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Code Issues Wiki Activity

Loiter direction (#4036)

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* Loiter direction
https://github.com/iNavFlight/inav/issues/3002
This commit is contained in:
hali9 2019-01-08 08:26:06 +01:00 • committed by Konstantin Sharlaimov
parent 61654d8ce8
commit 69970a2b95
8 changed files with 40 additions and 3 deletions
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5
src/main/fc/fc_msp_box.c
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@ -84,6 +84,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXBRAKING, "MC BRAKING", 46 },
{ BOXUSER1, "USER1", 47 },
{ BOXUSER2, "USER2", 48 },
{ BOXLOITERDIRCHN, "LOITER CHANGE", 49 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -195,6 +196,9 @@ void initActiveBoxIds(void)
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
if (navFlowDeadReckoning || navReadyQuads || navReadyPlanes) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
if (STATE(FIXED_WING)) {
activeBoxIds[activeBoxIdCount++] = BOXLOITERDIRCHN;
}
}
if (navReadyQuads || navReadyPlanes) {
@ -343,6 +347,7 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBRAKING)), BOXBRAKING);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXUSER1)), BOXUSER1);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXUSER2)), BOXUSER2);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)),BOXLOITERDIRCHN);
memset(mspBoxModeFlags, 0, sizeof(boxBitmask_t));
for (uint32_t i = 0; i < activeBoxIdCount; i++) {