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Code Issues Wiki Activity

MSP override feature (#4704)

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Michel Pastor 2019-05-22 16:00:14 +02:00 • committed by GitHub
parent 85631d2477
commit 9e51b387fe
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GPG key ID: 4AEE18F83AFDEB23
13 changed files with 465 additions and 109 deletions
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88
src/main/fc/fc_msp_box.c
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@ -85,6 +85,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXUSER1, "USER1", 47 },
{ BOXUSER2, "USER2", 48 },
{ BOXLOITERDIRCHN, "LOITER CHANGE", 49 },
{ BOXMSPRCOVERRIDE, "MSP RC OVERRIDE", 50 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -292,6 +293,10 @@ void initActiveBoxIds(void)
#endif
#endif
#endif
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
activeBoxIds[activeBoxIdCount++] = BOXMSPRCOVERRIDE;
#endif
}
#define IS_ENABLED(mask) (mask == 0 ? 0 : 1)
@ -305,49 +310,52 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
// Serialize the flags in the order we delivered them, ignoring BOXNAMES and BOXINDEXES
// Requires new Multiwii protocol version to fix
// It would be preferable to setting the enabled bits based on BOXINDEX.
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)), BOXANGLE);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)), BOXHORIZON);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HEADING_MODE)), BOXHEADINGHOLD);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)), BOXHEADFREE);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHEADADJ)), BOXHEADADJ);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMSTAB)), BOXCAMSTAB);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX)), BOXFPVANGLEMIX);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(MANUAL_MODE)), BOXMANUAL);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBEEPERON)), BOXBEEPERON);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDLOW)), BOXLEDLOW);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLIGHTS)), BOXLIGHTS);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)), BOXOSD);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)), BOXTELEMETRY);
CHECK_ACTIVE_BOX(IS_ENABLED(ARMING_FLAG(ARMED)), BOXARM);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)), BOXBLACKBOX);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)), BOXFAILSAFE);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_ALTHOLD_MODE)), BOXNAVALTHOLD);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_POSHOLD_MODE)), BOXNAVPOSHOLD);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_CRUISE_MODE)), BOXNAVCRUISE);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_RTH_MODE)), BOXNAVRTH);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_WP_MODE)), BOXNAVWP);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)), BOXAIRMODE);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGCSNAV)), BOXGCSNAV);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)), BOXANGLE);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)), BOXHORIZON);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HEADING_MODE)), BOXHEADINGHOLD);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)), BOXHEADFREE);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHEADADJ)), BOXHEADADJ);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMSTAB)), BOXCAMSTAB);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX)), BOXFPVANGLEMIX);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(MANUAL_MODE)), BOXMANUAL);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBEEPERON)), BOXBEEPERON);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDLOW)), BOXLEDLOW);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLIGHTS)), BOXLIGHTS);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)), BOXOSD);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)), BOXTELEMETRY);
CHECK_ACTIVE_BOX(IS_ENABLED(ARMING_FLAG(ARMED)), BOXARM);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)), BOXBLACKBOX);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)), BOXFAILSAFE);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_ALTHOLD_MODE)), BOXNAVALTHOLD);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_POSHOLD_MODE)), BOXNAVPOSHOLD);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_CRUISE_MODE)), BOXNAVCRUISE);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_RTH_MODE)), BOXNAVRTH);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_WP_MODE)), BOXNAVWP);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)), BOXAIRMODE);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGCSNAV)), BOXGCSNAV);
#ifdef USE_FLM_FLAPERON
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(FLAPERON)), BOXFLAPERON);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(FLAPERON)), BOXFLAPERON);
#endif
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(TURN_ASSISTANT)), BOXTURNASSIST);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_LAUNCH_MODE)), BOXNAVLAUNCH);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(AUTO_TUNE)), BOXAUTOTUNE);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAUTOTRIM)), BOXAUTOTRIM);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXKILLSWITCH)), BOXKILLSWITCH);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)), BOXHOMERESET);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA1)), BOXCAMERA1);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA2)), BOXCAMERA2);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA3)), BOXCAMERA3);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT1)), BOXOSDALT1);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT2)), BOXOSDALT2);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT3)), BOXOSDALT3);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(TURN_ASSISTANT)), BOXTURNASSIST);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_LAUNCH_MODE)), BOXNAVLAUNCH);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(AUTO_TUNE)), BOXAUTOTUNE);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAUTOTRIM)), BOXAUTOTRIM);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXKILLSWITCH)), BOXKILLSWITCH);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)), BOXHOMERESET);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA1)), BOXCAMERA1);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA2)), BOXCAMERA2);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA3)), BOXCAMERA3);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT1)), BOXOSDALT1);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT2)), BOXOSDALT2);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT3)), BOXOSDALT3);
CHECK_ACTIVE_BOX(IS_ENABLED(navigationTerrainFollowingEnabled()), BOXSURFACE);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBRAKING)), BOXBRAKING);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXUSER1)), BOXUSER1);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXUSER2)), BOXUSER2);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)),BOXLOITERDIRCHN);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBRAKING)), BOXBRAKING);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXUSER1)), BOXUSER1);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXUSER2)), BOXUSER2);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)), BOXLOITERDIRCHN);
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXMSPRCOVERRIDE)), BOXMSPRCOVERRIDE);
#endif
memset(mspBoxModeFlags, 0, sizeof(boxBitmask_t));
for (uint32_t i = 0; i < activeBoxIdCount; i++) {