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Merge pull request #7617 from breadoven/abo_remove_NAV_define

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Remove USE_NAV define
This commit is contained in:
Paweł Spychalski 2021-12-21 09:01:39 +01:00 • committed by GitHub
commit ac6650e25f
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GPG key ID: 4AEE18F83AFDEB23
42 changed files with 26 additions and 389 deletions
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15
src/main/blackbox/blackbox.c
View file

@ -653,18 +653,11 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
#endif
case FLIGHT_LOG_FIELD_CONDITION_FIXED_WING_NAV:
#ifdef USE_NAV
return STATE(FIXED_WING_LEGACY) && blackboxIncludeFlag(BLACKBOX_FEATURE_NAV_PID);
#else
return false;
#endif
case FLIGHT_LOG_FIELD_CONDITION_MC_NAV:
#ifdef USE_NAV
return !STATE(FIXED_WING_LEGACY) && blackboxIncludeFlag(BLACKBOX_FEATURE_NAV_PID);
#else
return false;
#endif
case FLIGHT_LOG_FIELD_CONDITION_RSSI:
// Assumes blackboxStart() is called after rxInit(), which should be true since
@ -1468,9 +1461,7 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->time = currentTimeUs;
#ifdef USE_NAV
const navigationPIDControllers_t *nav_pids = getNavigationPIDControllers();
#endif
for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->axisPID_Setpoint[i] = axisPID_Setpoint[i];
@ -1483,7 +1474,6 @@ static void loadMainState(timeUs_t currentTimeUs)
#ifdef USE_MAG
blackboxCurrent->magADC[i] = mag.magADC[i];
#endif
#ifdef USE_NAV
if (!STATE(FIXED_WING_LEGACY)) {
// log requested velocity in cm/s
blackboxCurrent->mcPosAxisP[i] = lrintf(nav_pids->pos[i].output_constrained);
@ -1495,10 +1485,8 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->mcVelAxisPID[3][i] = lrintf(nav_pids->vel[i].feedForward);
blackboxCurrent->mcVelAxisOutput[i] = lrintf(nav_pids->vel[i].output_constrained);
}
#endif
}
#ifdef USE_NAV
if (STATE(FIXED_WING_LEGACY)) {
// log requested pitch in decidegrees
@ -1519,7 +1507,6 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->mcSurfacePID[2] = lrintf(nav_pids->surface.derivative / 10);
blackboxCurrent->mcSurfacePIDOutput = lrintf(nav_pids->surface.output_constrained / 10);
}
#endif
for (int i = 0; i < 4; i++) {
blackboxCurrent->rcData[i] = rxGetChannelValue(i);

2
src/main/cms/cms_menu_builtin.c
View file

@ -101,9 +101,7 @@ static const OSD_Entry menuFeaturesEntries[] =
OSD_LABEL_ENTRY("--- FEATURES ---"),
OSD_SUBMENU_ENTRY("BLACKBOX", &cmsx_menuBlackbox),
OSD_SUBMENU_ENTRY("MIXER & SERVOS", &cmsx_menuMixerServo),
#if defined(USE_NAV)
OSD_SUBMENU_ENTRY("NAVIGATION", &cmsx_menuNavigation),
#endif
#if defined(USE_VTX_CONTROL)
OSD_SUBMENU_ENTRY("VTX", &cmsx_menuVtxControl),
#endif // VTX_CONTROL

4
src/main/cms/cms_menu_navigation.c
View file

@ -26,8 +26,6 @@
#include "platform.h"
#if defined(USE_NAV)
#include <stdlib.h>
#include <string.h>
@ -234,5 +232,3 @@ const CMS_Menu cmsx_menuNavigation = {
.onGlobalExit = NULL,
.entries = cmsx_menuNavigationEntries
};
#endif

2
src/main/drivers/irlock.c
View file

@ -30,7 +30,7 @@
#define IRLOCK_FRAME_SYNC ((uint32_t)(IRLOCK_OBJECT_SYNC | (IRLOCK_OBJECT_SYNC << 16)))
#if defined(USE_NAV) && defined(USE_IRLOCK)
#if defined(USE_IRLOCK)
static bool irlockHealthy = false;

2
src/main/drivers/irlock.h
View file

@ -20,7 +20,7 @@
#include "drivers/sensor.h"
#include "drivers/io_types.h"
#if defined(USE_NAV) && defined(USE_IRLOCK)
#if defined(USE_IRLOCK)
#define IRLOCK_RES_X 320
#define IRLOCK_RES_Y 200

6
src/main/fc/cli.c
View file

@ -1351,7 +1351,7 @@ static void cliSafeHomes(char *cmdline)
}
#endif
#if defined(USE_NAV) && defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) && defined(NAV_NON_VOLATILE_WAYPOINT_CLI)
#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) && defined(NAV_NON_VOLATILE_WAYPOINT_CLI)
static void printWaypoints(uint8_t dumpMask, const navWaypoint_t *navWaypoint, const navWaypoint_t *defaultNavWaypoint)
{
cliPrintLinef("#wp %d %svalid", posControl.waypointCount, posControl.waypointListValid ? "" : "in"); //int8_t bool
@ -3691,7 +3691,7 @@ static void printConfig(const char *cmdline, bool doDiff)
printTempSensor(dumpMask, tempSensorConfig_CopyArray, tempSensorConfig(0));
#endif
#if defined(USE_NAV) && defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) && defined(NAV_NON_VOLATILE_WAYPOINT_CLI)
#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) && defined(NAV_NON_VOLATILE_WAYPOINT_CLI)
cliPrintHashLine("wp");
printWaypoints(dumpMask, posControl.waypointList, nonVolatileWaypointList(0));
#endif
@ -3932,7 +3932,7 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("temp_sensor", "change temp sensor settings", NULL, cliTempSensor),
#endif
CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
#if defined(USE_NAV) && defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) && defined(NAV_NON_VOLATILE_WAYPOINT_CLI)
#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) && defined(NAV_NON_VOLATILE_WAYPOINT_CLI)
CLI_COMMAND_DEF("wp", "waypoint list", NULL, cliWaypoints),
#endif
#ifdef USE_OSD

