Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-25 17:25:18 +03:00
Code Issues Wiki Activity

Update fc_msp_box.c

Browse source
This commit is contained in:
breadoven 2021-12-24 22:57:29 +00:00
parent a2d7e80c11
commit 9a48088952
1 changed files with 13 additions and 11 deletions
Download patch file Download diff file Expand all files Collapse all files

24
src/main/fc/fc_msp_box.c
View file

@ -200,7 +200,7 @@ void initActiveBoxIds(void)
}
bool navReadyAltControl = false;
if (STATE(ALTITUDE_CONTROL) && sensors(SENSOR_BARO)) {
if (sensors(SENSOR_BARO)) {
navReadyAltControl = true;
}
#ifdef USE_GPS
@ -208,21 +208,21 @@ void initActiveBoxIds(void)
navReadyAltControl = true;
}
const bool navReadyBaseline = sensors(SENSOR_ACC) && feature(FEATURE_GPS);
const bool navReadyMultirotor = STATE(MULTIROTOR) && (getHwCompassStatus() != HW_SENSOR_NONE) && navReadyBaseline;
bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS);
if (STATE(MULTIROTOR)) {
navReadyPosControl = navReadyPosControl && getHwCompassStatus() != HW_SENSOR_NONE;
}
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
if (navReadyAltControl && (navReadyMultirotor || navReadyBaseline || navFlowDeadReckoning)) {
if (!STATE(ROVER) && !STATE(BOAT)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
}
if (STATE(ALTITUDE_CONTROL) && navReadyAltControl && (navReadyPosControl || navFlowDeadReckoning)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXLOITERDIRCHN;
}
}
if (navReadyMultirotor || navReadyBaseline) {
if (navReadyAltControl) {
if (navReadyPosControl) {
if (!STATE(ALTITUDE_CONTROL) || (STATE(ALTITUDE_CONTROL) && navReadyAltControl)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;
activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
@ -231,7 +231,9 @@ void initActiveBoxIds(void)
if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;
}
} else if (STATE(AIRPLANE)) {
}
if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVCOURSEHOLD;
activeBoxIds[activeBoxIdCount++] = BOXSOARING;
}
@ -243,7 +245,7 @@ void initActiveBoxIds(void)
}
#endif
#endif // GPS
if (navReadyAltControl) {
if (STATE(ALTITUDE_CONTROL) && navReadyAltControl) {
activeBoxIds[activeBoxIdCount++] = BOXNAVALTHOLD;
}