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Remove POSHOLD_2D mode (POSHOLD now implies ALTHOLD); Initial cut on surface tracking modifier

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Direct altitude control
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2018-05-12 19:09:34 +10:00
parent 5227273833
commit 73f773f23e
11 changed files with 231 additions and 263 deletions
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4
src/main/fc/fc_msp_box.c
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@ -35,6 +35,8 @@
#include "sensors/diagnostics.h"
#include "sensors/sensors.h"
#include "navigation/navigation.h"
#include "telemetry/telemetry.h"
#define BOX_SUFFIX ';'
@ -286,7 +288,6 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_WP_MODE)), BOXNAVWP);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)), BOXAIRMODE);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGCSNAV)), BOXGCSNAV);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXSURFACE)), BOXSURFACE);
#ifdef USE_FLM_FLAPERON
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(FLAPERON)), BOXFLAPERON);
#endif
@ -304,6 +305,7 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT1)), BOXOSDALT1);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT2)), BOXOSDALT2);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT3)), BOXOSDALT3);
CHECK_ACTIVE_BOX(IS_ENABLED(navigationTerrainFollowingEnabled()), BOXSURFACE);
memset(mspBoxModeFlags, 0, sizeof(boxBitmask_t));
for (uint32_t i = 0; i < activeBoxIdCount; i++) {