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Code Issues Wiki Activity

WP Mission RTH Change (#6524)

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* Initial changes

Change WP mission RTH to normal RTH mode

* Cleanup and remove PR6050

* Clean up

* Persistent ID fix + existing bug fix

* Add system message

* Revert "Add system message"

This reverts commit 28ab7f33ba.

* Add System Message

* Update navigation.c
This commit is contained in:
breadoven 2021-04-28 16:48:28 +01:00 • committed by GitHub
parent 459645801b
commit f2692f322b
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GPG key ID: 4AEE18F83AFDEB23
5 changed files with 51 additions and 99 deletions
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7
src/main/io/osd.c
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@ -1710,7 +1710,7 @@ static bool osdDrawSingleElement(uint8_t item)
else if (FLIGHT_MODE(MANUAL_MODE))
p = "MANU";
else if (FLIGHT_MODE(NAV_RTH_MODE))
p = "RTH ";
p = isWaypointMissionRTHActive() ? "WRTH" : "RTH ";
else if (FLIGHT_MODE(NAV_POSHOLD_MODE))
p = "HOLD";
else if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE))
@ -3612,6 +3612,11 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
}
} else {
if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
if (isWaypointMissionRTHActive()) {
// if RTH activated whilst WP mode selected, remind pilot to cancel WP mode to exit RTH
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL);
}
if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) {
// Countdown display for remaining Waypoints
tfp_sprintf(messageBuf, "TO WP %u/%u", posControl.activeWaypointIndex + 1, posControl.waypointCount);