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[NAV/MIXER] Refactor getMotorStop() code; Avoid recursion and crash when nav_overrides_motor_stop is set to NOMS_ALL_NAV

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This commit is contained in:
Konstantin (DigitalEntity) Sharlaimov 2020-11-16 20:29:11 +01:00
parent 4c483895cd
commit 94332bc286
4 changed files with 33 additions and 8 deletions
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10
src/main/navigation/navigation.c
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@ -3649,10 +3649,16 @@ bool navigationIsExecutingAnEmergencyLanding(void)
return navGetCurrentStateFlags() & NAV_CTL_EMERG;
}
bool navigationIsControllingThrottle(void)
bool navigationInAutomaticThrottleMode(void)
{
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
return ((stateFlags & (NAV_CTL_ALT | NAV_CTL_EMERG | NAV_CTL_LAUNCH | NAV_CTL_LAND)) && (getMotorStatus() != MOTOR_STOPPED_USER));
return (stateFlags & (NAV_CTL_ALT | NAV_CTL_EMERG | NAV_CTL_LAUNCH | NAV_CTL_LAND));
}
bool navigationIsControllingThrottle(void)
{
// Note that this makes a detour into mixer code to evaluate actual motor status
return navigationInAutomaticThrottleMode() && (getMotorStatus() != MOTOR_STOPPED_USER);
}
bool navigationIsFlyingAutonomousMode(void)