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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
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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;