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NAV: New mode 'HOME RESET' to reset home position to current drone position

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This commit is contained in:
Konstantin (DigitalEntity) Sharlaimov 2016-03-06 07:31:49 +02:00
parent a8cc9a6be8
commit ed5730fc63
3 changed files with 10 additions and 3 deletions
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7
src/main/io/serial_msp.c
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@ -364,6 +364,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXFAILSAFE, "FAILSAFE;", 27 },
{ BOXNAVWP, "NAV WP;", 28 },
{ BOXAIRMODE, "AIR MODE;", 29 },
{ BOXHOMERESET, "HOME RESET;", 30 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -666,10 +667,9 @@ void mspInit(serialConfig_t *serialConfig)
}
if ((feature(FEATURE_GPS) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) || (isFixedWing && sensors(SENSOR_ACC) && feature(FEATURE_GPS))) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
}
if ((feature(FEATURE_GPS) && sensors(SENSOR_ACC) && sensors(SENSOR_MAG)) || (isFixedWing && sensors(SENSOR_ACC) && feature(FEATURE_GPS))) {
activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;
activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
}
#endif
@ -748,7 +748,8 @@ static uint32_t packFlightModeFlags(void)
IS_ENABLED(FLIGHT_MODE(NAV_POSHOLD_MODE)) << BOXNAVPOSHOLD |
IS_ENABLED(FLIGHT_MODE(NAV_RTH_MODE)) << BOXNAVRTH |
IS_ENABLED(FLIGHT_MODE(NAV_WP_MODE)) << BOXNAVWP |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE;
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)) << BOXHOMERESET;
for (i = 0; i < activeBoxIdCount; i++) {
int flag = (tmp & (1 << activeBoxIds[i]));