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Code Issues Wiki Activity

Rename a few more flags

Browse source 
NAV -> USE_NAV
FIXED_WING_LANDING -> NAV_FIXED_WING_LANDING
ASYNC_GYRO_PROCESSING -> USE_ASYNC_GYRO_PROCESSING
BOOTLOG -> USE_BOOTLOG
STATS -> USE_STATS
This commit is contained in:
Alberto García Hierro 2017-12-04 12:58:51 +00:00
parent 7a1491e158
commit d5ba9c4eec
38 changed files with 112 additions and 112 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/cms/cms_menu_builtin.c
View file

@ -100,7 +100,7 @@ static OSD_Entry menuFeaturesEntries[] =
{
{"--- FEATURES ---", OME_Label, NULL, NULL, 0},
{"BLACKBOX", OME_Submenu, cmsMenuChange, &cmsx_menuBlackbox, 0},
#if defined(NAV)
#if defined(USE_NAV)
{"NAVIGATION", OME_Submenu, cmsMenuChange, &cmsx_menuNavigation, 0},
#endif
#if defined(VTX) || defined(USE_RTC6705)

2
src/main/cms/cms_menu_navigation.c
View file

@ -26,7 +26,7 @@
#include "platform.h"
#if defined(NAV)
#if defined(USE_NAV)
#include <stdlib.h>
#include <string.h>

2
src/main/drivers/logging.c
View file

@ -25,7 +25,7 @@
#include "drivers/logging.h"
#ifdef BOOTLOG
#ifdef USE_BOOTLOG
#include "drivers/time.h"

8
src/main/fc/cli.c
View file

@ -135,7 +135,7 @@ static uint32_t bufferIndex = 0;
static void cliAssert(char *cmdline);
#endif
#if defined(BOOTLOG)
#if defined(USE_BOOTLOG)
static void cliBootlog(char *cmdline);
#endif
@ -562,7 +562,7 @@ static void cliAssert(char *cmdline)
}
#endif
#if defined(BOOTLOG)
#if defined(USE_BOOTLOG)
static void cliBootlog(char *cmdline)
{
UNUSED(cmdline);
@ -2412,7 +2412,7 @@ static void cliStatus(char *cmdline)
#endif
cliPrintf("System load: %d", averageSystemLoadPercent);
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
const timeDelta_t pidTaskDeltaTime = getTaskDeltaTime(TASK_PID);
#else
const timeDelta_t pidTaskDeltaTime = getTaskDeltaTime(TASK_GYROPID);
@ -2702,7 +2702,7 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("beeper", "turn on/off beeper", "list\r\n"
"\t<+|->[name]", cliBeeper),
#endif
#if defined(BOOTLOG)
#if defined(USE_BOOTLOG)
CLI_COMMAND_DEF("bootlog", "show boot events", NULL, cliBootlog),
#endif
#ifdef USE_LED_STRIP

14
src/main/fc/config.c
View file

@ -134,7 +134,7 @@ PG_RESET_TEMPLATE(adcChannelConfig_t, adcChannelConfig,
}
);
#ifdef NAV
#ifdef USE_NAV
void validateNavConfig(void)
{
// Make sure minAlt is not more than maxAlt, maxAlt cannot be set lower than 500.
@ -153,7 +153,7 @@ void validateNavConfig(void)
uint32_t getPidUpdateRate(void)
{
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
if (systemConfig()->asyncMode == ASYNC_MODE_NONE) {
return getGyroUpdateRate();
} else {
@ -170,7 +170,7 @@ timeDelta_t getGyroUpdateRate(void)
}
uint16_t getAccUpdateRate(void)
{
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
// ACC will be updated at its own rate
if (systemConfig()->asyncMode == ASYNC_MODE_ALL) {
return 1000000 / systemConfig()->accTaskFrequency;
@ -183,7 +183,7 @@ uint16_t getAccUpdateRate(void)
#endif
}
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
uint16_t getAttitudeUpdateRate(void) {
if (systemConfig()->asyncMode == ASYNC_MODE_ALL) {
return 1000000 / systemConfig()->attitudeTaskFrequency;
@ -275,7 +275,7 @@ void validateAndFixConfig(void)
}
#endif
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
/*
* When async processing mode is enabled, gyroSync has to be forced to "ON"
*/
@ -377,7 +377,7 @@ void validateAndFixConfig(void)
mixerConfigMutable()->mixerMode = DEFAULT_MIXER;
}
#if defined(NAV)
#if defined(USE_NAV)
// Ensure sane values of navConfig settings
validateNavConfig();
#endif
@ -463,7 +463,7 @@ static void activateConfig(void)
pidInit();
#ifdef NAV
#ifdef USE_NAV
navigationUsePIDs();
#endif
}

