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Replace PASSTHROUGH with MANUAL flight mode (FW) (#2661)

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* FW: add manual flight mode
* manual mode: separate roll and pitch expo
* manual flight mode: cleaning
* replace PASSTHRU mode with MANUAL mode
* manual mode: merge pitch and roll expo
* manual mode: add OSD menu for manual rates and expo
* manual mode: forgot to add yaw rate adjustment in OSD menu
* manual mode: add adjustments
* manual mode: move rates applications in fc_core
* group controlRateConfig settings by function
* group controlRateConfig settings by function: fix ALIENFLIGHTF3 default rates config
* manual mode rc adjustments: adapt to fc723121 changes
* manual mode: clean rc adjustments
* add new MSPv2 messages: MSP2_INAV_RATE_PROFILE and MSP2_INAV_SET_RATE_PROFILE
This commit is contained in:
shellixyz 2018-01-31 10:44:43 +01:00 • committed by Konstantin Sharlaimov
parent a9bf9453dc
commit fd40892d8e
29 changed files with 356 additions and 158 deletions
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6
src/main/navigation/navigation.c
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@ -2361,7 +2361,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
}
}
// RTH/Failsafe_RTH can override PASSTHRU
// RTH/Failsafe_RTH can override MANUAL
if (posControl.flags.forcedRTHActivated || (IS_RC_MODE_ACTIVE(BOXNAVRTH) && canActivatePosHold && canActivateAltHold && STATE(GPS_FIX_HOME))) {
// If we request forced RTH - attempt to activate it no matter what
// This might switch to emergency landing controller if GPS is unavailable
@ -2369,8 +2369,8 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
return NAV_FSM_EVENT_SWITCH_TO_RTH;
}
// PASSTHRU mode has priority over WP/PH/AH
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
// MANUAL mode has priority over WP/PH/AH
if (IS_RC_MODE_ACTIVE(BOXMANUAL)) {
canActivateWaypoint = false; // Block WP mode if we are in PASSTHROUGH mode
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}