Skip to content

Commit

Permalink
Merge pull request #7844 from iNavFlight/dzikuvx-rework-7804
Browse files Browse the repository at this point in the history 
Add macros to active box and reset boxes count
  • Loading branch information
@DzikuVx
DzikuVx authored Feb 26, 2022
2 parents 5daf30f + b3a8cc2 commit bd9bb98
Showing 1 changed file with 65 additions and 60 deletions.
125 changes: 65 additions & 60 deletions src/main/fc/fc_msp_box.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,9 @@ static uint8_t activeBoxIds[CHECKBOX_ITEM_COUNT];
// this is the number of filled indexes in above array
uint8_t activeBoxIdCount = 0;

#define RESET_BOX_ID_COUNT activeBoxIdCount = 0
#define ADD_ACTIVE_BOX(box) activeBoxIds[activeBoxIdCount++] = box

const box_t *findBoxByActiveBoxId(uint8_t activeBoxId)
{
for (uint8_t boxIndex = 0; boxIndex < sizeof(boxes) / sizeof(box_t); boxIndex++) {
Expand Down Expand Up @@ -169,34 +172,34 @@ void initActiveBoxIds(void)
// calculate used boxes based on features and fill availableBoxes[] array
memset(activeBoxIds, 0xFF, sizeof(activeBoxIds));

activeBoxIdCount = 0;
activeBoxIds[activeBoxIdCount++] = BOXARM;
activeBoxIds[activeBoxIdCount++] = BOXPREARM;
RESET_BOX_ID_COUNT;
ADD_ACTIVE_BOX(BOXARM);
ADD_ACTIVE_BOX(BOXPREARM);

if (sensors(SENSOR_ACC) && STATE(ALTITUDE_CONTROL)) {
activeBoxIds[activeBoxIdCount++] = BOXANGLE;
activeBoxIds[activeBoxIdCount++] = BOXHORIZON;
activeBoxIds[activeBoxIdCount++] = BOXTURNASSIST;
ADD_ACTIVE_BOX(BOXANGLE);
ADD_ACTIVE_BOX(BOXHORIZON);
ADD_ACTIVE_BOX(BOXTURNASSIST);
}

if (!feature(FEATURE_AIRMODE) && STATE(ALTITUDE_CONTROL)) {
activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
ADD_ACTIVE_BOX(BOXAIRMODE);
}

activeBoxIds[activeBoxIdCount++] = BOXHEADINGHOLD;
ADD_ACTIVE_BOX(BOXHEADINGHOLD);

//Camstab mode is enabled always
activeBoxIds[activeBoxIdCount++] = BOXCAMSTAB;
ADD_ACTIVE_BOX(BOXCAMSTAB);

if (STATE(MULTIROTOR)) {
if ((sensors(SENSOR_ACC) || sensors(SENSOR_MAG))) {
activeBoxIds[activeBoxIdCount++] = BOXHEADFREE;
activeBoxIds[activeBoxIdCount++] = BOXHEADADJ;
ADD_ACTIVE_BOX(BOXHEADFREE);
ADD_ACTIVE_BOX(BOXHEADADJ);
}
if (sensors(SENSOR_BARO) && sensors(SENSOR_RANGEFINDER) && sensors(SENSOR_OPFLOW)) {
activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
ADD_ACTIVE_BOX(BOXSURFACE);
}
activeBoxIds[activeBoxIdCount++] = BOXFPVANGLEMIX;
ADD_ACTIVE_BOX(BOXFPVANGLEMIX);
}

bool navReadyAltControl = sensors(SENSOR_BARO);
Expand All @@ -210,56 +213,56 @@ void initActiveBoxIds(void)
}

if (STATE(ALTITUDE_CONTROL) && navReadyAltControl && (navReadyPosControl || navFlowDeadReckoning)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
ADD_ACTIVE_BOX(BOXNAVPOSHOLD);
if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXLOITERDIRCHN;
ADD_ACTIVE_BOX(BOXLOITERDIRCHN);
}
}