4
src/main/fc/config.h
View file

@ -104,7 +104,7 @@ typedef struct adcChannelConfig_s {
PG_DECLARE(adcChannelConfig_t, adcChannelConfig);
#ifdef STATS
#ifdef USE_STATS
PG_DECLARE(statsConfig_t, statsConfig);
#endif
@ -142,7 +142,7 @@ void targetConfiguration(void);
uint32_t getPidUpdateRate(void);
timeDelta_t getGyroUpdateRate(void);
uint16_t getAccUpdateRate(void);
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
uint16_t getAttitudeUpdateRate(void);
uint8_t getAsyncMode(void);
#endif

12
src/main/fc/fc_core.c
View file

@ -122,7 +122,7 @@ bool isCalibrating(void)
}
#endif
#ifdef NAV
#ifdef USE_NAV
if (!navIsCalibrationComplete()) {
return true;
}
@ -212,7 +212,7 @@ static void updateArmingStatus(void)
DISABLE_ARMING_FLAG(ARMING_DISABLED_SYSTEM_OVERLOADED);
}
#if defined(NAV)
#if defined(USE_NAV)
/* CHECK: Navigation safety */
if (navigationBlockArming()) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_NAVIGATION_UNSAFE);
@ -379,7 +379,7 @@ void mwArm(void)
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
//beep to indicate arming
#ifdef NAV
#ifdef USE_NAV
if (navigationPositionEstimateIsHealthy())
beeper(BEEPER_ARMING_GPS_FIX);
else
@ -702,7 +702,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
cycleTime = getTaskDeltaTime(TASK_SELF);
dT = (float)cycleTime * 0.000001f;
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
if (getAsyncMode() == ASYNC_MODE_NONE) {
taskGyro(currentTimeUs);
}
@ -725,7 +725,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
filterRc(isRXDataNew);
}
#if defined(NAV)
#if defined(USE_NAV)
if (isRXDataNew) {
updateWaypointsAndNavigationMode();
}
@ -733,7 +733,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
isRXDataNew = false;
#if defined(NAV)
#if defined(USE_NAV)
updatePositionEstimator();
applyWaypointNavigationAndAltitudeHold();
#endif

2
src/main/fc/fc_init.c
View file

@ -571,7 +571,7 @@ void init(void)
#endif
#ifdef NAV
#ifdef USE_NAV
navigationInit();
#endif

