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Code Issues Wiki Activity

Fix bug with non-working switch-ARM if using mode_range_operator=AND

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-05-26 01:24:49 +10:00
parent 32b13fdad6
commit e1865ef699
2 changed files with 19 additions and 768 deletions
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33
src/main/fc/rc_controls.c
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@ -23,6 +23,8 @@
#include "platform.h"
#include "build/debug.h"
#include "blackbox/blackbox.h"
#include "common/axis.h"
@ -64,6 +66,9 @@
// true if arming is done via the sticks (as opposed to a switch)
static bool isUsingSticksToArm = true;
// Count of mode activation ranged (per box mode)
static uint8_t specifiedConditionCountPerMode[CHECKBOX_ITEM_COUNT];
#ifdef NAV
// true if pilot has any of GPS modes configured
static bool isUsingNAVModes = false;
@ -373,20 +378,13 @@ void updateActivatedModes(void)
// 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.
uint8_t specifiedConditionCountPerMode[CHECKBOX_ITEM_COUNT];
uint8_t validConditionCountPerMode[CHECKBOX_ITEM_COUNT];
uint8_t activeConditionCountPerMode[CHECKBOX_ITEM_COUNT];
memset(activeConditionCountPerMode, 0, CHECKBOX_ITEM_COUNT);
memset(specifiedConditionCountPerMode, 0, CHECKBOX_ITEM_COUNT);
memset(validConditionCountPerMode, 0, CHECKBOX_ITEM_COUNT);
for (int modeIndex = 0; modeIndex < MAX_MODE_ACTIVATION_CONDITION_COUNT; modeIndex++) {
// Increment the number of specified conditions for this mode
specifiedConditionCountPerMode[modeActivationConditions(modeIndex)->modeId]++;
if (isRangeActive(modeActivationConditions(modeIndex)->auxChannelIndex, &modeActivationConditions(modeIndex)->range)) {
for (int index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
if (isRangeActive(modeActivationConditions(index)->auxChannelIndex, &modeActivationConditions(index)->range)) {
// Increment the number of valid conditions for this mode
validConditionCountPerMode[modeActivationConditions(modeIndex)->modeId]++;
activeConditionCountPerMode[modeActivationConditions(index)->modeId]++;
}
}
@ -402,13 +400,13 @@ void updateActivatedModes(void)
if (modeActivationOperatorConfig()->modeActivationOperator == MODE_OPERATOR_AND) {
// AND the conditions
if (validConditionCountPerMode[modeIndex] == specifiedConditionCountPerMode[modeIndex]) {
if (activeConditionCountPerMode[modeIndex] == specifiedConditionCountPerMode[modeIndex]) {
ACTIVATE_RC_MODE(modeIndex);
}
}
else {
// OR the conditions
if (validConditionCountPerMode[modeIndex] > 0) {
if (activeConditionCountPerMode[modeIndex] > 0) {
ACTIVATE_RC_MODE(modeIndex);
}
}
@ -422,6 +420,13 @@ int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
void updateUsedModeActivationConditionFlags(void)
{
memset(specifiedConditionCountPerMode, 0, CHECKBOX_ITEM_COUNT);
for (int index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
if (IS_RANGE_USABLE(&modeActivationConditions(index)->range)) {
specifiedConditionCountPerMode[modeActivationConditions(index)->modeId]++;
}
}
isUsingSticksToArm = !isModeActivationConditionPresent(BOXARM);
#ifdef NAV