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Respect feature AIRMODE

Browse source 
While the AIRMODE feature is available in the CLI, the current
code only takes BOXAIRMODE into account (triggered by an RC channel).

This PR introduces an isAirmodeActive() function which also returns
true when if the AIRMODE feature has been set, not only when BOXAIRMODE
is active. Checks for IS_RC_MODE_ACTIVE(BOXAIRMODE) have been replaced
by calls to isAirmodeActive().

This will allow adding a simple switch in the configurator, as
reported in https://github.com/iNavFlight/inav-configurator/issues/154.

Eventually, isAirmodeActive() might be modified to always
return true in FW, since there's no reason to disable it in FW
models AFAIK.
This commit is contained in:
Alberto García Hierro 2017-07-30 14:23:54 +01:00
parent c30819d8de
commit afc0a3d413
5 changed files with 15 additions and 7 deletions
Download patch file Download diff file Expand all files Collapse all files

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

@ -515,7 +515,7 @@ void processRx(timeUs_t currentTimeUs)
}
else {
if (throttleStatus == THROTTLE_LOW) {
if (IS_RC_MODE_ACTIVE(BOXAIRMODE) && !failsafeIsActive() && ARMING_FLAG(ARMED)) {
if (isAirmodeActive() && !failsafeIsActive() && ARMING_FLAG(ARMED)) {
rollPitchStatus_e rollPitchStatus = calculateRollPitchCenterStatus();
// ANTI_WINDUP at centred stick with MOTOR_STOP is needed on MRs and not needed on FWs

4
src/main/fc/fc_msp.c
View file

@ -265,7 +265,9 @@ static void initActiveBoxIds(void)
#endif
}
activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
if (!feature(FEATURE_AIRMODE)) {
activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
}
activeBoxIds[activeBoxIdCount++] = BOXHEADINGHOLD;

5
src/main/fc/rc_modes.c
View file

@ -51,6 +51,11 @@ bool isUsingSticksForArming(void)
return isUsingSticksToArm;
}
bool isAirmodeActive(void)
{
return feature(FEATURE_AIRMODE) || IS_RC_MODE_ACTIVE(BOXAIRMODE);
}
#if defined(NAV)
bool isUsingNavigationModes(void)
{

1
src/main/fc/rc_modes.h
View file

@ -106,6 +106,7 @@ void rcModeUpdate(boxBitmask_t *newState);
bool isModeActivationConditionPresent(boxId_e modeId);
bool isUsingSticksForArming(void);
bool isAirmodeActive(void);
bool isUsingNavigationModes(void);
bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);

10
src/main/target/FALCORE/config.c
View file

@ -51,6 +51,7 @@ void targetConfiguration(void)
featureSet(FEATURE_TELEMETRY);
featureSet(FEATURE_LED_STRIP);
featureSet(FEATURE_BLACKBOX);
featureSet(FEATURE_AIRMODE);
serialConfigMutable()->portConfigs[0].functionMask = FUNCTION_MSP; // VCP
serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_GPS; // UART1
@ -148,11 +149,10 @@ void targetConfiguration(void)
configureModeActivationCondition(0, BOXARM, 0, 1150, 2100);
configureModeActivationCondition(1, BOXANGLE, 0, 1300, 1700);
configureModeActivationCondition(2, BOXAIRMODE, 0, 1150, 2100);
configureModeActivationCondition(3, BOXNAVALTHOLD, 3, 1300, 1700);
configureModeActivationCondition(4, BOXNAVPOSHOLD, 3, 1300, 1700);
configureModeActivationCondition(5, BOXNAVRTH, 3, 1700, 2100);
configureModeActivationCondition(6, BOXANGLE, 3, 1700, 2100);
configureModeActivationCondition(2, BOXNAVALTHOLD, 3, 1300, 1700);
configureModeActivationCondition(3, BOXNAVPOSHOLD, 3, 1300, 1700);
configureModeActivationCondition(4, BOXNAVRTH, 3, 1700, 2100);
configureModeActivationCondition(5, BOXANGLE, 3, 1700, 2100);
// Rates and PIDs
setConfigProfile(0);