squash.

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YGlamazdin 2018-05-23 00:07:08 +10:00 • committed by Konstantin (DigitalEntity) Sharlaimov
parent 428971d366
commit 6369b94149
19 changed files with 835 additions and 498 deletions
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10
src/main/fc/fc_msp_box.c
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@ -182,12 +182,18 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
}
if ((feature(FEATURE_GPS) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) || (STATE(FIXED_WING) && sensors(SENSOR_ACC) && feature(FEATURE_GPS))) {
// if ((feature(FEATURE_GPS) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) ||
// ((1) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) ||
// (STATE(FIXED_WING) && sensors(SENSOR_ACC) && feature(FEATURE_GPS))) {
if (sensors(SENSOR_ACC)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;
activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
if (feature(FEATURE_GPS)) {
activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
}
}
#endif