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add BB wp number

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This commit is contained in:
breadoven 2023-11-20 22:01:07 +00:00
parent 3740682352
commit b4847bd362
3 changed files with 11 additions and 1 deletions
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4
src/main/blackbox/blackbox.c
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@ -436,6 +436,7 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
{"escTemperature", -1, SIGNED, PREDICT(PREVIOUS), ENCODING(SIGNED_VB)}, {"escTemperature", -1, SIGNED, PREDICT(PREVIOUS), ENCODING(SIGNED_VB)},
#endif #endif
{"rxUpdateRate", -1, UNSIGNED, PREDICT(PREVIOUS), ENCODING(UNSIGNED_VB)}, {"rxUpdateRate", -1, UNSIGNED, PREDICT(PREVIOUS), ENCODING(UNSIGNED_VB)},
{"activeWpNumber", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
}; };
typedef enum BlackboxState { typedef enum BlackboxState {
@ -554,6 +555,7 @@ typedef struct blackboxSlowState_s {
int8_t escTemperature; int8_t escTemperature;
#endif #endif
uint16_t rxUpdateRate; uint16_t rxUpdateRate;
uint8_t activeWpNumber;
} __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp() } __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()
//From rc_controls.c //From rc_controls.c
@ -1291,6 +1293,7 @@ static void writeSlowFrame(void)
blackboxWriteSignedVB(slowHistory.escTemperature); blackboxWriteSignedVB(slowHistory.escTemperature);
#endif #endif
blackboxWriteUnsignedVB(slowHistory.rxUpdateRate); blackboxWriteUnsignedVB(slowHistory.rxUpdateRate);
blackboxWriteUnsignedVB(slowHistory.activeWpNumber);
blackboxSlowFrameIterationTimer = 0; blackboxSlowFrameIterationTimer = 0;
} }
@ -1368,6 +1371,7 @@ static void loadSlowState(blackboxSlowState_t *slow)
#endif #endif
slow->rxUpdateRate = getRcUpdateFrequency(); slow->rxUpdateRate = getRcUpdateFrequency();
slow->activeWpNumber = getActiveWpNumber();
} }
/** /**

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

@ -4583,3 +4583,8 @@ int8_t navCheckActiveAngleHoldAxis(void)
return activeAxis; return activeAxis;
} }
uint8_t getActiveWpNumber(void)
{
return NAV_Status.activeWpNumber;
}

3
src/main/navigation/navigation.h
View file

@ -595,7 +595,7 @@ bool isFixedWingAutoThrottleManuallyIncreased(void);
bool navigationIsFlyingAutonomousMode(void); bool navigationIsFlyingAutonomousMode(void);
bool navigationIsExecutingAnEmergencyLanding(void); bool navigationIsExecutingAnEmergencyLanding(void);
bool navigationIsControllingAltitude(void); bool navigationIsControllingAltitude(void);
/* Returns true iff navConfig()->general.flags.rth_allow_landing is NAV_RTH_ALLOW_LANDING_ALWAYS /* Returns true if navConfig()->general.flags.rth_allow_landing is NAV_RTH_ALLOW_LANDING_ALWAYS
* or if it's NAV_RTH_ALLOW_LANDING_FAILSAFE and failsafe mode is active. * or if it's NAV_RTH_ALLOW_LANDING_FAILSAFE and failsafe mode is active.
*/ */
bool navigationRTHAllowsLanding(void); bool navigationRTHAllowsLanding(void);
@ -628,6 +628,7 @@ void checkManualEmergencyLandingControl(bool forcedActivation);
float updateBaroAltitudeRate(float newBaroAltRate, bool updateValue); float updateBaroAltitudeRate(float newBaroAltRate, bool updateValue);
int8_t navCheckActiveAngleHoldAxis(void); int8_t navCheckActiveAngleHoldAxis(void);
uint8_t getActiveWpNumber(void);
/* Returns the heading recorded when home position was acquired. /* Returns the heading recorded when home position was acquired.
* Note that the navigation system uses deg*100 as unit and angles * Note that the navigation system uses deg*100 as unit and angles