6
src/main/fc/config.c
View file

@ -144,13 +144,11 @@ PG_RESET_TEMPLATE(adcChannelConfig_t, adcChannelConfig,
}
);
#ifdef USE_NAV
void validateNavConfig(void)
{
// Make sure minAlt is not more than maxAlt, maxAlt cannot be set lower than 500.
navConfigMutable()->general.land_slowdown_minalt = MIN(navConfig()->general.land_slowdown_minalt, navConfig()->general.land_slowdown_maxalt - 100);
}
#endif
// Stubs to handle target-specific configs
@ -232,10 +230,8 @@ void validateAndFixConfig(void)
pgResetCopy(serialConfigMutable(), PG_SERIAL_CONFIG);
}
#if defined(USE_NAV)
// Ensure sane values of navConfig settings
validateNavConfig();
#endif
// Limitations of different protocols
#if !defined(USE_DSHOT)
@ -352,9 +348,7 @@ static void activateConfig(void)
pidInit();
#ifdef USE_NAV
navigationUsePIDs();
#endif
}
void readEEPROM(void)

18
src/main/fc/fc_core.c
View file

@ -158,11 +158,9 @@ bool areSensorsCalibrating(void)
}
#endif
#ifdef USE_NAV
if (!navIsCalibrationComplete()) {
return true;
}
#endif
if (!accIsCalibrationComplete() && sensors(SENSOR_ACC)) {
return true;
@ -248,7 +246,6 @@ static void updateArmingStatus(void)
DISABLE_ARMING_FLAG(ARMING_DISABLED_SYSTEM_OVERLOADED);
}
#if defined(USE_NAV)
/* CHECK: Navigation safety */
if (navigationIsBlockingArming(NULL) != NAV_ARMING_BLOCKER_NONE) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_NAVIGATION_UNSAFE);
@ -256,7 +253,6 @@ static void updateArmingStatus(void)
else {
DISABLE_ARMING_FLAG(ARMING_DISABLED_NAVIGATION_UNSAFE);
}
#endif
#if defined(USE_MAG)
/* CHECK: */
@ -552,7 +548,6 @@ void tryArm(void)
return;
}
#if defined(USE_NAV)
// If nav_extra_arming_safety was bypassed we always
// allow bypassing it even without the sticks set
// in the correct position to allow re-arming quickly
@ -562,7 +557,6 @@ void tryArm(void)
if (usedBypass) {
ENABLE_STATE(NAV_EXTRA_ARMING_SAFETY_BYPASSED);
}
#endif
lastDisarmReason = DISARM_NONE;
@ -591,15 +585,11 @@ void tryArm(void)
#endif
//beep to indicate arming
#ifdef USE_NAV
if (navigationPositionEstimateIsHealthy()) {
beeper(BEEPER_ARMING_GPS_FIX);
} else {
beeper(BEEPER_ARMING);
}
#else
beeper(BEEPER_ARMING);
#endif
statsOnArm();
@ -865,11 +855,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
cycleTime = getTaskDeltaTime(TASK_SELF);
dT = (float)cycleTime * 0.000001f;
#if defined(USE_NAV)
if (ARMING_FLAG(ARMED) && (!STATE(FIXED_WING_LEGACY) || !isNavLaunchEnabled() || (isNavLaunchEnabled() && fixedWingLaunchStatus() >= FW_LAUNCH_DETECTED))) {
#else
if (ARMING_FLAG(ARMED)) {
#endif
flightTime += cycleTime;
armTime += cycleTime;
updateAccExtremes();
@ -889,18 +875,14 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
rcInterpolationApply(isRXDataNew);
}
#if defined(USE_NAV)
if (isRXDataNew) {
updateWaypointsAndNavigationMode();
}
#endif
isRXDataNew = false;
#if defined(USE_NAV)
updatePositionEstimator();
applyWaypointNavigationAndAltitudeHold();
#endif
// Apply throttle tilt compensation
if (!STATE(FIXED_WING_LEGACY)) {

2
src/main/fc/fc_init.c
View file

@ -581,9 +581,7 @@ void init(void)
#endif
#ifdef USE_NAV
navigationInit();
#endif
#ifdef USE_LED_STRIP
ledStripInit();

