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Merge remote-tracking branch 'origin/master' into dzikuvx-rework-7804

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2022-02-22 10:52:30 +01:00
commit b3a8cc2835
53 changed files with 1419 additions and 131 deletions
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59
src/main/fc/fc_msp_box.c
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@ -188,48 +188,49 @@ void initActiveBoxIds(void)
ADD_ACTIVE_BOX(BOXHEADINGHOLD);
if ((sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) && STATE(MULTIROTOR)) {
ADD_ACTIVE_BOX(BOXHEADFREE);
ADD_ACTIVE_BOX(BOXHEADADJ);
}
if (STATE(ALTITUDE_CONTROL) && STATE(MULTIROTOR)) {
ADD_ACTIVE_BOX(BOXFPVANGLEMIX);
}
//Camstab mode is enabled always
ADD_ACTIVE_BOX(BOXCAMSTAB);
#ifdef USE_GPS
if (STATE(ALTITUDE_CONTROL) && (sensors(SENSOR_BARO) || (feature(FEATURE_GPS) && (STATE(AIRPLANE) || positionEstimationConfig()->use_gps_no_baro)))) {
ADD_ACTIVE_BOX(BOXNAVALTHOLD);
if (STATE(MULTIROTOR)) {
if (STATE(MULTIROTOR)) {
if ((sensors(SENSOR_ACC) || sensors(SENSOR_MAG))) {
ADD_ACTIVE_BOX(BOXHEADFREE);
ADD_ACTIVE_BOX(BOXHEADADJ);
}
if (sensors(SENSOR_BARO) && sensors(SENSOR_RANGEFINDER) && sensors(SENSOR_OPFLOW)) {
ADD_ACTIVE_BOX(BOXSURFACE);
}
ADD_ACTIVE_BOX(BOXFPVANGLEMIX);
}
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);
bool navReadyAltControl = sensors(SENSOR_BARO);
#ifdef USE_GPS
navReadyAltControl = navReadyAltControl || (feature(FEATURE_GPS) && (STATE(AIRPLANE) || positionEstimationConfig()->use_gps_no_baro));
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
if (navFlowDeadReckoning || navReadyMultirotor || navReadyOther) {
if (!STATE(ROVER) && !STATE(BOAT)) {
ADD_ACTIVE_BOX(BOXNAVPOSHOLD);
}
bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS);
if (STATE(MULTIROTOR)) {
navReadyPosControl = navReadyPosControl && getHwCompassStatus() != HW_SENSOR_NONE;
}
if (STATE(ALTITUDE_CONTROL) && navReadyAltControl && (navReadyPosControl || navFlowDeadReckoning)) {
ADD_ACTIVE_BOX(BOXNAVPOSHOLD);
if (STATE(AIRPLANE)) {
ADD_ACTIVE_BOX(BOXLOITERDIRCHN);
}
}
if (navReadyMultirotor || navReadyOther) {
ADD_ACTIVE_BOX(BOXNAVRTH);
ADD_ACTIVE_BOX(BOXNAVWP);
ADD_ACTIVE_BOX(BOXHOMERESET);
ADD_ACTIVE_BOX(BOXGCSNAV);
ADD_ACTIVE_BOX(BOXPLANWPMISSION);
if (navReadyPosControl) {
if (!STATE(ALTITUDE_CONTROL) || (STATE(ALTITUDE_CONTROL) && navReadyAltControl)) {
ADD_ACTIVE_BOX(BOXNAVRTH);
ADD_ACTIVE_BOX(BOXNAVWP);
ADD_ACTIVE_BOX(BOXHOMERESET);
ADD_ACTIVE_BOX(BOXGCSNAV);
ADD_ACTIVE_BOX(BOXPLANWPMISSION);
}
if (STATE(AIRPLANE)) {
ADD_ACTIVE_BOX(BOXNAVCOURSEHOLD);
ADD_ACTIVE_BOX(BOXNAVCRUISE);
ADD_ACTIVE_BOX(BOXNAVCOURSEHOLD);
ADD_ACTIVE_BOX(BOXSOARING);
}
}
@ -239,8 +240,10 @@ void initActiveBoxIds(void)
ADD_ACTIVE_BOX(BOXBRAKING);
}
#endif
#endif
#endif // GPS
if (STATE(ALTITUDE_CONTROL) && navReadyAltControl) {
ADD_ACTIVE_BOX(BOXNAVALTHOLD);
}
if (STATE(AIRPLANE) || STATE(ROVER) || STATE(BOAT)) {
ADD_ACTIVE_BOX(BOXMANUAL);