Added modeActivationConditions parameter group

src/main/blackbox/blackbox.c

@@ -1025,7 +1025,7 @@ void startBlackbox(void)
          */
         blackboxBuildConditionCache();
 
-        blackboxModeActivationConditionPresent = isModeActivationConditionPresent(masterConfig.modeActivationConditions, BOXBLACKBOX);
+        blackboxModeActivationConditionPresent = isModeActivationConditionPresent(BOXBLACKBOX);
 
         blackboxIteration = 0;
         blackboxPFrameIndex = 0;

src/main/cms/cms_menu_blackbox.c

@@ -49,7 +49,6 @@
 #include "fc/runtime_config.h"
 
 #include "config/config_profile.h"
-#include "config/config_master.h"
 #include "config/feature.h"
 
 #include "io/flashfs.h"

src/main/cms/cms_menu_ledstrip.c

@@ -37,7 +37,6 @@
 #include "fc/runtime_config.h"
 
 #include "config/config_profile.h"
-#include "config/config_master.h"
 #include "config/feature.h"
 
 #include "cms/cms.h"

src/main/cms/cms_menu_vtx.c

@@ -28,7 +28,6 @@
 #include "cms/cms_menu_vtx.h"
 
 #include "config/config_profile.h"
-#include "config/config_master.h"
 #include "config/feature.h"
 
 #ifdef CMS

src/main/config/config_master.h

@@ -70,9 +70,6 @@ typedef struct master_s {
     servoMixer_t customServoMixer[MAX_SERVO_RULES];
 #endif
 
-    modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
-    modeActivationOperator_e modeActivationOperator;
-
     adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
 
     // Radio/ESC-related configuration

src/main/config/parameter_group_ids.h

@@ -56,7 +56,7 @@
 #define PG_BAROMETER_CONFIG 38
 //#define PG_THROTTLE_CORRECTION_CONFIG 39
 #define PG_COMPASS_CONFIG 40
-//#define PG_MODE_ACTIVATION_PROFILE 41
+#define PG_MODE_ACTIVATION_PROFILE 41
 //#define PG_SERVO_PROFILE 42
 #define PG_RX_FAILSAFE_CHANNEL_CONFIG 43
 #define PG_RX_CHANNEL_RANGE_CONFIG 44
@@ -80,7 +80,7 @@
 #define PG_PITOTMETER_CONFIG 1000
 #define PG_POSITION_ESTIMATION_CONFIG 1001
 #define PG_NAV_CONFIG 1002
-
+#define PG_MODE_ACTIVATION_OPERATOR_CONFIG 1003
 // OSD configuration (subject to change)
 //#define PG_OSD_FONT_CONFIG 2047
 //#define PG_OSD_VIDEO_CONFIG 2046

src/main/fc/config.c

@@ -185,8 +185,6 @@ void createDefaultConfig(master_t *config)
     // for (int i = 0; i < CHECKBOXITEMS; i++)
     //     cfg.activate[i] = 0;
 
-    config->modeActivationOperator = MODE_OPERATOR_OR; // default is to OR multiple-channel mode activation conditions
-
     // Radio
 #ifdef RX_CHANNELS_TAER
     parseRcChannels("TAER1234");
@@ -332,8 +330,6 @@ static void activateConfig(void)
 
     resetAdjustmentStates();
 
-    useRcControlsConfig(masterConfig.modeActivationConditions);
-
     failsafeReset();
 
     setAccelerationCalibrationValues();

src/main/fc/fc_init.c

@@ -517,7 +517,7 @@ void init(void)
 
     failsafeInit(flight3DConfig()->deadband3d_throttle);
 
-    rxInit(masterConfig.modeActivationConditions);
+    rxInit();
 
 #ifdef GPS
     if (feature(FEATURE_GPS)) {

src/main/fc/fc_msp.c

@@ -714,7 +714,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
 
     case MSP_MODE_RANGES:
         for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
-            modeActivationCondition_t *mac = &masterConfig.modeActivationConditions[i];
+            const modeActivationCondition_t *mac = modeActivationConditions(i);
             const box_t *box = findBoxByActiveBoxId(mac->modeId);
             sbufWriteU8(dst, box ? box->permanentId : 0);
             sbufWriteU8(dst, mac->auxChannelIndex);
@@ -1337,7 +1337,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
     case MSP_SET_MODE_RANGE:
         i = sbufReadU8(src);
         if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
-            modeActivationCondition_t *mac = &masterConfig.modeActivationConditions[i];
+            modeActivationCondition_t *mac = modeActivationConditionsMutable(i);
             i = sbufReadU8(src);
             const box_t *box = findBoxByPermenantId(i);
             if (box) {
@@ -1346,7 +1346,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
                 mac->range.startStep = sbufReadU8(src);
                 mac->range.endStep = sbufReadU8(src);
 
