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Code Issues Wiki Activity

add mixer profile switching by logic

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This commit is contained in:
shota 2022-11-06 16:40:16 +09:00
parent 0b247d9bfc
commit fcf9ca14de
4 changed files with 35 additions and 3 deletions
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30
src/main/programming/logic_condition.c
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@ -50,6 +50,10 @@
#include "io/osd_common.h"
#include "sensors/diagnostics.h"
#include "flight/mixer.h"
#include "flight/servos.h"
#include "drivers/pwm_mapping.h"
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
@ -361,6 +365,28 @@ static int logicConditionCompute(
}
break;
case LOGIC_CONDITION_SET_MIXER_PROFILE:
operandA--;
if ( getConfigMixerProfile() != operandA && (operandA >= 0 && operandA < MAX_MIXER_PROFILE_COUNT)) {
bool mixerprofileChanged = false;
if (setConfigMixerProfile(operandA)) {
stopMotors();
stopPwmAllMotors();
servosInit();
mixerUpdateStateFlags();
mixerInit();
pwmMotorAndServoInit();
if (!STATE(ALTITUDE_CONTROL)) {
featureClear(FEATURE_AIRMODE);
}
mixerprofileChanged = true;
}
return mixerprofileChanged;
} else {
return false;
}
break;
case LOGIC_CONDITION_LOITER_OVERRIDE:
logicConditionValuesByType[LOGIC_CONDITION_LOITER_OVERRIDE] = constrain(operandA, 0, 100000);
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS);
@ -610,6 +636,10 @@ static int logicConditionGetFlightOperandValue(int operand) {
case LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_PROFILE: // int
return getConfigProfile() + 1;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_MIXER_PROFILE: // int
return getConfigMixerProfile() + 1;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS:
return getLoiterRadius(navConfig()->fw.loiter_radius);