26
src/main/fc/fc_msp.c
View file

@ -463,7 +463,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_ALTITUDE:
#if defined(NAV)
#if defined(USE_NAV)
sbufWriteU32(dst, lrintf(getEstimatedActualPosition(Z)));
sbufWriteU16(dst, lrintf(getEstimatedActualVelocity(Z)));
#else
@ -622,7 +622,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, GPS_directionToHome);
sbufWriteU8(dst, gpsSol.flags.gpsHeartbeat ? 1 : 0);
break;
#ifdef NAV
#ifdef USE_NAV
case MSP_NAV_STATUS:
sbufWriteU8(dst, NAV_Status.mode);
sbufWriteU8(dst, NAV_Status.state);
@ -937,7 +937,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_INAV_PID:
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
sbufWriteU8(dst, systemConfig()->asyncMode);
sbufWriteU16(dst, systemConfig()->accTaskFrequency);
sbufWriteU16(dst, systemConfig()->attitudeTaskFrequency);
@ -986,7 +986,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
#endif
break;
#ifdef NAV
#ifdef USE_NAV
case MSP_NAV_POSHOLD:
sbufWriteU8(dst, navConfig()->general.flags.user_control_mode);
sbufWriteU16(dst, navConfig()->general.max_auto_speed);
@ -1054,7 +1054,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_POSITION_ESTIMATION_CONFIG:
#ifdef NAV
#ifdef USE_NAV
sbufWriteU16(dst, positionEstimationConfig()->w_z_baro_p * 100); // inav_w_z_baro_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_p * 100); // 2 inav_w_z_gps_p float as value * 100
@ -1084,7 +1084,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_WP_GETINFO:
#ifdef NAV
#ifdef USE_NAV
sbufWriteU8(dst, 0); // Reserved for waypoint capabilities
sbufWriteU8(dst, NAV_MAX_WAYPOINTS); // Maximum number of waypoints supported
sbufWriteU8(dst, isWaypointListValid()); // Is current mission valid
@ -1159,7 +1159,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
return true;
}
#ifdef NAV
#ifdef USE_NAV
static void mspFcWaypointOutCommand(sbuf_t *dst, sbuf_t *src)
{
const uint8_t msp_wp_no = sbufReadU8(src); // get the wp number
@ -1271,7 +1271,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
pidBankMutable()->pid[i].D = sbufReadU8(src);
}
schedulePidGainsUpdate();
#if defined(NAV)
#if defined(USE_NAV)
navigationUsePIDs();
#endif
break;
@ -1510,7 +1510,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_INAV_PID:
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
systemConfigMutable()->asyncMode = sbufReadU8(src);
systemConfigMutable()->accTaskFrequency = sbufReadU16(src);
systemConfigMutable()->attitudeTaskFrequency = sbufReadU16(src);
@ -1559,7 +1559,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
#endif
break;
#ifdef NAV
#ifdef USE_NAV
case MSP_SET_NAV_POSHOLD:
navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
navConfigMutable()->general.max_auto_speed = sbufReadU16(src);
@ -1628,7 +1628,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_POSITION_ESTIMATION_CONFIG:
#ifdef NAV
#ifdef USE_NAV
positionEstimationConfigMutable()->w_z_baro_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_z_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_z_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
@ -1792,7 +1792,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
onNewGPSData();
break;
#endif
#ifdef NAV
#ifdef USE_NAV
case MSP_SET_WP:
{
const uint8_t msp_wp_no = sbufReadU8(src); // get the waypoint number
@ -2158,7 +2158,7 @@ mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostPro
mspFc4waySerialCommand(dst, src, mspPostProcessFn);
ret = MSP_RESULT_ACK;
#endif
#ifdef NAV
#ifdef USE_NAV
} else if (cmdMSP == MSP_WP) {
mspFcWaypointOutCommand(dst, src);
ret = MSP_RESULT_ACK;

6
src/main/fc/fc_tasks.c
View file

@ -251,7 +251,7 @@ void taskSyncPwmDriver(timeUs_t currentTimeUs)
}
#endif
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
void taskAttitude(timeUs_t currentTimeUs)
{
imuUpdateAttitude(currentTimeUs);
@ -291,7 +291,7 @@ void fcTasksInit(void)
{
schedulerInit();
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
rescheduleTask(TASK_PID, getPidUpdateRate());
setTaskEnabled(TASK_PID, true);
@ -387,7 +387,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_HIGH,
},
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
[TASK_PID] = {
.taskName = "PID",
.taskFunc = taskMainPidLoop,

6
src/main/fc/rc_modes.c
View file

@ -36,7 +36,7 @@
static uint8_t specifiedConditionCountPerMode[CHECKBOX_ITEM_COUNT];
static bool isUsingSticksToArm = true;
#ifdef NAV
#ifdef USE_NAV
static bool isUsingNAVModes = false;
#endif
@ -56,7 +56,7 @@ bool isAirmodeActive(void)
return feature(FEATURE_AIRMODE) || IS_RC_MODE_ACTIVE(BOXAIRMODE);
}
#if defined(NAV)
#if defined(USE_NAV)
bool isUsingNavigationModes(void)
{
return isUsingNAVModes;
@ -150,7 +150,7 @@ void updateUsedModeActivationConditionFlags(void)
isUsingSticksToArm = !isModeActivationConditionPresent(BOXARM);
#ifdef NAV
#ifdef USE_NAV
isUsingNAVModes = isModeActivationConditionPresent(BOXNAVPOSHOLD) ||
isModeActivationConditionPresent(BOXNAVRTH) ||
isModeActivationConditionPresent(BOXNAVWP);