41
src/main/fc/fc_msp.c
View file

@ -607,13 +607,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_ALTITUDE:
#if defined(USE_NAV)
sbufWriteU32(dst, lrintf(getEstimatedActualPosition(Z)));
sbufWriteU16(dst, lrintf(getEstimatedActualVelocity(Z)));
#else
sbufWriteU32(dst, 0);
sbufWriteU16(dst, 0);
#endif
#if defined(USE_BARO)
sbufWriteU32(dst, baroGetLatestAltitude());
#else
@ -923,7 +918,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, GPS_directionToHome);
sbufWriteU8(dst, gpsSol.flags.gpsHeartbeat ? 1 : 0);
break;
#ifdef USE_NAV
case MSP_NAV_STATUS:
sbufWriteU8(dst, NAV_Status.mode);
sbufWriteU8(dst, NAV_Status.state);
@ -933,7 +927,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
//sbufWriteU16(dst, (int16_t)(target_bearing/100));
sbufWriteU16(dst, getHeadingHoldTarget());
break;
#endif
case MSP_GPSSVINFO:
/* Compatibility stub - return zero SVs */
@ -1315,7 +1309,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
#endif
break;
#ifdef USE_NAV
case MSP_NAV_POSHOLD:
sbufWriteU8(dst, navConfig()->general.flags.user_control_mode);
sbufWriteU16(dst, navConfig()->general.max_auto_speed);
@ -1353,7 +1346,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, currentBatteryProfile->nav.fw.pitch_to_throttle);
sbufWriteU16(dst, navConfig()->fw.loiter_radius);
break;
#endif
case MSP_CALIBRATION_DATA:
sbufWriteU8(dst, accGetCalibrationAxisFlags());
@ -1393,7 +1385,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_POSITION_ESTIMATION_CONFIG:
#ifdef USE_NAV
sbufWriteU16(dst, positionEstimationConfig()->w_z_baro_p * 100); // inav_w_z_baro_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_p * 100); // 2 inav_w_z_gps_p float as value * 100
@ -1403,15 +1394,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, gpsConfigMutable()->gpsMinSats); // 1
sbufWriteU8(dst, positionEstimationConfig()->use_gps_velned); // 1 inav_use_gps_velned ON/OFF
#else
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
break;
case MSP_REBOOT:
@ -1423,17 +1405,10 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_WP_GETINFO:
#ifdef USE_NAV
sbufWriteU8(dst, 0); // Reserved for waypoint capabilities
sbufWriteU8(dst, NAV_MAX_WAYPOINTS); // Maximum number of waypoints supported
sbufWriteU8(dst, isWaypointListValid()); // Is current mission valid
sbufWriteU8(dst, getWaypointCount()); // Number of waypoints in current mission
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
break;
case MSP_TX_INFO:
@ -1622,7 +1597,6 @@ static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
}
}
#ifdef USE_NAV
static void mspFcWaypointOutCommand(sbuf_t *dst, sbuf_t *src)
{
const uint8_t msp_wp_no = sbufReadU8(src); // get the wp number
@ -1638,7 +1612,6 @@ static void mspFcWaypointOutCommand(sbuf_t *dst, sbuf_t *src)
sbufWriteU16(dst, msp_wp.p3); // P3
sbufWriteU8(dst, msp_wp.flag); // flags
}
#endif
#ifdef USE_FLASHFS
static void mspFcDataFlashReadCommand(sbuf_t *dst, sbuf_t *src)
@ -1728,9 +1701,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
pidBankMutable()->pid[i].D = sbufReadU8(src);
}
schedulePidGainsUpdate();
#if defined(USE_NAV)
navigationUsePIDs();
#endif
} else
return MSP_RESULT_ERROR;
break;
@ -1744,9 +1715,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
pidBankMutable()->pid[i].FF = sbufReadU8(src);
}
schedulePidGainsUpdate();
#if defined(USE_NAV)
navigationUsePIDs();
#endif
} else
return MSP_RESULT_ERROR;
break;
@ -2284,7 +2253,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;
#ifdef USE_NAV
case MSP_SET_NAV_POSHOLD:
if (dataSize >= 13) {
navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
@ -2331,7 +2299,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
} else
return MSP_RESULT_ERROR;
break;
#endif
case MSP_SET_CALIBRATION_DATA:
if (dataSize >= 18) {
@ -2373,7 +2340,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;
#ifdef USE_NAV
case MSP_SET_POSITION_ESTIMATION_CONFIG:
if (dataSize >= 12) {
positionEstimationConfigMutable()->w_z_baro_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
@ -2386,7 +2352,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
} else
return MSP_RESULT_ERROR;
break;
#endif
case MSP_RESET_CONF:
if (!ARMING_FLAG(ARMED)) {
@ -2576,7 +2541,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break;
#endif
#ifdef USE_NAV
case MSP_SET_WP:
if (dataSize >= 21) {
const uint8_t msp_wp_no = sbufReadU8(src); // get the waypoint number
@ -2606,7 +2570,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
} else
return MSP_RESULT_ERROR;
break;
#endif
case MSP_SET_FEATURE:
if (dataSize >= 4) {
@ -3314,12 +3277,10 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
{
switch (cmdMSP) {
#if defined(USE_NAV)
case MSP_WP:
mspFcWaypointOutCommand(dst, src);
*ret = MSP_RESULT_ACK;
break;
#endif
#if defined(USE_FLASHFS)
case MSP_DATAFLASH_READ:

2
src/main/fc/fc_tasks.c
View file

@ -225,7 +225,7 @@ void taskUpdateRangefinder(timeUs_t currentTimeUs)
}
#endif
#if defined(USE_NAV) && defined(USE_IRLOCK)
#if defined(USE_IRLOCK)
void taskUpdateIrlock(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);

2
src/main/fc/rc_controls.c
View file

@ -251,7 +251,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
}
#if defined(USE_NAV) && defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
// Save waypoint list
if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_LO) {
const bool success = saveNonVolatileWaypointList();

7
src/main/fc/rc_modes.c
View file

@ -39,9 +39,7 @@
#include "rx/rx.h"
static uint8_t specifiedConditionCountPerMode[CHECKBOX_ITEM_COUNT];
#ifdef USE_NAV
static bool isUsingNAVModes = false;
#endif
boxBitmask_t rcModeActivationMask; // one bit per mode defined in boxId_e
@ -119,13 +117,10 @@ void processAirmode(void) {
}
#if defined(USE_NAV)
bool isUsingNavigationModes(void)
{
return isUsingNAVModes;
}
#endif
bool IS_RC_MODE_ACTIVE(boxId_e boxId)
{
@ -208,13 +203,11 @@ void updateUsedModeActivationConditionFlags(void)
}
}
#ifdef USE_NAV
isUsingNAVModes = isModeActivationConditionPresent(BOXNAVPOSHOLD) ||
isModeActivationConditionPresent(BOXNAVRTH) ||
isModeActivationConditionPresent(BOXNAVCOURSEHOLD) ||
isModeActivationConditionPresent(BOXNAVCRUISE) ||
isModeActivationConditionPresent(BOXNAVWP);
#endif
}
void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm)