-                useRcControlsConfig(masterConfig.modeActivationConditions);
+                useRcControlsConfig();
             } else {
                 return MSP_RESULT_ERROR;
             }

src/main/fc/mw.c

@@ -360,7 +360,7 @@ void processRx(timeUs_t currentTimeUs)
 
     processRcStickPositions(throttleStatus, armingConfig()->disarm_kill_switch, armingConfig()->fixed_wing_auto_arm);
 
-    updateActivatedModes(masterConfig.modeActivationConditions, masterConfig.modeActivationOperator);
+    updateActivatedModes();
 
     if (!cliMode) {
         updateAdjustmentStates(masterConfig.adjustmentRanges);

src/main/fc/rc_controls.c

@@ -87,35 +87,8 @@ PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
     .auto_disarm_delay = 5
 );
 
-void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
+PG_REGISTER_ARR(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
-#ifndef BLACKBOX
+PG_REGISTER(modeActivationOperatorConfig_t, modeActivationOperatorConfig, PG_MODE_ACTIVATION_OPERATOR_CONFIG, 0);
-    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
-}
 
 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 (int index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
-
+        if (modeActivationConditions(index)->modeId == modeId && IS_RANGE_USABLE(&modeActivationConditions(index)->range)) {
-    for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
-        modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
-
-        if (modeActivationCondition->modeId == modeId && IS_RANGE_USABLE(&modeActivationCondition->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++) {
+    for (int modeIndex = 0; modeIndex < MAX_MODE_ACTIVATION_CONDITION_COUNT; modeIndex++) {
-        modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[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) ||
+    isUsingNAVModes = isModeActivationConditionPresent(BOXNAVPOSHOLD) ||
-                        isModeActivationConditionPresent(modeActivationConditions, BOXNAVRTH) ||
+                        isModeActivationConditionPresent(BOXNAVRTH) ||
-                        isModeActivationConditionPresent(modeActivationConditions, BOXNAVWP);
+                        isModeActivationConditionPresent(BOXNAVWP);
 #endif
 }
 

src/main/fc/rc_controls.h

@@ -123,11 +123,19 @@ typedef struct modeActivationCondition_s {
 
 #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
 
+PG_DECLARE_ARR(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions);
+
 typedef enum {
-    MODE_OPERATOR_OR,
+    MODE_OPERATOR_OR, // default
     MODE_OPERATOR_AND
 } modeActivationOperator_e;
 
+typedef struct modeActivationOperatorConfig_s {
+    modeActivationOperator_e modeActivationOperator;
+} modeActivationOperatorConfig_t;
+
+PG_DECLARE(modeActivationOperatorConfig_t, modeActivationOperatorConfig);
+
 extern int16_t rcCommand[4];
 
 typedef struct rcControlsConfig_s {
@@ -154,7 +162,7 @@ throttleStatus_e calculateThrottleStatus(uint16_t deadband3d_throttle);
 rollPitchStatus_e calculateRollPitchCenterStatus(void);
 void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_switch, bool fixed_wing_auto_arm);
 
-void updateActivatedModes(modeActivationCondition_t *modeActivationConditions, modeActivationOperator_e modeActivationOperator);
+void updateActivatedModes(void);
 
 
 typedef enum {
@@ -246,5 +254,5 @@ bool isUsingSticksForArming(void);
 bool isUsingNavigationModes(void);
 
 int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
-bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationConditions, boxId_e modeId);
+bool isModeActivationConditionPresent(boxId_e modeId);
-void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions);
+void useRcControlsConfig(void);

src/main/fc/serial_cli.c

@@ -1147,6 +1147,7 @@ static navConfig_t navConfigCopy;
 #ifdef TELEMETRY
 static telemetryConfig_t telemetryConfigCopy;
 #endif
+static modeActivationCondition_t modeActivationConditionsCopy[MAX_MODE_ACTIVATION_CONDITION_COUNT];
 
 static void backupConfigs(void)
 {
@@ -1200,6 +1201,9 @@ static void backupConfigs(void)
 #ifdef TELEMETRY
     telemetryConfigCopy = *telemetryConfig();
 #endif
+    for (int ii = 0; ii < MAX_MODE_ACTIVATION_CONDITION_COUNT; ++ii) {
+        modeActivationConditionsCopy[ii] = *modeActivationConditions(ii);
+    }
 }
 
