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FEATURE FW_LAUNCH initial commit

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This commit is contained in:
giacomo892 2018-02-05 17:26:38 +01:00
parent 8ed2fe656f
commit c3464ed48a
6 changed files with 27 additions and 7 deletions
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20
src/main/navigation/navigation.c
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@ -1232,6 +1232,14 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationF
return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_LAUNCH_MOTOR_DELAY
}
//allow to leave NAV_LAUNCH_MODE if it has being enabled as feature by moving sticks with low throttle.
if(feature(FEATURE_FW_LAUNCH)){
throttleStatus_e throttleStatus = calculateThrottleStatus();
if ((throttleStatus == THROTTLE_LOW) && ((ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband))){
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
}
return NAV_FSM_EVENT_NONE;
}
@ -2345,7 +2353,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
// LAUNCH mode has priority over any other NAV mode
if (STATE(FIXED_WING)) {
if (IS_RC_MODE_ACTIVE(BOXNAVLAUNCH)) { // FIXME: Only available for fixed wing aircrafts now
if (isNavLaunchEnabled()) { // FIXME: Only available for fixed wing aircrafts now
if (canActivateLaunchMode) {
canActivateLaunchMode = false;
return NAV_FSM_EVENT_SWITCH_TO_LAUNCH;
@ -2404,8 +2412,8 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
else {
canActivateWaypoint = false;
// Launch mode can only be activated if BOX is turned on prior to arming (avoid switching to LAUNCH in flight)
canActivateLaunchMode = IS_RC_MODE_ACTIVE(BOXNAVLAUNCH);
// Launch mode can be activated if feature FW_LAUNCH is enabled or BOX is turned on prior to arming (avoid switching to LAUNCH in flight)
canActivateLaunchMode = isNavLaunchEnabled();
}
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
@ -2470,7 +2478,7 @@ int8_t navigationGetHeadingControlState(void)
bool navigationBlockArming(void)
{
const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD);
const bool navLaunchComboModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) && (IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP));
const bool navLaunchComboModesEnabled = isNavLaunchEnabled() && (IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP));
bool shouldBlockArming = false;
if (!navConfig()->general.flags.extra_arming_safety)
@ -2701,6 +2709,10 @@ bool navigationRTHAllowsLanding(void)
(allow == NAV_RTH_ALLOW_LANDING_FS_ONLY && FLIGHT_MODE(FAILSAFE_MODE));
}
bool isNavLaunchEnabled(void)
{
return IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) || feature(FEATURE_FW_LAUNCH);
}
#else // NAV
#ifdef USE_GPS