if (navReadyPosControl) {
if (!STATE(ALTITUDE_CONTROL) || (STATE(ALTITUDE_CONTROL) && navReadyAltControl)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;
activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
activeBoxIds[activeBoxIdCount++] = BOXPLANWPMISSION;
ADD_ACTIVE_BOX(BOXNAVRTH);
ADD_ACTIVE_BOX(BOXNAVWP);
ADD_ACTIVE_BOX(BOXHOMERESET);
ADD_ACTIVE_BOX(BOXGCSNAV);
ADD_ACTIVE_BOX(BOXPLANWPMISSION);
}

if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;
activeBoxIds[activeBoxIdCount++] = BOXNAVCOURSEHOLD;
activeBoxIds[activeBoxIdCount++] = BOXSOARING;
ADD_ACTIVE_BOX(BOXNAVCRUISE);
ADD_ACTIVE_BOX(BOXNAVCOURSEHOLD);
ADD_ACTIVE_BOX(BOXSOARING);
}
}

#ifdef USE_MR_BRAKING_MODE
if (mixerConfig()->platformType == PLATFORM_MULTIROTOR) {
activeBoxIds[activeBoxIdCount++] = BOXBRAKING;
ADD_ACTIVE_BOX(BOXBRAKING);
}
#endif
#endif // GPS
if (STATE(ALTITUDE_CONTROL) && navReadyAltControl) {
activeBoxIds[activeBoxIdCount++] = BOXNAVALTHOLD;
ADD_ACTIVE_BOX(BOXNAVALTHOLD);
}

if (STATE(AIRPLANE) || STATE(ROVER) || STATE(BOAT)) {
activeBoxIds[activeBoxIdCount++] = BOXMANUAL;
ADD_ACTIVE_BOX(BOXMANUAL);
}

if (STATE(AIRPLANE)) {
if (!feature(FEATURE_FW_LAUNCH)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVLAUNCH;
ADD_ACTIVE_BOX(BOXNAVLAUNCH);
}

if (!feature(FEATURE_FW_AUTOTRIM)) {
activeBoxIds[activeBoxIdCount++] = BOXAUTOTRIM;
ADD_ACTIVE_BOX(BOXAUTOTRIM);
}

#if defined(USE_AUTOTUNE_FIXED_WING)
activeBoxIds[activeBoxIdCount++] = BOXAUTOTUNE;
ADD_ACTIVE_BOX(BOXAUTOTUNE);
#endif
if (sensors(SENSOR_BARO)) {
activeBoxIds[activeBoxIdCount++] = BOXAUTOLEVEL;
ADD_ACTIVE_BOX(BOXAUTOLEVEL);
}
}

Expand All @@ -268,68 +271,70 @@ void initActiveBoxIds(void)
* flying wing can cause bad thing
*/
if (STATE(FLAPERON_AVAILABLE)) {
activeBoxIds[activeBoxIdCount++] = BOXFLAPERON;
ADD_ACTIVE_BOX(BOXFLAPERON);
}

activeBoxIds[activeBoxIdCount++] = BOXBEEPERON;
ADD_ACTIVE_BOX(BOXBEEPERON);

#ifdef USE_LIGHTS
activeBoxIds[activeBoxIdCount++] = BOXLIGHTS;
ADD_ACTIVE_BOX(BOXLIGHTS);
#endif

#ifdef USE_LED_STRIP
if (feature(FEATURE_LED_STRIP)) {
activeBoxIds[activeBoxIdCount++] = BOXLEDLOW;
ADD_ACTIVE_BOX(BOXLEDLOW);
}
#endif

activeBoxIds[activeBoxIdCount++] = BOXOSD;
ADD_ACTIVE_BOX(BOXOSD);

#ifdef USE_TELEMETRY
if (feature(FEATURE_TELEMETRY) && telemetryConfig()->telemetry_switch)
activeBoxIds[activeBoxIdCount++] = BOXTELEMETRY;
if (feature(FEATURE_TELEMETRY) && telemetryConfig()->telemetry_switch) {
ADD_ACTIVE_BOX(BOXTELEMETRY);
}
#endif

