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SURFACE: New flight mode behavour fixed. Surface tracking can be enabled at any time during ALTHOLD and POSHOLD_3D modes

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-03-28 14:13:26 +10:00
parent 37bd01a186
commit b90d13ac30
6 changed files with 35 additions and 34 deletions
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6
src/main/io/serial_msp.c
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@ -368,7 +368,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXAIRMODE, "AIR MODE;", 29 },
{ BOXHOMERESET, "HOME RESET;", 30 },
{ BOXGCSNAV, "GCS NAV;", 31 },
{ BOXTERRAIN, "TERRAIN;", 33 },
{ BOXSURFACE, "SURFACE;", 33 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -672,6 +672,7 @@ void mspInit(serialConfig_t *serialConfig)
#ifdef GPS
if (sensors(SENSOR_BARO) || (isFixedWing && feature(FEATURE_GPS))) {
activeBoxIds[activeBoxIdCount++] = BOXNAVALTHOLD;
activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
}
if ((feature(FEATURE_GPS) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) || (isFixedWing && sensors(SENSOR_ACC) && feature(FEATURE_GPS))) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
@ -679,7 +680,6 @@ void mspInit(serialConfig_t *serialConfig)
activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
activeBoxIds[activeBoxIdCount++] = BOXTERRAIN;
}
#endif
@ -760,7 +760,7 @@ static uint32_t packFlightModeFlags(void)
IS_ENABLED(FLIGHT_MODE(NAV_WP_MODE)) << BOXNAVWP |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGCSNAV)) << BOXGCSNAV |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTERRAIN)) << BOXTERRAIN |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXSURFACE)) << BOXSURFACE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)) << BOXHOMERESET;
for (i = 0; i < activeBoxIdCount; i++) {