25
src/main/fc/settings.yaml
View file

@ -1885,7 +1885,6 @@ groups:
description: "Direction of loitering: center point on right wing (clockwise - default), or center point on left wing (counterclockwise). If equal YAW then can be changed in flight using a yaw stick."
default_value: "RIGHT"
field: loiter_direction
condition: USE_NAV
table: direction
- name: fw_reference_airspeed
description: "Reference airspeed. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present."
@ -1954,21 +1953,18 @@ groups:
- name: nav_mc_pos_z_p
description: "P gain of altitude PID controller (Multirotor)"
field: bank_mc.pid[PID_POS_Z].P
condition: USE_NAV
min: 0
max: 255
default_value: 50
- name: nav_mc_vel_z_p
description: "P gain of velocity PID controller"
field: bank_mc.pid[PID_VEL_Z].P
condition: USE_NAV
min: 0
max: 255
default_value: 100
- name: nav_mc_vel_z_i
description: "I gain of velocity PID controller"
field: bank_mc.pid[PID_VEL_Z].I
condition: USE_NAV
min: 0
max: 255
default_value: 50
@ -1976,41 +1972,35 @@ groups:
description: "D gain of velocity PID controller"
default_value: 10
field: bank_mc.pid[PID_VEL_Z].D
condition: USE_NAV
min: 0
max: 255
default_value: 10
- name: nav_mc_pos_xy_p
description: "Controls how fast the drone will fly towards the target position. This is a multiplier to convert displacement to target velocity"
field: bank_mc.pid[PID_POS_XY].P
condition: USE_NAV
min: 0
max: 255
default_value: 65
- name: nav_mc_vel_xy_p
description: "P gain of Position-Rate (Velocity to Acceleration) PID controller. Higher P means stronger response when position error occurs. Too much P might cause \"nervous\" behavior and oscillations"
field: bank_mc.pid[PID_VEL_XY].P
condition: USE_NAV
min: 0
max: 255
default_value: 40
- name: nav_mc_vel_xy_i
description: "I gain of Position-Rate (Velocity to Acceleration) PID controller. Used for drift compensation (caused by wind for example). Higher I means stronger response to drift. Too much I gain might cause target overshot"
field: bank_mc.pid[PID_VEL_XY].I
condition: USE_NAV
min: 0
max: 255
default_value: 15
- name: nav_mc_vel_xy_d
description: "D gain of Position-Rate (Velocity to Acceleration) PID controller. It can damp P and I. Increasing D might help when drone overshoots target."
field: bank_mc.pid[PID_VEL_XY].D
condition: USE_NAV
min: 0
max: 255
default_value: 100
- name: nav_mc_vel_xy_ff
field: bank_mc.pid[PID_VEL_XY].FF
condition: USE_NAV
min: 0
max: 255
default_value: 40
@ -2018,7 +2008,6 @@ groups:
description: "P gain of Heading Hold controller (Multirotor)"
default_value: 60
field: bank_mc.pid[PID_HEADING].P
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_vel_xy_dterm_lpf_hz
@ -2048,70 +2037,60 @@ groups:
description: "P gain of altitude PID controller (Fixedwing)"
default_value: 40
field: bank_fw.pid[PID_POS_Z].P
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_z_i
description: "I gain of altitude PID controller (Fixedwing)"
default_value: 5
field: bank_fw.pid[PID_POS_Z].I
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_z_d
description: "D gain of altitude PID controller (Fixedwing)"
default_value: 10
field: bank_fw.pid[PID_POS_Z].D
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_xy_p
description: "P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH"
default_value: 75
field: bank_fw.pid[PID_POS_XY].P
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_xy_i
description: "I gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero"
default_value: 5
field: bank_fw.pid[PID_POS_XY].I
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_xy_d
description: "D gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero"
default_value: 8
field: bank_fw.pid[PID_POS_XY].D
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_heading_p
description: "P gain of Heading Hold controller (Fixedwing)"
default_value: 60
field: bank_fw.pid[PID_HEADING].P
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_hdg_p
description: "P gain of heading PID controller. (Fixedwing, rovers, boats)"
default_value: 30
field: bank_fw.pid[PID_POS_HEADING].P
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_hdg_i
description: "I gain of heading trajectory PID controller. (Fixedwing, rovers, boats)"
default_value: 2
field: bank_fw.pid[PID_POS_HEADING].I
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_hdg_d
description: "D gain of heading trajectory PID controller. (Fixedwing, rovers, boats)"
default_value: 0
field: bank_fw.pid[PID_POS_HEADING].D
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_hdg_pidsum_limit
@ -2244,7 +2223,6 @@ groups:
- name: PG_POSITION_ESTIMATION_CONFIG
type: positionEstimationConfig_t
condition: USE_NAV
members:
- name: inav_auto_mag_decl
description: "Automatic setting of magnetic declination based on GPS position. When used manual magnetic declination is ignored."
@ -2376,7 +2354,6 @@ groups:
- name: PG_NAV_CONFIG
type: navConfig_t
headers: ["navigation/navigation.h"]
condition: USE_NAV
members:
- name: nav_disarm_on_landing
description: "If set to ON, iNav disarms the FC after landing"
@ -2669,14 +2646,12 @@ groups:
description: "Used for stoping distance calculation. Stop position is computed as _speed_ * _nav_mc_pos_deceleration_time_ from the place where sticks are released. Braking mode overrides this setting"
default_value: 120
field: mc.posDecelerationTime
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_pos_expo
description: "Expo for PosHold control"
default_value: 10
field: mc.posResponseExpo
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_wp_slowdown