52
src/main/fc/settings.yaml
View file

@ -847,98 +847,98 @@ groups:
- name: nav_mc_pos_z_p
field: bank_mc.pid[PID_POS_Z].P
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_pos_z_i
field: bank_mc.pid[PID_POS_Z].I
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_pos_z_d
field: bank_mc.pid[PID_POS_Z].D
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_vel_z_p
field: bank_mc.pid[PID_VEL_Z].P
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_vel_z_i
field: bank_mc.pid[PID_VEL_Z].I
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_vel_z_d
field: bank_mc.pid[PID_VEL_Z].D
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_pos_xy_p
field: bank_mc.pid[PID_POS_XY].P
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_pos_xy_i
field: bank_mc.pid[PID_POS_XY].I
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_pos_xy_d
field: bank_mc.pid[PID_POS_XY].D
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_vel_xy_p
field: bank_mc.pid[PID_VEL_XY].P
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_vel_xy_i
field: bank_mc.pid[PID_VEL_XY].I
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_mc_vel_xy_d
field: bank_mc.pid[PID_VEL_XY].D
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_z_p
field: bank_fw.pid[PID_POS_Z].P
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_z_i
field: bank_fw.pid[PID_POS_Z].I
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_z_d
field: bank_fw.pid[PID_POS_Z].D
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_xy_p
field: bank_fw.pid[PID_POS_XY].P
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_xy_i
field: bank_fw.pid[PID_POS_XY].I
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: nav_fw_pos_xy_d
field: bank_fw.pid[PID_POS_XY].D
condition: NAV
condition: USE_NAV
min: 0
max: 255
- name: PG_PID_AUTOTUNE_CONFIG
type: pidAutotuneConfig_t
condition: NAV
condition: USE_NAV
members:
- name: fw_autotune_overshoot_time
field: fw_overshoot_time
@ -963,7 +963,7 @@ groups:
- name: PG_POSITION_ESTIMATION_CONFIG
type: positionEstimationConfig_t
condition: NAV
condition: USE_NAV
members:
- name: inav_auto_mag_decl
field: automatic_mag_declination
@ -1039,7 +1039,7 @@ groups:
- name: PG_NAV_CONFIG
type: navConfig_t
headers: ["navigation/navigation.h"]
condition: NAV
condition: USE_NAV
members:
- name: nav_disarm_on_landing
field: general.flags.disarm_on_landing
@ -1170,7 +1170,7 @@ groups:
- name: nav_fw_land_dive_angle
field: fw.land_dive_angle
condition: FIXED_WING_LANDING
condition: NAV_FIXED_WING_LANDING
min: -20
max: 20
@ -1502,17 +1502,17 @@ groups:
table: debug_modes
- name: acc_task_frequency
field: accTaskFrequency
condition: ASYNC_GYRO_PROCESSING
condition: USE_ASYNC_GYRO_PROCESSING
min: ACC_TASK_FREQUENCY_MIN
max: ACC_TASK_FREQUENCY_MAX
- name: attitude_task_frequency
field: attitudeTaskFrequency
condition: ASYNC_GYRO_PROCESSING
condition: USE_ASYNC_GYRO_PROCESSING
min: ATTITUDE_TASK_FREQUENCY_MIN
max: ATTITUDE_TASK_FREQUENCY_MAX
- name: async_mode
field: asyncMode
condition: ASYNC_GYRO_PROCESSING
condition: USE_ASYNC_GYRO_PROCESSING
table: async_mode
- name: throttle_tilt_comp_str
field: throttle_tilt_compensation_strength
@ -1534,7 +1534,7 @@ groups:
- name: PG_STATS_CONFIG
type: statsConfig_t
headers: ["fc/stats.h"]
condition: STATS
condition: USE_STATS
members:
- name: stats
field: stats_enabled

2
src/main/fc/stats.c
View file

@ -1,7 +1,7 @@
#include "platform.h"
#ifdef STATS
#ifdef USE_STATS
#include "fc/stats.h"

2
src/main/fc/stats.h
View file

@ -1,6 +1,6 @@
#pragma once
#ifdef STATS
#ifdef USE_STATS
typedef struct statsConfig_s {
uint32_t stats_total_time; // [s]

6
src/main/flight/failsafe.c
View file

@ -168,7 +168,7 @@ void failsafeInit(void)
failsafeState.suspended = false;
}
#ifdef NAV
#ifdef USE_NAV
bool failsafeBypassNavigation(void)
{
return failsafeState.active && failsafeState.controlling && failsafeProcedureLogic[failsafeConfig()->failsafe_procedure].bypassNavigation;
@ -419,7 +419,7 @@ void failsafeUpdateState(void)
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_3_SECONDS; // require 3 seconds of valid rxData
break;
#if defined(NAV)
#if defined(USE_NAV)
case FAILSAFE_PROCEDURE_RTH:
// Proceed to handling & monitoring RTH navigation
failsafeActivate(FAILSAFE_RETURN_TO_HOME);
@ -444,7 +444,7 @@ void failsafeUpdateState(void)
}
break;
#if defined(NAV)
#if defined(USE_NAV)
case FAILSAFE_RETURN_TO_HOME:
if (receivingRxDataAndNotFailsafeMode && sticksAreMoving) {
abortForcedRTH();

