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Code Issues Wiki Activity

Added modeActivationConditions parameter group

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This commit is contained in:
Martin Budden 2017-01-16 17:23:31 +00:00
parent 7aaa5643c0
commit b7cdd63db1
16 changed files with 89 additions and 86 deletions
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102
src/main/fc/rc_controls.c
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@ -87,35 +87,8 @@ PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
.auto_disarm_delay = 5
);
void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
#ifndef BLACKBOX
UNUSED(adjustmentFunction);
UNUSED(newValue);
#else
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_inflightAdjustment_t eventData;
eventData.adjustmentFunction = adjustmentFunction;
eventData.newValue = newValue;
eventData.floatFlag = false;
blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
}
#endif
}
void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue) {
#ifndef BLACKBOX
UNUSED(adjustmentFunction);
UNUSED(newFloatValue);
#else
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_inflightAdjustment_t eventData;
eventData.adjustmentFunction = adjustmentFunction;
eventData.newFloatValue = newFloatValue;
eventData.floatFlag = true;
blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
}
#endif
}
PG_REGISTER_ARR(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
PG_REGISTER(modeActivationOperatorConfig_t, modeActivationOperatorConfig, PG_MODE_ACTIVATION_OPERATOR_CONFIG, 0);
bool isUsingSticksForArming(void)
{
@ -313,14 +286,10 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
}
}
bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationConditions, boxId_e modeId)
bool isModeActivationConditionPresent(boxId_e modeId)
{
uint8_t index;
for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
if (modeActivationCondition->modeId == modeId && IS_RANGE_USABLE(&modeActivationCondition->range)) {
for (int index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
if (modeActivationConditions(index)->modeId == modeId && IS_RANGE_USABLE(&modeActivationConditions(index)->range)) {
return true;
}
}
@ -328,7 +297,7 @@ bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationC
return false;
}
bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range) {
static bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range) {
if (!IS_RANGE_USABLE(range)) {
return false;
}
@ -338,10 +307,8 @@ bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range) {
channelValue < 900 + (range->endStep * 25));
}
void updateActivatedModes(modeActivationCondition_t *modeActivationConditions, modeActivationOperator_e modeActivationOperator)
void updateActivatedModes(void)
{
uint8_t modeIndex;
// Unfortunately for AND logic it's not enough to simply check if any of the specified channel range conditions are valid for a mode.
// We need to count the total number of conditions specified for each mode, and check that all those conditions are currently valid.
@ -351,15 +318,14 @@ void updateActivatedModes(modeActivationCondition_t *modeActivationConditions, m
memset(specifiedConditionCountPerMode, 0, CHECKBOX_ITEM_COUNT);
memset(validConditionCountPerMode, 0, CHECKBOX_ITEM_COUNT);
for (modeIndex = 0; modeIndex < MAX_MODE_ACTIVATION_CONDITION_COUNT; modeIndex++) {
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[modeIndex];
for (int modeIndex = 0; modeIndex < MAX_MODE_ACTIVATION_CONDITION_COUNT; modeIndex++) {
// Increment the number of specified conditions for this mode
specifiedConditionCountPerMode[modeActivationCondition->modeId]++;
specifiedConditionCountPerMode[modeActivationConditions(modeIndex)->modeId]++;
if (isRangeActive(modeActivationCondition->auxChannelIndex, &modeActivationCondition->range)) {
if (isRangeActive(modeActivationConditions(modeIndex)->auxChannelIndex, &modeActivationConditions(modeIndex)->range)) {
// Increment the number of valid conditions for this mode
validConditionCountPerMode[modeActivationCondition->modeId]++;
validConditionCountPerMode[modeActivationConditions(modeIndex)->modeId]++;
}
}
@ -367,13 +333,13 @@ void updateActivatedModes(modeActivationCondition_t *modeActivationConditions, m
rcModeActivationMask = 0;
// Now see which modes should be enabled
for (modeIndex = 0; modeIndex < CHECKBOX_ITEM_COUNT; modeIndex++) {
for (int modeIndex = 0; modeIndex < CHECKBOX_ITEM_COUNT; modeIndex++) {
// only modes with conditions specified are considered
if (specifiedConditionCountPerMode[modeIndex] > 0) {
// For AND logic, the specified condition count and valid condition count must be the same.
// For OR logic, the valid condition count must be greater than zero.
if (modeActivationOperator == MODE_OPERATOR_AND) {
if (modeActivationOperatorConfig()->modeActivationOperator == MODE_OPERATOR_AND) {
// AND the conditions
if (validConditionCountPerMode[modeIndex] == specifiedConditionCountPerMode[modeIndex]) {
ACTIVATE_RC_MODE(modeIndex);
@ -518,6 +484,38 @@ void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adj
MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
}
static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
#ifndef BLACKBOX
UNUSED(adjustmentFunction);
UNUSED(newValue);
#else
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_inflightAdjustment_t eventData;
eventData.adjustmentFunction = adjustmentFunction;
eventData.newValue = newValue;
eventData.floatFlag = false;
blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
}
#endif
}
#if 0
static void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue) {
#ifndef BLACKBOX
UNUSED(adjustmentFunction);
UNUSED(newFloatValue);
#else
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_inflightAdjustment_t eventData;
eventData.adjustmentFunction = adjustmentFunction;
eventData.newFloatValue = newFloatValue;
eventData.floatFlag = true;
blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
}
#endif
}
#endif
static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
int newValue;
@ -735,14 +733,14 @@ int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
return MIN(ABS(rcData[axis] - midrc), 500);
}
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions)
void useRcControlsConfig(void)
{
isUsingSticksToArm = !isModeActivationConditionPresent(modeActivationConditions, BOXARM);
isUsingSticksToArm = !isModeActivationConditionPresent(BOXARM);
#ifdef NAV
isUsingNAVModes = isModeActivationConditionPresent(modeActivationConditions, BOXNAVPOSHOLD) ||
isModeActivationConditionPresent(modeActivationConditions, BOXNAVRTH) ||
isModeActivationConditionPresent(modeActivationConditions, BOXNAVWP);
isUsingNAVModes = isModeActivationConditionPresent(BOXNAVPOSHOLD) ||
isModeActivationConditionPresent(BOXNAVRTH) ||
isModeActivationConditionPresent(BOXNAVWP);
#endif
}