#ifdef USE_BLACKBOX
if (feature(FEATURE_BLACKBOX)){
activeBoxIds[activeBoxIdCount++] = BOXBLACKBOX;
if (feature(FEATURE_BLACKBOX)) {
ADD_ACTIVE_BOX(BOXBLACKBOX);
}
#endif

activeBoxIds[activeBoxIdCount++] = BOXKILLSWITCH;
activeBoxIds[activeBoxIdCount++] = BOXFAILSAFE;
ADD_ACTIVE_BOX(BOXKILLSWITCH);
ADD_ACTIVE_BOX(BOXFAILSAFE);

#ifdef USE_RCDEVICE
activeBoxIds[activeBoxIdCount++] = BOXCAMERA1;
activeBoxIds[activeBoxIdCount++] = BOXCAMERA2;
activeBoxIds[activeBoxIdCount++] = BOXCAMERA3;
ADD_ACTIVE_BOX(BOXCAMERA1);
ADD_ACTIVE_BOX(BOXCAMERA2);
ADD_ACTIVE_BOX(BOXCAMERA3);
#endif

#ifdef USE_PINIOBOX
// USER modes are only used for PINIO at the moment
activeBoxIds[activeBoxIdCount++] = BOXUSER1;
activeBoxIds[activeBoxIdCount++] = BOXUSER2;
ADD_ACTIVE_BOX(BOXUSER1);
ADD_ACTIVE_BOX(BOXUSER2);
#endif

#if defined(USE_OSD) && defined(OSD_LAYOUT_COUNT)
#if OSD_LAYOUT_COUNT > 0
activeBoxIds[activeBoxIdCount++] = BOXOSDALT1;
ADD_ACTIVE_BOX(BOXOSDALT1);
#if OSD_LAYOUT_COUNT > 1
activeBoxIds[activeBoxIdCount++] = BOXOSDALT2;
ADD_ACTIVE_BOX(BOXOSDALT2);
#if OSD_LAYOUT_COUNT > 2
activeBoxIds[activeBoxIdCount++] = BOXOSDALT3;
ADD_ACTIVE_BOX(BOXOSDALT3);
#endif
#endif
#endif
#endif

#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
activeBoxIds[activeBoxIdCount++] = BOXMSPRCOVERRIDE;
ADD_ACTIVE_BOX(BOXMSPRCOVERRIDE);
#endif

#ifdef USE_DSHOT
if(STATE(MULTIROTOR) && isMotorProtocolDshot())
activeBoxIds[activeBoxIdCount++] = BOXTURTLE;
if(STATE(MULTIROTOR) && isMotorProtocolDshot()) {
ADD_ACTIVE_BOX(BOXTURTLE);
}
#endif
}

Expand Down Expand Up @@ -407,14 +412,14 @@ uint16_t packSensorStatus(void)
{
// Sensor bits
uint16_t sensorStatus =
IS_ENABLED(sensors(SENSOR_ACC)) << 0 |
IS_ENABLED(sensors(SENSOR_BARO)) << 1 |
IS_ENABLED(sensors(SENSOR_MAG)) << 2 |
IS_ENABLED(sensors(SENSOR_GPS)) << 3 |
IS_ENABLED(sensors(SENSOR_RANGEFINDER)) << 4 |
IS_ENABLED(sensors(SENSOR_OPFLOW)) << 5 |
IS_ENABLED(sensors(SENSOR_PITOT)) << 6 |
IS_ENABLED(sensors(SENSOR_TEMP)) << 7;
IS_ENABLED(sensors(SENSOR_ACC)) << 0 |
IS_ENABLED(sensors(SENSOR_BARO)) << 1 |
IS_ENABLED(sensors(SENSOR_MAG)) << 2 |
IS_ENABLED(sensors(SENSOR_GPS)) << 3 |
IS_ENABLED(sensors(SENSOR_RANGEFINDER)) << 4 |
IS_ENABLED(sensors(SENSOR_OPFLOW)) << 5 |
IS_ENABLED(sensors(SENSOR_PITOT)) << 6 |
IS_ENABLED(sensors(SENSOR_TEMP)) << 7;

// Hardware failure indication bit
if (!isHardwareHealthy()) {
Expand Down

0 comments on commit bd9bb98

Please sign in to comment.