2
src/main/flight/failsafe.h
View file

@ -70,7 +70,7 @@ typedef enum {
* failsafe_procedure = NONE.
*/
FAILSAFE_RX_LOSS_IDLE,
#if defined(NAV)
#if defined(USE_NAV)
/* Failsafe is executing RTH. This phase is the first one
* enabled when failsafe_procedure = RTH if an RTH is
* deemed possible (RTH might not be activated if e.g.

2
src/main/flight/pid.c
View file

@ -554,7 +554,7 @@ static uint8_t getHeadingHoldState(void)
return HEADING_HOLD_DISABLED;
}
#if defined(NAV)
#if defined(USE_NAV)
int navHeadingState = navigationGetHeadingControlState();
// NAV will prevent MAG_MODE from activating, but require heading control
if (navHeadingState != NAV_HEADING_CONTROL_NONE) {

2
src/main/io/dashboard.c
View file

@ -264,7 +264,7 @@ static void updateFailsafeStatus(void)
case FAILSAFE_RX_LOSS_IDLE:
failsafeIndicator = 'I';
break;
#if defined(NAV)
#if defined(USE_NAV)
case FAILSAFE_RETURN_TO_HOME:
failsafeIndicator = 'H';
break;

4
src/main/io/osd.c
View file

@ -557,7 +557,7 @@ static const char * osdFailsafePhaseMessage(void)
{
// See failsafe.h for each phase explanation
switch (failsafePhase()) {
#ifdef NAV
#ifdef USE_NAV
case FAILSAFE_RETURN_TO_HOME:
// XXX: Keep this in sync with OSD_FLYMODE.
return OSD_MESSAGE_STR("(RTH)");
@ -723,7 +723,7 @@ static void osdFormatThrottlePosition(char *buff, bool autoThr)
static inline int32_t osdGetAltitude(void)
{
#if defined(NAV)
#if defined(USE_NAV)
return getEstimatedActualPosition(Z);
#elif defined(USE_BARO)
return baro.alt;

2
src/main/navigation/navigation.c
View file

@ -70,7 +70,7 @@ gpsLocation_t GPS_home;
uint16_t GPS_distanceToHome; // distance to home point in meters
int16_t GPS_directionToHome; // direction to home point in degrees
#if defined(NAV)
#if defined(USE_NAV)
#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
PG_DECLARE_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList);
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0);

2
src/main/navigation/navigation.h
View file

@ -31,7 +31,7 @@ extern int16_t GPS_directionToHome; // direction to home poin
/* Navigation system updates */
void onNewGPSData(void);
#if defined(NAV)
#if defined(USE_NAV)
#if defined(USE_BLACKBOX)
#define NAV_BLACKBOX
#endif

8
src/main/navigation/navigation_fixedwing.c
View file

@ -21,7 +21,7 @@
#include "platform.h"
#if defined(NAV)
#if defined(USE_NAV)
#include "build/build_config.h"
#include "build/debug.h"
@ -428,7 +428,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
pitchCorrection += posControl.rcAdjustment[PITCH];
throttleCorrection += DECIDEGREES_TO_DEGREES(pitchCorrection) * navConfig()->fw.pitch_to_throttle;
#ifdef FIXED_WING_LANDING
#ifdef NAV_FIXED_WING_LANDING
if (navStateFlags & NAV_CTL_LAND) {
/*
* During LAND we do not allow to raise THROTTLE when nose is up
@ -438,7 +438,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
} else {
#endif
throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, maxThrottleCorrection);
#ifdef FIXED_WING_LANDING
#ifdef NAV_FIXED_WING_LANDING
}
#endif
}
@ -467,7 +467,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
rcCommand[THROTTLE] = constrain(correctedThrottleValue, motorConfig()->minthrottle, motorConfig()->maxthrottle);
}
#ifdef FIXED_WING_LANDING
#ifdef NAV_FIXED_WING_LANDING
/*
* Then altitude is below landing slowdown min. altitude, enable final approach procedure
* TODO refactor conditions in this metod if logic is proven to be correct

