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First build

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This commit is contained in:
breadoven 2021-03-10 13:46:45 +00:00
parent ee06203151
commit 88a4ceb1aa
4 changed files with 21 additions and 9 deletions
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21
src/main/io/osd.c
View file

@ -1199,7 +1199,7 @@ static void osdDisplayFlightPIDValues(uint8_t elemPosX, uint8_t elemPosY, const
if ((isAdjustmentFunctionSelected(adjFuncD)) || (((adjFuncD == ADJUSTMENT_ROLL_D) || (adjFuncD == ADJUSTMENT_PITCH_D)) && (isAdjustmentFunctionSelected(ADJUSTMENT_PITCH_ROLL_D))))
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
displayWriteWithAttr(osdDisplayPort, elemPosX + 12, elemPosY, buff, elemAttr);
elemAttr = TEXT_ATTRIBUTES_NONE;
tfp_sprintf(buff, "%3d", pid->FF);
if ((isAdjustmentFunctionSelected(adjFuncFF)) || (((adjFuncFF == ADJUSTMENT_ROLL_FF) || (adjFuncFF == ADJUSTMENT_PITCH_FF)) && (isAdjustmentFunctionSelected(ADJUSTMENT_PITCH_ROLL_FF))))
@ -2238,17 +2238,17 @@ static bool osdDrawSingleElement(uint8_t item)
}
case OSD_DEBUG:
{
/*
* Longest representable string is -2147483648 does not fit in the screen.
/*
* Longest representable string is -2147483648 does not fit in the screen.
* Only 7 digits for negative and 8 digits for positive values allowed
*/
for (uint8_t bufferIndex = 0; bufferIndex < DEBUG32_VALUE_COUNT; ++elemPosY, bufferIndex += 2) {
tfp_sprintf(
buff,
"[%u]=%8ld [%u]=%8ld",
bufferIndex,
constrain(debug[bufferIndex], -9999999, 99999999),
bufferIndex+1,
buff,
"[%u]=%8ld [%u]=%8ld",
bufferIndex,
constrain(debug[bufferIndex], -9999999, 99999999),
bufferIndex+1,
constrain(debug[bufferIndex+1], -9999999, 99999999)
);
displayWrite(osdDisplayPort, elemPosX, elemPosY, buff);
@ -3437,6 +3437,11 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
}
} else {
if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
if (isWaypointMissionRTHActive()) {
// if RTH activated whilst WP mode selected, remind pilot to cancel WP mode to exit RTH
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL);
}
if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) {
// Countdown display for remaining Waypoints
tfp_sprintf(messageBuf, "TO WP %u/%u", posControl.activeWaypointIndex + 1, posControl.waypointCount);

1
src/main/io/osd.h
View file

@ -98,6 +98,7 @@
#define OSD_MSG_AUTOTUNE "(AUTOTUNE)"
#define OSD_MSG_HEADFREE "(HEADFREE)"
#define OSD_MSG_UNABLE_ARM "UNABLE TO ARM"
#define OSD_MSG_WP_RTH_CANCEL "CANCEL WP MODE TO EXIT RTH"
typedef enum {
OSD_RSSI_VALUE,

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

@ -3149,7 +3149,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
}
// Pilot-triggered RTH, also fall-back for WP if there is no mission loaded
if (IS_RC_MODE_ACTIVE(BOXNAVRTH) || (IS_RC_MODE_ACTIVE(BOXNAVWP) && !canActivateWaypoint)) {
if (IS_RC_MODE_ACTIVE(BOXNAVRTH) || (IS_RC_MODE_ACTIVE(BOXNAVWP) && !canActivateWaypoint && !IS_RC_MODE_ACTIVE(BOXMANUAL))) {
// Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss
// If don't keep this, loss of any of the canActivatePosHold && canActivateNavigation && canActivateAltHold
// will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back
@ -3570,6 +3570,11 @@ rthState_e getStateOfForcedRTH(void)
}
}
bool isWaypointMissionRTHActive(void)
{
return FLIGHT_MODE(NAV_RTH_MODE) && IS_RC_MODE_ACTIVE(BOXNAVWP) && !(IS_RC_MODE_ACTIVE(BOXNAVRTH) || posControl.flags.forcedRTHActivated);
}
bool navigationIsExecutingAnEmergencyLanding(void)
{
return navGetCurrentStateFlags() & NAV_CTL_EMERG;

1
src/main/navigation/navigation.h
View file

@ -500,6 +500,7 @@ bool navigationIsExecutingAnEmergencyLanding(void);
* or if it's NAV_RTH_ALLOW_LANDING_FAILSAFE and failsafe mode is active.
*/
bool navigationRTHAllowsLanding(void);
bool isWaypointMissionRTHActive(void);
bool isNavLaunchEnabled(void);
bool isFixedWingLaunchDetected(void);