54
src/main/flight/failsafe.c
View file

@ -87,9 +87,6 @@ PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
typedef enum {
FAILSAFE_CHANNEL_HOLD, // Hold last known good value
FAILSAFE_CHANNEL_NEUTRAL, // RPY = zero, THR = zero
#if !defined(USE_NAV)
FAILSAFE_CHANNEL_AUTO, // Defined by failsafe configured values
#endif
} failsafeChannelBehavior_e;
typedef struct {
@ -101,7 +98,6 @@ typedef struct {
static const failsafeProcedureLogic_t failsafeProcedureLogic[] = {
[FAILSAFE_PROCEDURE_AUTO_LANDING] = {
.forceAngleMode = true,
#if defined(USE_NAV)
.bypassNavigation = false,
.channelBehavior = {
FAILSAFE_CHANNEL_NEUTRAL, // ROLL
@ -109,15 +105,6 @@ static const failsafeProcedureLogic_t failsafeProcedureLogic[] = {
FAILSAFE_CHANNEL_NEUTRAL, // YAW
FAILSAFE_CHANNEL_HOLD // THROTTLE
}
#else
.bypassNavigation = true,
.channelBehavior = {
FAILSAFE_CHANNEL_AUTO, // ROLL
FAILSAFE_CHANNEL_AUTO, // PITCH
FAILSAFE_CHANNEL_AUTO, // YAW
FAILSAFE_CHANNEL_AUTO // THROTTLE
}
#endif
},
[FAILSAFE_PROCEDURE_DROP_IT] = {
@ -184,7 +171,6 @@ void failsafeInit(void)
failsafeState.suspended = false;
}
#ifdef USE_NAV
bool failsafeBypassNavigation(void)
{
return failsafeState.active &&
@ -197,7 +183,6 @@ bool failsafeMayRequireNavigationMode(void)
return (failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_RTH) ||
(failsafeConfig()->failsafe_min_distance_procedure == FAILSAFE_PROCEDURE_RTH);
}
#endif
failsafePhase_e failsafePhase(void)
{
@ -228,16 +213,10 @@ bool failsafeRequiresAngleMode(void)
bool failsafeRequiresMotorStop(void)
{
#if defined(USE_NAV)
return failsafeState.active &&
failsafeState.activeProcedure == FAILSAFE_PROCEDURE_AUTO_LANDING &&
posControl.flags.estAltStatus < EST_USABLE &&
currentBatteryProfile->failsafe_throttle < getThrottleIdleValue();
#else
return failsafeState.active &&
failsafeState.activeProcedure == FAILSAFE_PROCEDURE_AUTO_LANDING &&
currentBatteryProfile->failsafe_throttle < getThrottleIdleValue();
#endif
}
void failsafeStartMonitoring(void)
@ -277,22 +256,6 @@ void failsafeUpdateRcCommandValues(void)
void failsafeApplyControlInput(void)
{
#if !defined(USE_NAV)
// Prepare FAILSAFE_CHANNEL_AUTO values for rcCommand
int16_t autoRcCommand[4];
if (STATE(FIXED_WING_LEGACY)) {
autoRcCommand[ROLL] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_roll_angle, pidProfile()->max_angle_inclination[FD_ROLL]);
autoRcCommand[PITCH] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_pitch_angle, pidProfile()->max_angle_inclination[FD_PITCH]);
autoRcCommand[YAW] = -pidRateToRcCommand(failsafeConfig()->failsafe_fw_yaw_rate, currentControlRateProfile->stabilized.rates[FD_YAW]);
autoRcCommand[THROTTLE] = currentBatteryProfile->failsafe_throttle;
}
else {
for (int i = 0; i < 3; i++) {
autoRcCommand[i] = 0;
}
autoRcCommand[THROTTLE] = currentBatteryProfile->failsafe_throttle;
}
#endif
// Apply channel values
for (int idx = 0; idx < 4; idx++) {
switch (failsafeProcedureLogic[failsafeState.activeProcedure].channelBehavior[idx]) {
@ -313,11 +276,6 @@ void failsafeApplyControlInput(void)
break;
}
break;
#if !defined(USE_NAV)
case FAILSAFE_CHANNEL_AUTO:
rcCommand[idx] = autoRcCommand[idx];
break;
#endif
}
}
}
@ -461,9 +419,7 @@ void failsafeUpdateState(void)
case FAILSAFE_PROCEDURE_AUTO_LANDING:
// Use Emergency Landing if Nav defined (otherwise stabilize and set Throttle to specified level).
failsafeActivate(FAILSAFE_LANDING);
#if defined(USE_NAV)
activateForcedEmergLanding();
#endif
break;
case FAILSAFE_PROCEDURE_DROP_IT:
@ -472,13 +428,11 @@ void failsafeUpdateState(void)
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_3_SECONDS; // require 3 seconds of valid rxData
break;
#if defined(USE_NAV)
case FAILSAFE_PROCEDURE_RTH:
// Proceed to handling & monitoring RTH navigation
failsafeActivate(FAILSAFE_RETURN_TO_HOME);
activateForcedRTH();
break;
#endif
case FAILSAFE_PROCEDURE_NONE:
default:
// Do nothing procedure
@ -497,7 +451,6 @@ void failsafeUpdateState(void)
}
break;
#if defined(USE_NAV)
case FAILSAFE_RETURN_TO_HOME:
if (receivingRxDataAndNotFailsafeMode && sticksAreMoving) {
abortForcedRTH();
@ -533,20 +486,16 @@ void failsafeUpdateState(void)
}
}
break;
#endif
case FAILSAFE_LANDING:
if (receivingRxDataAndNotFailsafeMode && sticksAreMoving) {
#if defined(USE_NAV)
abortForcedEmergLanding();
#endif
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
reprocessState = true;
} else {
if (armed) {
beeperMode = BEEPER_RX_LOST_LANDING;
}
#if defined(USE_NAV)
bool emergLanded = false;
switch (getStateOfForcedEmergLanding()) {
case EMERG_LAND_IN_PROGRESS:
@ -566,9 +515,6 @@ void failsafeUpdateState(void)
break;
}
if (emergLanded || failsafeShouldHaveCausedLandingByNow() || !armed) {
#else
if (failsafeShouldHaveCausedLandingByNow() || !armed) {
#endif
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_30_SECONDS; // require 30 seconds of valid rxData
failsafeState.phase = FAILSAFE_LANDED;
reprocessState = true;

9
src/main/flight/failsafe.h
View file

@ -70,7 +70,6 @@ typedef enum {
* Note that this phase is only used when
* failsafe_procedure = NONE.
*/
#if defined(USE_NAV)
FAILSAFE_RETURN_TO_HOME,
/* Failsafe is executing RTH. This phase is the first one
* enabled when failsafe_procedure = RTH if an RTH is
@ -79,10 +78,10 @@ typedef enum {
* sensors are not working at the moment). If RTH can't
* be started, this phase will transition to FAILSAFE_LANDING.
*/
#endif
FAILSAFE_LANDING,
/* Pergorms NAV Emergency Landing if USE_NAV defined.
* Otherwise Failsafe mode performs a simplified landing procedure.
/* Performs NAV Emergency Landing using controlled descent rate if
* altitude sensors available.
* Otherwise Emergency Landing performs a simplified landing procedure.
* This is done by setting throttle and roll/pitch/yaw controls
* to a pre-configured values that will allow aircraft
* to reach ground in somewhat safe "controlled crash" way.
@ -123,7 +122,6 @@ typedef enum {
FAILSAFE_PROCEDURE_NONE
} failsafeProcedure_e;
#if defined(USE_NAV)
typedef enum {
RTH_IDLE = 0, // RTH is waiting
RTH_IN_PROGRESS, // RTH is active
@ -135,7 +133,6 @@ typedef enum {
EMERG_LAND_IN_PROGRESS, // Emergency landing is active
EMERG_LAND_HAS_LANDED // Emergency landing is active and has landed.
} emergLandState_e;
#endif
typedef struct failsafeState_s {
int16_t events;

5
src/main/flight/pid.c
View file

@ -892,7 +892,6 @@ static uint8_t getHeadingHoldState(void)
return HEADING_HOLD_DISABLED;
}
#if defined(USE_NAV)
int navHeadingState = navigationGetHeadingControlState();
// NAV will prevent MAG_MODE from activating, but require heading control
if (navHeadingState != NAV_HEADING_CONTROL_NONE) {
@ -901,9 +900,7 @@ static uint8_t getHeadingHoldState(void)
return HEADING_HOLD_ENABLED;
}
}
else
#endif
if (ABS(rcCommand[YAW]) == 0 && FLIGHT_MODE(HEADING_MODE)) {
else if (ABS(rcCommand[YAW]) == 0 && FLIGHT_MODE(HEADING_MODE)) {
return HEADING_HOLD_ENABLED;
} else {
return HEADING_HOLD_UPDATE_HEADING;