2
src/main/navigation/navigation_fw_launch.c
View file

@ -22,7 +22,7 @@
#include "platform.h"
#if defined(NAV)
#if defined(USE_NAV)
#include "build/build_config.h"
#include "build/debug.h"

2
src/main/navigation/navigation_geo.c
View file

@ -21,7 +21,7 @@
#include "platform.h"
#if defined(NAV)
#if defined(USE_NAV)
#include "build/build_config.h"
#include "build/debug.h"

2
src/main/navigation/navigation_multicopter.c
View file

@ -21,7 +21,7 @@
#include "platform.h"
#if defined(NAV)
#if defined(USE_NAV)
#include "build/build_config.h"
#include "build/debug.h"

2
src/main/navigation/navigation_pos_estimator.c
View file

@ -22,7 +22,7 @@
#include "platform.h"
#if defined(NAV)
#if defined(USE_NAV)
#include "build/build_config.h"
#include "build/debug.h"

2
src/main/navigation/navigation_private.h
View file

@ -19,7 +19,7 @@
#define DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR 1.113195f // MagicEarthNumber from APM
#if defined(NAV)
#if defined(USE_NAV)
#include "common/filter.h"
#include "fc/runtime_config.h"

2
src/main/rx/eleres.c
View file

@ -326,7 +326,7 @@ static void telemetryRX(void)
if (sensors(SENSOR_GPS)) {
uint16_t gpsspeed = (gpsSol.groundSpeed*9L)/250L;
int16_t course = (gpsSol.groundCourse+360)%360;
#ifdef NAV
#ifdef USE_NAV
int32_t alt = getEstimatedActualPosition(Z);
#else
int32_t alt = baro.BaroAlt;

2
src/main/scheduler/scheduler.h
View file

@ -51,7 +51,7 @@ typedef struct {
typedef enum {
/* Actual tasks */
TASK_SYSTEM = 0,
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
TASK_PID,
TASK_GYRO,
TASK_ACC,

6
src/main/sensors/acceleration.c
View file

@ -454,7 +454,7 @@ static void applyAccelerationZero(const flightDynamicsTrims_t * accZero, const f
accADC[Z] = (accADC[Z] - accZero->raw[Z]) * accGain->raw[Z] / 4096;
}
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
STATIC_FASTRAM float accumulatedMeasurements[XYZ_AXIS_COUNT];
STATIC_FASTRAM int accumulatedMeasurementCount;
@ -472,7 +472,7 @@ static void accUpdateAccumulatedMeasurements(void)
*/
void accGetMeasuredAcceleration(t_fp_vector *measuredAcc)
{
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
if (accumulatedMeasurementCount) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
measuredAcc->A[axis] = accumulatedMeasurements[axis] * GRAVITY_CMSS / accumulatedMeasurementCount;
@ -528,7 +528,7 @@ void accUpdate(void)
}
#endif
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
accUpdateAccumulatedMeasurements();
#endif
}

6
src/main/sensors/gyro.c
View file

@ -357,7 +357,7 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroDev_t *dev, gyroCalibration_t
gyroCalibration->calibratingG--;
}
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
STATIC_FASTRAM float accumulatedRates[XYZ_AXIS_COUNT];
STATIC_FASTRAM timeUs_t accumulatedRateTimeUs;
@ -376,7 +376,7 @@ static void gyroUpdateAccumulatedRates(timeDelta_t gyroUpdateDeltaUs)
*/
void gyroGetMeasuredRotationRate(t_fp_vector *measuredRotationRate)
{
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
const float accumulatedRateTime = accumulatedRateTimeUs * 1e-6;
accumulatedRateTimeUs = 0;
for (int axis = 0; axis < 3; axis++) {
@ -432,7 +432,7 @@ void gyroUpdate(timeDelta_t gyroUpdateDeltaUs)
gyro.gyroADCf[axis] = gyroADCf;
}
#ifdef ASYNC_GYRO_PROCESSING
#ifdef USE_ASYNC_GYRO_PROCESSING
// Accumulate gyro readings for better IMU accuracy
gyroUpdateAccumulatedRates(gyroUpdateDeltaUs);
#endif

2
src/main/target/ANYFCF7/target.h
View file

@ -160,7 +160,7 @@
#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
#define NAV
#define USE_NAV
#define NAV_AUTO_MAG_DECLINATION
#define NAV_GPS_GLITCH_DETECTION

