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Code Issues Wiki Activity

mixer_profile rcmodes changes

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This commit is contained in:
shota 2023-10-11 03:41:22 +09:00
parent 9847563559
commit 65fa493af1
5 changed files with 18 additions and 6 deletions
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2
src/main/fc/fc_core.c
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@ -727,6 +727,8 @@ void processRx(timeUs_t currentTimeUs)
} else {
DISABLE_FLIGHT_MODE(MANUAL_MODE);
}
}else{
DISABLE_FLIGHT_MODE(MANUAL_MODE);
}
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.

11
src/main/fc/fc_msp_box.c
View file

@ -202,7 +202,7 @@ void initActiveBoxIds(void)
//Camstab mode is enabled always
ADD_ACTIVE_BOX(BOXCAMSTAB);
if (STATE(MULTIROTOR)) {
if (STATE(MULTIROTOR) || platformTypeConfigured(PLATFORM_MULTIROTOR) || platformTypeConfigured(PLATFORM_TRICOPTER)) {
if ((sensors(SENSOR_ACC) || sensors(SENSOR_MAG))) {
ADD_ACTIVE_BOX(BOXHEADFREE);
ADD_ACTIVE_BOX(BOXHEADADJ);
@ -244,13 +244,13 @@ void initActiveBoxIds(void)
#endif
}
if (STATE(AIRPLANE)) {
if (STATE(AIRPLANE) || platformTypeConfigured(PLATFORM_AIRPLANE)) {
ADD_ACTIVE_BOX(BOXSOARING);
}
}
#ifdef USE_MR_BRAKING_MODE
if (mixerConfig()->platformType == PLATFORM_MULTIROTOR) {
if (mixerConfig()->platformType == PLATFORM_MULTIROTOR || platformTypeConfigured(PLATFORM_MULTIROTOR)) {
ADD_ACTIVE_BOX(BOXBRAKING);
}
#endif
@ -259,11 +259,12 @@ void initActiveBoxIds(void)
ADD_ACTIVE_BOX(BOXNAVALTHOLD);
}
if (STATE(AIRPLANE) || STATE(ROVER) || STATE(BOAT)) {
if (STATE(AIRPLANE) || STATE(ROVER) || STATE(BOAT) ||
platformTypeConfigured(PLATFORM_AIRPLANE) || platformTypeConfigured(PLATFORM_ROVER) || platformTypeConfigured(PLATFORM_BOAT)) {
ADD_ACTIVE_BOX(BOXMANUAL);
}
if (STATE(AIRPLANE)) {
if (STATE(AIRPLANE) || platformTypeConfigured(PLATFORM_AIRPLANE)) {
if (!feature(FEATURE_FW_LAUNCH)) {
ADD_ACTIVE_BOX(BOXNAVLAUNCH);
}

8
src/main/flight/mixer_profile.c
View file

@ -108,6 +108,14 @@ void setMixerProfileAT(void)
mixerProfileAT.transitionTransEndTime = mixerProfileAT.transitionStartTime + (timeMs_t)currentMixerConfig.switchTransitionTimer * 100;
}
bool platformTypeConfigured(flyingPlatformType_e platformType)
{
if (!isModeActivationConditionPresent(BOXMIXERPROFILE)){
return false;
}
return mixerConfigByIndex(nextProfileIndex)->platformType == platformType;
}
bool checkMixerATRequired(mixerProfileATRequest_e required_action)
{
//return false if mixerAT condition is not required or setting is not valid

1
src/main/flight/mixer_profile.h
View file

@ -71,6 +71,7 @@ static inline const mixerProfile_t* mixerProfiles_CopyArray_by_index(int _index)
#define mixerMotorMixersByIndex(index) (mixerProfiles(index)->MotorMixers)
#define mixerServoMixersByIndex(index) (mixerProfiles(index)->ServoMixers)
bool platformTypeConfigured(flyingPlatformType_e platformType);
bool outputProfileHotSwitch(int profile_index);
bool checkMixerProfileHotSwitchAvalibility(void);
void activateMixerConfig(void);

2
src/main/flight/pid.c
View file

@ -1130,7 +1130,7 @@ void FAST_CODE pidController(float dT)
canUseFpvCameraMix = false; // FPVANGLEMIX is incompatible with TURN_ASSISTANT
}
if (canUseFpvCameraMix && IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX) && currentControlRateProfile->misc.fpvCamAngleDegrees) {
if (canUseFpvCameraMix && IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX) && currentControlRateProfile->misc.fpvCamAngleDegrees && STATE(MULTIROTOR)) {
pidApplyFpvCameraAngleMix(pidState, currentControlRateProfile->misc.fpvCamAngleDegrees);
}