2
src/main/io/dashboard.c
View file

@ -264,11 +264,9 @@ static void updateFailsafeStatus(void)
case FAILSAFE_RX_LOSS_IDLE:
failsafeIndicator = 'I';
break;
#if defined(USE_NAV)
case FAILSAFE_RETURN_TO_HOME:
failsafeIndicator = 'H';
break;
#endif
case FAILSAFE_LANDING:
failsafeIndicator = 'l';
break;

22
src/main/io/osd.c
View file

@ -757,7 +757,6 @@ static const char * osdArmingDisabledReasonMessage(void)
case ARMING_DISABLED_SYSTEM_OVERLOADED:
return OSD_MESSAGE_STR(OSD_MSG_SYS_OVERLOADED);
case ARMING_DISABLED_NAVIGATION_UNSAFE:
#if defined(USE_NAV)
// Check the exact reason
switch (navigationIsBlockingArming(NULL)) {
char buf[6];
@ -774,7 +773,6 @@ static const char * osdArmingDisabledReasonMessage(void)
case NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR:
return OSD_MESSAGE_STR(OSD_MSG_JUMP_WP_MISCONFIG);
}
#endif
break;
case ARMING_DISABLED_COMPASS_NOT_CALIBRATED:
return OSD_MESSAGE_STR(OSD_MSG_MAG_NOT_CAL);
@ -850,11 +848,9 @@ static const char * osdFailsafePhaseMessage(void)
{
// See failsafe.h for each phase explanation
switch (failsafePhase()) {
#ifdef USE_NAV
case FAILSAFE_RETURN_TO_HOME:
// XXX: Keep this in sync with OSD_FLYMODE.
return OSD_MESSAGE_STR(OSD_MSG_RTH_FS);
#endif
case FAILSAFE_LANDING:
// This should be considered an emergengy landing
return OSD_MESSAGE_STR(OSD_MSG_EMERG_LANDING_FS);
@ -1074,24 +1070,12 @@ static void osdFormatRpm(char *buff, uint32_t rpm)
int32_t osdGetAltitude(void)
{
#if defined(USE_NAV)
return getEstimatedActualPosition(Z);
#elif defined(USE_BARO)
return baro.alt;
#else
return 0;
#endif
}
static inline int32_t osdGetAltitudeMsl(void)
{
#if defined(USE_NAV)
return getEstimatedActualPosition(Z)+GPS_home.alt;
#elif defined(USE_BARO)
return baro.alt+GPS_home.alt;
#else
return 0;
#endif
}
static bool osdIsHeadingValid(void)
@ -2975,7 +2959,6 @@ static bool osdDrawSingleElement(uint8_t item)
osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "CTL S", 0, navConfig()->fw.control_smoothness, 1, 0, ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS);
return true;
#if defined(USE_NAV)
case OSD_MISSION:
{
if (IS_RC_MODE_ACTIVE(BOXPLANWPMISSION)) {
@ -3022,7 +3005,6 @@ static bool osdDrawSingleElement(uint8_t item)
displayWrite(osdDisplayPort, elemPosX, elemPosY, buff);
return true;
}
#endif // USE_NAV
#ifdef USE_POWER_LIMITS
case OSD_PLIMIT_REMAINING_BURST_TIME:
@ -3870,7 +3852,6 @@ static void osdShowArmed(void)
displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(systemConfig() -> name)) / 2, y, craftNameBuf );
y += 1;
}
#if defined(USE_NAV)
if (posControl.waypointListValid && posControl.waypointCount > 0) {
#ifdef USE_MULTI_MISSION
tfp_sprintf(buf, "MISSION %u/%u (%u WP)", posControl.loadedMultiMissionIndex, posControl.multiMissionCount, posControl.waypointCount);
@ -3879,7 +3860,6 @@ static void osdShowArmed(void)
displayWrite(osdDisplayPort, 7, y, "*MISSION LOADED*");
#endif
}
#endif
y += 1;
#if defined(USE_GPS)
@ -4272,11 +4252,9 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
if (FLIGHT_MODE(SOARING_MODE)) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_NAV_SOARING);
}
#if defined(USE_NAV)
if (posControl.flags.wpMissionPlannerActive) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MISSION_PLANNER);
}
#endif
}
}
} else if (ARMING_FLAG(ARMING_DISABLED_ALL_FLAGS)) {

4
src/main/io/osd_dji_hd.c
View file

@ -1475,10 +1475,6 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
pidBankMutable()->pid[djiPidIndexMap[i]].D = sbufReadU8(src);
}
schedulePidGainsUpdate();
#if defined(USE_NAV)
// This is currently unnecessary, DJI HD doesn't set any NAV PIDs
//navigationUsePIDs();
#endif
}
else {
reply->result = MSP_RESULT_ERROR;

69
src/main/navigation/navigation.c
View file

@ -90,8 +90,6 @@ PG_REGISTER_ARRAY(navSafeHome_t, MAX_SAFE_HOMES, safeHomeConfig, PG_SAFE_HOME_CO
#endif
#if defined(USE_NAV)
// waypoint 254, 255 are special waypoints
STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_range);
@ -3987,70 +3985,3 @@ bool isAdjustingHeading(void) {
int32_t getCruiseHeadingAdjustment(void) {
return wrap_18000(posControl.cruise.yaw - posControl.cruise.previousYaw);
}
#else // NAV
#ifdef USE_GPS
/* Fallback if navigation is not compiled in - handle GPS home coordinates */
static float GPS_scaleLonDown;
static float GPS_totalTravelDistance = 0;
static void GPS_distance_cm_bearing(int32_t currentLat1, int32_t currentLon1, int32_t destinationLat2, int32_t destinationLon2, uint32_t *dist, int32_t *bearing)
{
const float dLat = destinationLat2 - currentLat1; // difference of latitude in 1/10 000 000 degrees
const float dLon = (float)(destinationLon2 - currentLon1) * GPS_scaleLonDown;
*dist = fast_fsqrtf(sq(dLat) + sq(dLon)) * DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR;
*bearing = 9000.0f + RADIANS_TO_CENTIDEGREES(atan2_approx(-dLat, dLon)); // Convert the output radians to 100xdeg
if (*bearing < 0)
*bearing += 36000;
}
void onNewGPSData(void)
{
static timeMs_t previousTimeMs = 0;
const timeMs_t currentTimeMs = millis();
const timeDelta_t timeDeltaMs = currentTimeMs - previousTimeMs;
previousTimeMs = currentTimeMs;
if (!(sensors(SENSOR_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5))
return;
if (ARMING_FLAG(ARMED)) {
/* Update home distance and direction */
if (STATE(GPS_FIX_HOME)) {
uint32_t dist;
int32_t dir;
GPS_distance_cm_bearing(gpsSol.llh.lat, gpsSol.llh.lon, GPS_home.lat, GPS_home.lon, &dist, &dir);
GPS_distanceToHome = dist / 100;
GPS_directionToHome = lrintf(dir / 100.0f);
} else {
GPS_distanceToHome = 0;
GPS_directionToHome = 0;
}
/* Update trip distance */
GPS_totalTravelDistance += gpsSol.groundSpeed * MS2S(timeDeltaMs);
}
else {
// Set home position to current GPS coordinates
ENABLE_STATE(GPS_FIX_HOME);
GPS_home.lat = gpsSol.llh.lat;
GPS_home.lon = gpsSol.llh.lon;
GPS_home.alt = gpsSol.llh.alt;
GPS_distanceToHome = 0;
GPS_directionToHome = 0;
GPS_scaleLonDown = cos_approx((fabsf((float)gpsSol.llh.lat) / 10000000.0f) * 0.0174532925f);
}
}
int32_t getTotalTravelDistance(void)
{
return lrintf(GPS_totalTravelDistance);
}
#endif
#endif // NAV

