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Code Issues Wiki Activity

Be consistent in using #ifdef USE_SAFE_HOME

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This commit is contained in:
Ray Morris 2022-12-16 16:18:15 -06:00
parent 5d84300545
commit 77eb8e3518
2 changed files with 13 additions and 1 deletions
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7
src/main/fc/fc_msp.c
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@ -1529,6 +1529,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
return true;
}
#ifdef USE_SAFE_HOME
static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
{
const uint8_t safe_home_no = sbufReadU8(src); // get the home number
@ -1542,6 +1543,8 @@ static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
return MSP_RESULT_ERROR;
}
}
#endif
static mspResult_e mspFcLogicConditionCommand(sbuf_t *dst, sbuf_t *src) {
const uint8_t idx = sbufReadU8(src);
@ -2919,6 +2922,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR; // will only be reached if the rollback is not ready
break;
#endif
#ifdef USE_SAFE_HOME
case MSP2_INAV_SET_SAFEHOME:
if (dataSize == 10) {
uint8_t i;
@ -2932,6 +2936,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
}
break;
#endif
default:
return MSP_RESULT_ERROR;
@ -3377,9 +3382,11 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
*ret = mspFcLogicConditionCommand(dst, src);
break;
#endif
#ifdef USE_SAFE_HOME
case MSP2_INAV_SAFEHOME:
*ret = mspFcSafeHomeOutCommand(dst, src);
break;
#endif
#ifdef USE_SIMULATOR
case MSP_SIMULATOR:

7
src/main/navigation/navigation.c
View file

@ -3629,8 +3629,9 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
const bool canActivatePosHold = canActivatePosHoldMode();
const bool canActivateNavigation = canActivateNavigationModes();
const bool isExecutingRTH = navGetStateFlags(posControl.navState) & NAV_AUTO_RTH;
#ifdef USE_SAFE_HOME
checkSafeHomeState(isExecutingRTH || posControl.flags.forcedRTHActivated);
#endif
// deactivate rth trackback if RTH not active
if (posControl.flags.rthTrackbackActive) {
posControl.flags.rthTrackbackActive = isExecutingRTH;
@ -4218,7 +4219,9 @@ void activateForcedRTH(void)
{
abortFixedWingLaunch();
posControl.flags.forcedRTHActivated = true;
#ifdef USE_SAFE_HOME
checkSafeHomeState(true);
#endif
navProcessFSMEvents(selectNavEventFromBoxModeInput());
}
@ -4227,7 +4230,9 @@ void abortForcedRTH(void)
// Disable failsafe RTH and make sure we back out of navigation mode to IDLE
// If any navigation mode was active prior to RTH it will be re-enabled with next RX update
posControl.flags.forcedRTHActivated = false;
#ifdef USE_SAFE_HOME
checkSafeHomeState(false);
#endif
navProcessFSMEvents(NAV_FSM_EVENT_SWITCH_TO_IDLE);
}