2
src/main/target/FISHDRONEF4/target.h
View file

@ -167,7 +167,7 @@
// #define USE_RANGEFINDER_SRF10
// *************** NAV *****************************
#define NAV
#define USE_NAV
#define NAV_AUTO_MAG_DECLINATION
#define NAV_GPS_GLITCH_DETECTION
#define NAV_MAX_WAYPOINTS 60

10
src/main/target/common.h
View file

@ -40,7 +40,7 @@
#define USE_BLACKBOX
#define USE_GPS
#define USE_GPS_PROTO_UBLOX
#define NAV
#define USE_NAV
#define USE_FLM_TURN_ASSIST // This is mandatory for fixed-wing navigation
#define USE_TELEMETRY
#define USE_TELEMETRY_LTM
@ -59,12 +59,12 @@
#endif
#if (FLASH_SIZE > 128)
#define FIXED_WING_LANDING
#define NAV_FIXED_WING_LANDING
#define AUTOTUNE_FIXED_WING
#define ASYNC_GYRO_PROCESSING
#define BOOTLOG
#define USE_ASYNC_GYRO_PROCESSING
#define USE_BOOTLOG
#define BOOTLOG_DESCRIPTIONS
#define STATS
#define USE_STATS
#define USE_64BIT_TIME
#define USE_GYRO_NOTCH_1
#define USE_GYRO_NOTCH_2

8
src/main/telemetry/ltm.c
View file

@ -132,7 +132,7 @@ void ltm_gframe(sbuf_t *dst)
ltm_gs = gpsSol.groundSpeed / 100;
}
#if defined(NAV)
#if defined(USE_NAV)
ltm_alt = getEstimatedActualPosition(Z); // cm
#else
ltm_alt = sensors(SENSOR_GPS) ? gpsSol.llh.alt : 0; // cm
@ -247,7 +247,7 @@ void ltm_xframe(sbuf_t *dst)
ltm_x_counter++; // overflow is OK
}
#if defined(NAV)
#if defined(USE_NAV)
/** OSD additional data frame, ~4 Hz rate, navigation system status
*/
void ltm_nframe(sbuf_t *dst)
@ -363,7 +363,7 @@ static void process_ltm(void)
ltm_finalise(dst);
}
#if defined(NAV)
#if defined(USE_NAV)
if (current_schedule & LTM_BIT_NFRAME) {
ltm_initialise_packet(dst);
ltm_nframe(dst);
@ -476,7 +476,7 @@ int getLtmFrame(uint8_t *frame, ltm_frame_e ltmFrameType)
case LTM_XFRAME:
ltm_xframe(sbuf);
break;
#if defined(NAV)
#if defined(USE_NAV)
case LTM_NFRAME:
ltm_nframe(sbuf);
break;

2
src/main/telemetry/ltm.h
View file

@ -28,7 +28,7 @@ typedef enum {
LTM_OFRAME, // Origin Frame
LTM_XFRAME, // Extended information data frame
#endif
#if defined(NAV)
#if defined(USE_NAV)
LTM_NFRAME, // Navigation Frame (inav extension)
#endif
LTM_FRAME_COUNT

4
src/main/telemetry/mavlink.c
View file

@ -327,7 +327,7 @@ void mavlinkSendPosition(timeUs_t currentTimeUs)
// alt Altitude in 1E3 meters (millimeters) above MSL
gpsSol.llh.alt * 10,
// relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
#if defined(NAV)
#if defined(USE_NAV)
getEstimatedActualPosition(Z) * 10,
#else
gpsSol.llh.alt * 10,
@ -398,7 +398,7 @@ void mavlinkSendHUDAndHeartbeat(void)
#endif
// select best source for altitude
#if defined(NAV)
#if defined(USE_NAV)
mavAltitude = getEstimatedActualPosition(Z) / 100.0f;
mavClimbRate = getEstimatedActualVelocity(Z) / 100.0f;
#elif defined(USE_GPS)

2
src/test/unit/target.h
View file

@ -26,7 +26,7 @@
#define USE_GPS_PROTO_NAZA
#define USE_GPS_PROTO_MTK
#define USE_DASHBOARD
#define NAV
#define USE_NAV
#define USE_TELEMETRY
#define USE_TELEMETRY_FRSKY
#define USE_TELEMETRY_HOTT