14
src/main/navigation/navigation.h
View file

@ -68,8 +68,6 @@ bool findNearestSafeHome(void); // Find nearest safehome
#endif // defined(USE_SAFE_HOME)
#if defined(USE_NAV)
#ifndef NAV_MAX_WAYPOINTS
#define NAV_MAX_WAYPOINTS 15
#endif
@ -601,15 +599,3 @@ extern uint16_t navFlags;
extern uint16_t navEPH;
extern uint16_t navEPV;
extern int16_t navAccNEU[3];
#else
#define navigationRequiresAngleMode() (0)
#define navigationGetHeadingControlState() (0)
#define navigationRequiresThrottleTiltCompensation() (0)
#define getEstimatedActualVelocity(axis) (0)
#define navigationIsControllingThrottle() (0)
#define navigationRTHAllowsLanding() (0)
#define navigationGetHomeHeading() (0)
#endif

4
src/main/navigation/navigation_fixedwing.c
View file

@ -21,8 +21,6 @@
#include "platform.h"
#if defined(USE_NAV)
#include "build/build_config.h"
#include "build/debug.h"
@ -699,5 +697,3 @@ int32_t navigationGetHeadingError(void)
{
return navHeadingError;
}
#endif // NAV

4
src/main/navigation/navigation_fw_launch.c
View file

@ -22,8 +22,6 @@
#include "platform.h"
#if defined(USE_NAV)
#include "build/build_config.h"
#include "build/debug.h"
@ -540,5 +538,3 @@ const char * fixedWingLaunchStateMessage(void)
return NULL;
}
}
#endif

5
src/main/navigation/navigation_geo.c
View file

@ -21,8 +21,6 @@
#include "platform.h"
#if defined(USE_NAV)
#include "build/build_config.h"
#include "build/debug.h"
@ -169,6 +167,3 @@ bool geoConvertLocalToGeodetic(gpsLocation_t *llh, const gpsOrigin_t * origin, c
llh->alt += lrintf(pos->z);
return origin->valid;
}
#endif // NAV

3
src/main/navigation/navigation_multicopter.c
View file

@ -21,8 +21,6 @@
#include "platform.h"
#if defined(USE_NAV)
#include "build/build_config.h"
#include "build/debug.h"
@ -819,4 +817,3 @@ void applyMulticopterNavigationController(navigationFSMStateFlags_t navStateFlag
applyMulticopterHeadingController();
}
}
#endif // NAV

4
src/main/navigation/navigation_pos_estimator.c
View file

@ -22,8 +22,6 @@
#include "platform.h"
#if defined(USE_NAV)
#include "build/build_config.h"
#include "build/debug.h"
@ -861,5 +859,3 @@ bool navIsCalibrationComplete(void)
{
return gravityCalibrationComplete();
}
#endif

4
src/main/navigation/navigation_pos_estimator_agl.c
View file

@ -32,8 +32,6 @@
#include "build/build_config.h"
#include "build/debug.h"
#if defined(USE_NAV)
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
#include "navigation/navigation_pos_estimator_private.h"
@ -202,5 +200,3 @@ void estimationCalculateAGL(estimationContext_t * ctx)
posEstimator.est.aglQual = SURFACE_QUAL_LOW;
#endif
}
#endif // NAV

5
src/main/navigation/navigation_pos_estimator_flow.c
View file

@ -32,8 +32,6 @@
#include "build/build_config.h"
#include "build/debug.h"
#if defined(USE_NAV)
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
#include "navigation/navigation_pos_estimator_private.h"
@ -123,6 +121,3 @@ bool estimationCalculateCorrection_XY_FLOW(estimationContext_t * ctx)
return false;
#endif
}
#endif // NAV

4
src/main/navigation/navigation_private.h
View file

@ -19,8 +19,6 @@
#define DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR 1.113195f // MagicEarthNumber from APM
#if defined(USE_NAV)
#include "common/axis.h"
#include "common/maths.h"
#include "common/filter.h"
@ -479,5 +477,3 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs);
* Rover specific functions
*/
void applyRoverBoatNavigationController(navigationFSMStateFlags_t navStateFlags, timeUs_t currentTimeUs);
#endif

4
src/main/navigation/navigation_rover_boat.c
View file

@ -26,8 +26,6 @@
FILE_COMPILE_FOR_SIZE
#ifdef USE_NAV
#include "build/debug.h"
#include "common/utils.h"
@ -148,5 +146,3 @@ void applyRoverBoatNavigationController(navigationFSMStateFlags_t navStateFlags,
applyRoverBoatPitchRollThrottleController(navStateFlags, currentTimeUs);
}
}
#endif

4
src/main/rx/eleres.c
View file

@ -349,11 +349,7 @@ static void telemetryRX(void)
if (sensors(SENSOR_GPS)) {
uint16_t gpsspeed = (gpsSol.groundSpeed*9L)/250L;
int16_t course = (gpsSol.groundCourse/10 + 360)%360;
#ifdef USE_NAV
int32_t alt = getEstimatedActualPosition(Z);
#else
int32_t alt = baro.BaroAlt;
#endif
uint16_t tim = 0;
rfTxBuffer[0] = 0x47;

