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Update fc_msp_box.c

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This commit is contained in:
breadoven 2021-11-14 17:06:00 +00:00
parent f1182cdbb2
commit a2a54c1877
1 changed files with 42 additions and 35 deletions
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77
src/main/fc/fc_msp_box.c
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@ -185,57 +185,64 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXHEADINGHOLD;
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
activeBoxIds[activeBoxIdCount++] = BOXHEADFREE;
activeBoxIds[activeBoxIdCount++] = BOXHEADADJ;
}
if (STATE(ALTITUDE_CONTROL)) {
if (STATE(MULTIROTOR)) {
if ((sensors(SENSOR_ACC) || sensors(SENSOR_MAG))) {
activeBoxIds[activeBoxIdCount++] = BOXHEADFREE;
activeBoxIds[activeBoxIdCount++] = BOXHEADADJ;
}
if (sensors(SENSOR_BARO) && sensors(SENSOR_RANGEFINDER) && sensors(SENSOR_OPFLOW)) {
activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
}
activeBoxIds[activeBoxIdCount++] = BOXFPVANGLEMIX;
}
//Camstab mode is enabled always
activeBoxIds[activeBoxIdCount++] = BOXCAMSTAB;
#ifdef USE_GPS
if (STATE(ALTITUDE_CONTROL) && (sensors(SENSOR_BARO) || (feature(FEATURE_GPS) && (STATE(AIRPLANE) || positionEstimationConfig()->use_gps_no_baro)))) {
bool readyAltControl = false;
if (STATE(ALTITUDE_CONTROL) && sensors(SENSOR_BARO)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVALTHOLD;
activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
readyAltControl = true;
#ifdef USE_GPS
} else if ((feature(FEATURE_GPS) && STATE(AIRPLANE) && positionEstimationConfig()->use_gps_no_baro)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVALTHOLD;
readyAltControl = true;
}
const bool navReadyMultirotor = STATE(MULTIROTOR) && (getHwCompassStatus() != HW_SENSOR_NONE) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
const bool navReadyOther = !STATE(MULTIROTOR) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
if (navFlowDeadReckoning || navReadyMultirotor || navReadyOther) {
if (!STATE(ROVER) && !STATE(BOAT)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
if (readyAltControl) {
const bool navReadyMultirotor = STATE(MULTIROTOR) && (getHwCompassStatus() != HW_SENSOR_NONE) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
const bool navReadyOther = !STATE(MULTIROTOR) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
if (navFlowDeadReckoning || navReadyMultirotor || navReadyOther) {
if (!STATE(ROVER) && !STATE(BOAT)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
}
if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXLOITERDIRCHN;
}
}
if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXLOITERDIRCHN;
}
}
if (navReadyMultirotor || navReadyOther) {
activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;
activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
activeBoxIds[activeBoxIdCount++] = BOXPLANWPMISSION;
if (navReadyMultirotor || navReadyOther) {
activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;
activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
activeBoxIds[activeBoxIdCount++] = BOXPLANWPMISSION;
if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVCOURSEHOLD;
activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;
activeBoxIds[activeBoxIdCount++] = BOXSOARING;
if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVCOURSEHOLD;
activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;
activeBoxIds[activeBoxIdCount++] = BOXSOARING;
}
}
}
#ifdef USE_MR_BRAKING_MODE
if (mixerConfig()->platformType == PLATFORM_MULTIROTOR) {
activeBoxIds[activeBoxIdCount++] = BOXBRAKING;
if (mixerConfig()->platformType == PLATFORM_MULTIROTOR) {
activeBoxIds[activeBoxIdCount++] = BOXBRAKING;
}
#endif
#endif // GPS
}
#endif
#endif
if (STATE(AIRPLANE) || STATE(ROVER) || STATE(BOAT)) {
activeBoxIds[activeBoxIdCount++] = BOXMANUAL;