 static void restoreConfigs(void)
@@ -1253,6 +1257,9 @@ static void restoreConfigs(void)
 #ifdef TELEMETRY
     *telemetryConfigMutable() = telemetryConfigCopy;
 #endif
+    for (int ii = 0; ii < MAX_MODE_ACTIVATION_CONDITION_COUNT; ++ii) {
+        *modeActivationConditionsMutable(ii) = modeActivationConditionsCopy[ii];
+    }
 }
 
 static void *getDefaultPointer(const void *valuePointer, const master_t *defaultConfig)
@@ -1669,12 +1676,12 @@ static void cliAux(char *cmdline)
     char *ptr;
 
     if (isEmpty(cmdline)) {
-        printAux(DUMP_MASTER, masterConfig.modeActivationConditions, NULL);
+        printAux(DUMP_MASTER, modeActivationConditions(0), NULL);
     } else {
         ptr = cmdline;
         i = atoi(ptr++);
         if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
-            modeActivationCondition_t *mac = &masterConfig.modeActivationConditions[i];
+            modeActivationCondition_t *mac = modeActivationConditionsMutable(i);
             uint8_t validArgumentCount = 0;
             ptr = nextArg(ptr);
             if (ptr) {
@@ -3512,7 +3519,7 @@ static void printConfig(char *cmdline, bool doDiff)
 #endif
 
         cliPrintHashLine("aux");
-        printAux(dumpMask, masterConfig.modeActivationConditions, defaultConfig.modeActivationConditions);
+        printAux(dumpMask, modeActivationConditionsCopy, modeActivationConditions(0));
 
         cliPrintHashLine("adjrange");
         printAdjustmentRange(dumpMask, masterConfig.adjustmentRanges, defaultConfig.adjustmentRanges);

src/main/io/osd.c

@@ -27,6 +27,7 @@
 #include <stdint.h>
 #include <stdlib.h>
 #include <string.h>
+#include <stdlib.h>
 #include <ctype.h>
 
 #include "platform.h"
@@ -58,6 +59,7 @@
 #include "io/displayport_max7456.h"
 #include "io/flashfs.h"
 #include "io/gimbal.h"
+#include "io/gps.h"
 #include "io/osd.h"
 
 #include "fc/config.h"

src/main/rx/rx.c

@@ -251,7 +251,7 @@ bool serialRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
 }
 #endif
 
-void rxInit(const modeActivationCondition_t *modeActivationConditions)
+void rxInit(void)
 {
     rxRuntimeConfig.rcReadRawFn = nullReadRawRC;
     rxRuntimeConfig.rcFrameStatusFn = nullFrameStatus;
@@ -267,17 +267,16 @@ void rxInit(const modeActivationCondition_t *modeActivationConditions)
 
     // Initialize ARM switch to OFF position when arming via switch is defined
     for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
-        const modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[i];
+        if (modeActivationConditions(i)->modeId == BOXARM && IS_RANGE_USABLE(&modeActivationConditions(i)->range)) {
-        if (modeActivationCondition->modeId == BOXARM && IS_RANGE_USABLE(&modeActivationCondition->range)) {
             // ARM switch is defined, determine an OFF value
             uint16_t value;
-            if (modeActivationCondition->range.startStep > 0) {
+            if (modeActivationConditions(i)->range.startStep > 0) {
-                value = MODE_STEP_TO_CHANNEL_VALUE((modeActivationCondition->range.startStep - 1));
+                value = MODE_STEP_TO_CHANNEL_VALUE((modeActivationConditions(i)->range.startStep - 1));
             } else {
-                value = MODE_STEP_TO_CHANNEL_VALUE((modeActivationCondition->range.endStep + 1));
+                value = MODE_STEP_TO_CHANNEL_VALUE((modeActivationConditions(i)->range.endStep + 1));
             }
             // Initialize ARM AUX channel to OFF value
-            rcData[modeActivationCondition->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = value;
+            rcData[modeActivationConditions(i)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = value;
         }
     }
 

src/main/rx/rx.h

@@ -151,8 +151,7 @@ typedef struct rxRuntimeConfig_s {
 
 extern rxRuntimeConfig_t rxRuntimeConfig; //!!TODO remove this extern, only needed once for channelCount
 
-struct modeActivationCondition_s;
+void rxInit(void);
-void rxInit(const struct modeActivationCondition_s *modeActivationConditions);
 bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime);
 bool rxIsReceivingSignal(void);
 bool rxAreFlightChannelsValid(void);