2
src/main/sensors/irlock.c
View file

@ -44,7 +44,7 @@
#define IRLOCK_TIMEOUT 100
#if defined(USE_NAV) && defined(USE_IRLOCK)
#if defined(USE_IRLOCK)
enum {
DEBUG_IRLOCK_DETECTED,

2
src/main/sensors/irlock.h
View file

@ -17,7 +17,7 @@
#pragma once
#if defined(USE_NAV) && defined(USE_IRLOCK)
#if defined(USE_IRLOCK)
void irlockInit(void);
bool irlockHasBeenDetected(void);

1
src/main/target/ANYFCF7/target.h
View file

@ -141,7 +141,6 @@
#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
#define USE_NAV
#define NAV_GPS_GLITCH_DETECTION
#define USE_ADC

1
src/main/target/FISHDRONEF4/target.h
View file

@ -150,7 +150,6 @@
// #define USE_RANGEFINDER_SRF10
// *************** NAV *****************************
#define USE_NAV
#define NAV_GPS_GLITCH_DETECTION
#define NAV_MAX_WAYPOINTS 60

1
src/main/target/common.h
View file

@ -66,7 +66,6 @@
#define USE_GPS
#define USE_GPS_PROTO_UBLOX
#define USE_GPS_PROTO_MSP
#define USE_NAV
#define USE_TELEMETRY
#define USE_TELEMETRY_LTM
#define USE_TELEMETRY_FRSKY

4
src/main/telemetry/jetiexbus.c
View file

@ -260,12 +260,10 @@ void initJetiExBusTelemetry(void)
bitArraySet(&exSensorEnabled, EX_POWER);
bitArraySet(&exSensorEnabled, EX_CAPACITY);
}
#ifdef USE_NAV
if (sensors(SENSOR_BARO)) {
bitArraySet(&exSensorEnabled, EX_ALTITUDE);
bitArraySet(&exSensorEnabled, EX_VARIO);
}
#endif
if (sensors(SENSOR_ACC)) {
bitArraySet(&exSensorEnabled, EX_ROLL_ANGLE);
bitArraySet(&exSensorEnabled, EX_PITCH_ANGLE);
@ -360,11 +358,9 @@ int32_t getSensorValue(uint8_t sensor)
return attitude.values.yaw;
break;
#ifdef USE_NAV
case EX_VARIO:
return getEstimatedActualVelocity(Z);
break;
#endif
#ifdef USE_GPS
case EX_GPS_SATS:

10
src/main/telemetry/ltm.c
View file

@ -130,11 +130,7 @@ void ltm_gframe(sbuf_t *dst)
ltm_gs = gpsSol.groundSpeed / 100;
}
#if defined(USE_NAV)
ltm_alt = getEstimatedActualPosition(Z); // cm
#else
ltm_alt = sensors(SENSOR_GPS) ? gpsSol.llh.alt : 0; // cm
#endif
sbufWriteU8(dst, 'G');
sbufWriteU32(dst, ltm_lat);
@ -251,7 +247,6 @@ void ltm_xframe(sbuf_t *dst)
ltm_x_counter++; // overflow is OK
}
#if defined(USE_NAV)
/** OSD additional data frame, ~4 Hz rate, navigation system status
*/
void ltm_nframe(sbuf_t *dst)
@ -264,7 +259,6 @@ void ltm_nframe(sbuf_t *dst)
sbufWriteU8(dst, NAV_Status.error);
sbufWriteU8(dst, NAV_Status.flags);
}
#endif
#define LTM_BIT_AFRAME (1 << 0)
#define LTM_BIT_GFRAME (1 << 1)
@ -367,13 +361,11 @@ static void process_ltm(void)
ltm_finalise(dst);
}
#if defined(USE_NAV)
if (current_schedule & LTM_BIT_NFRAME) {
ltm_initialise_packet(dst);
ltm_nframe(dst);
ltm_finalise(dst);
}
#endif
ltm_scheduler = (ltm_scheduler + 1) % 10;
}
@ -491,11 +483,9 @@ int getLtmFrame(uint8_t *frame, ltm_frame_e ltmFrameType)
case LTM_XFRAME:
ltm_xframe(sbuf);
break;
#if defined(USE_NAV)
case LTM_NFRAME:
ltm_nframe(sbuf);
break;
#endif
}
sbufSwitchToReader(sbuf, ltmFrame);
const int frameSize = sbufBytesRemaining(sbuf);

2
src/main/telemetry/ltm.h
View file

@ -28,9 +28,7 @@ typedef enum {
LTM_OFRAME, // Origin Frame
LTM_XFRAME, // Extended information data frame
#endif
#if defined(USE_NAV)
LTM_NFRAME, // Navigation Frame (inav extension)
#endif
LTM_FRAME_COUNT
} ltm_frame_e;

12
src/main/telemetry/mavlink.c
View file

@ -580,11 +580,7 @@ void mavlinkSendPosition(timeUs_t currentTimeUs)
// alt Altitude in 1E3 meters (millimeters) above MSL
gpsSol.llh.alt * 10,
// relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
#if defined(USE_NAV)
getEstimatedActualPosition(Z) * 10,
#else
gpsSol.llh.alt * 10,
#endif
// [cm/s] Ground X Speed (Latitude, positive north)
getEstimatedActualVelocity(X),
// [cm/s] Ground Y Speed (Longitude, positive east)
@ -654,16 +650,8 @@ void mavlinkSendHUDAndHeartbeat(void)
#endif
// select best source for altitude
#if defined(USE_NAV)
mavAltitude = getEstimatedActualPosition(Z) / 100.0f;
mavClimbRate = getEstimatedActualVelocity(Z) / 100.0f;
#elif defined(USE_GPS)
if (sensors(SENSOR_GPS)) {
// No surface or baro, just display altitude above MLS
mavAltitude = gpsSol.llh.alt;
}
#endif
int16_t thr = rxGetChannelValue(THROTTLE);
if (navigationIsControllingThrottle()) {

4
src/main/telemetry/sim.c
View file

@ -295,11 +295,7 @@ static void readSimResponse(void)
static int16_t getAltitudeMeters(void)
{
#if defined(USE_NAV)
return getEstimatedActualPosition(Z) / 100;
#else
return sensors(SENSOR_GPS) ? gpsSol.llh.alt / 100 : 0;
#endif
}
static void transmit(void)