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Code Issues Wiki Activity

PID: Heading lock mode for mode locked-in yaw

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-03-25 09:57:44 +10:00
parent b0125152e3
commit 8b452ee5ef
5 changed files with 61 additions and 19 deletions
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3
src/main/io/serial_msp.c
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@ -368,6 +368,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXAIRMODE, "AIR MODE;", 29 },
{ BOXHOMERESET, "HOME RESET;", 30 },
{ BOXGCSNAV, "GCS NAV;", 31 },
{ BOXHEADINGLOCK, "HEADING LOCK;", 32 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -656,6 +657,7 @@ void mspInit(serialConfig_t *serialConfig)
}
activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
activeBoxIds[activeBoxIdCount++] = BOXHEADINGLOCK;
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
activeBoxIds[activeBoxIdCount++] = BOXMAG;
@ -753,6 +755,7 @@ static uint32_t packFlightModeFlags(void)
IS_ENABLED(FLIGHT_MODE(NAV_WP_MODE)) << BOXNAVWP |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGCSNAV)) << BOXGCSNAV |
IS_ENABLED(FLIGHT_MODE(HEADING_LOCK)) << BOXHEADINGLOCK |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)) << BOXHOMERESET;
for (i = 0; i < activeBoxIdCount; i++) {