Merge pull request #6998 from mikeller/remove_unused_modes
Remove unused BARO, GPS_HOME, GPS_HOLD modes.
This commit is contained in:
commit
0e7a4d6e11
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@ -47,8 +47,7 @@ static boxBitmask_t stickyModesEverDisabled;
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static bool airmodeEnabled;
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static bool airmodeEnabled;
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PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions,
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PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 2);
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PG_MODE_ACTIVATION_PROFILE, 1);
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bool IS_RC_MODE_ACTIVE(boxId_e boxId)
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bool IS_RC_MODE_ACTIVE(boxId_e boxId)
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{
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{
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@ -33,9 +33,6 @@ typedef enum {
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BOXANGLE,
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BOXANGLE,
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BOXHORIZON,
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BOXHORIZON,
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BOXMAG,
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BOXMAG,
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BOXBARO,
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BOXGPSHOME,
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BOXGPSHOLD,
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BOXHEADFREE,
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BOXHEADFREE,
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BOXPASSTHRU,
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BOXPASSTHRU,
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BOXFAILSAFE,
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BOXFAILSAFE,
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@ -73,9 +73,9 @@ typedef enum {
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ANGLE_MODE = (1 << 0),
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ANGLE_MODE = (1 << 0),
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HORIZON_MODE = (1 << 1),
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HORIZON_MODE = (1 << 1),
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MAG_MODE = (1 << 2),
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MAG_MODE = (1 << 2),
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BARO_MODE = (1 << 3),
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// BARO_MODE = (1 << 3),
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GPS_HOME_MODE = (1 << 4),
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// GPS_HOME_MODE = (1 << 4),
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GPS_HOLD_MODE = (1 << 5),
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// GPS_HOLD_MODE = (1 << 5),
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HEADFREE_MODE = (1 << 6),
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HEADFREE_MODE = (1 << 6),
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// UNUSED_MODE = (1 << 7), // old autotune
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// UNUSED_MODE = (1 << 7), // old autotune
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PASSTHRU_MODE = (1 << 8),
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PASSTHRU_MODE = (1 << 8),
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@ -96,9 +96,6 @@ extern uint16_t flightModeFlags;
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[BOXANGLE] = LOG2(ANGLE_MODE), \
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[BOXANGLE] = LOG2(ANGLE_MODE), \
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[BOXHORIZON] = LOG2(HORIZON_MODE), \
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[BOXHORIZON] = LOG2(HORIZON_MODE), \
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[BOXMAG] = LOG2(MAG_MODE), \
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[BOXMAG] = LOG2(MAG_MODE), \
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[BOXBARO] = LOG2(BARO_MODE), \
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[BOXGPSHOME] = LOG2(GPS_HOME_MODE), \
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[BOXGPSHOLD] = LOG2( GPS_HOLD_MODE), \
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[BOXHEADFREE] = LOG2(HEADFREE_MODE), \
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[BOXHEADFREE] = LOG2(HEADFREE_MODE), \
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[BOXPASSTHRU] = LOG2(PASSTHRU_MODE), \
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[BOXPASSTHRU] = LOG2(PASSTHRU_MODE), \
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[BOXFAILSAFE] = LOG2(FAILSAFE_MODE), \
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[BOXFAILSAFE] = LOG2(FAILSAFE_MODE), \
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@ -49,15 +49,15 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
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{ BOXARM, "ARM", 0 },
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{ BOXARM, "ARM", 0 },
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{ BOXANGLE, "ANGLE", 1 },
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{ BOXANGLE, "ANGLE", 1 },
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{ BOXHORIZON, "HORIZON", 2 },
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{ BOXHORIZON, "HORIZON", 2 },
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{ BOXBARO, "BARO", 3 },
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// { BOXBARO, "BARO", 3 },
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{ BOXANTIGRAVITY, "ANTI GRAVITY", 4 },
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{ BOXANTIGRAVITY, "ANTI GRAVITY", 4 },
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{ BOXMAG, "MAG", 5 },
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{ BOXMAG, "MAG", 5 },
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{ BOXHEADFREE, "HEADFREE", 6 },
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{ BOXHEADFREE, "HEADFREE", 6 },
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{ BOXHEADADJ, "HEADADJ", 7 },
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{ BOXHEADADJ, "HEADADJ", 7 },
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{ BOXCAMSTAB, "CAMSTAB", 8 },
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{ BOXCAMSTAB, "CAMSTAB", 8 },
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// { BOXCAMTRIG, "CAMTRIG", 9 },
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// { BOXCAMTRIG, "CAMTRIG", 9 },
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{ BOXGPSHOME, "GPS HOME", 10 },
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// { BOXGPSHOME, "GPS HOME", 10 },
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{ BOXGPSHOLD, "GPS HOLD", 11 },
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// { BOXGPSHOLD, "GPS HOLD", 11 },
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{ BOXPASSTHRU, "PASSTHRU", 12 },
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{ BOXPASSTHRU, "PASSTHRU", 12 },
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{ BOXBEEPERON, "BEEPER", 13 },
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{ BOXBEEPERON, "BEEPER", 13 },
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// { BOXLEDMAX, "LEDMAX", 14 }, (removed)
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// { BOXLEDMAX, "LEDMAX", 14 }, (removed)
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@ -149,7 +149,6 @@ static const modeColorIndexes_t defaultModeColors[] = {
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[LED_MODE_HORIZON] = {{ COLOR_BLUE, COLOR_DARK_VIOLET, COLOR_YELLOW, COLOR_DEEP_PINK, COLOR_BLUE, COLOR_ORANGE }},
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[LED_MODE_HORIZON] = {{ COLOR_BLUE, COLOR_DARK_VIOLET, COLOR_YELLOW, COLOR_DEEP_PINK, COLOR_BLUE, COLOR_ORANGE }},
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[LED_MODE_ANGLE] = {{ COLOR_CYAN, COLOR_DARK_VIOLET, COLOR_YELLOW, COLOR_DEEP_PINK, COLOR_BLUE, COLOR_ORANGE }},
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[LED_MODE_ANGLE] = {{ COLOR_CYAN, COLOR_DARK_VIOLET, COLOR_YELLOW, COLOR_DEEP_PINK, COLOR_BLUE, COLOR_ORANGE }},
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[LED_MODE_MAG] = {{ COLOR_MINT_GREEN, COLOR_DARK_VIOLET, COLOR_ORANGE, COLOR_DEEP_PINK, COLOR_BLUE, COLOR_ORANGE }},
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[LED_MODE_MAG] = {{ COLOR_MINT_GREEN, COLOR_DARK_VIOLET, COLOR_ORANGE, COLOR_DEEP_PINK, COLOR_BLUE, COLOR_ORANGE }},
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[LED_MODE_BARO] = {{ COLOR_LIGHT_BLUE, COLOR_DARK_VIOLET, COLOR_RED, COLOR_DEEP_PINK, COLOR_BLUE, COLOR_ORANGE }},
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};
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};
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static const specialColorIndexes_t defaultSpecialColors[] = {
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static const specialColorIndexes_t defaultSpecialColors[] = {
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@ -436,9 +435,6 @@ static const struct {
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{HEADFREE_MODE, LED_MODE_HEADFREE},
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{HEADFREE_MODE, LED_MODE_HEADFREE},
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#ifdef USE_MAG
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#ifdef USE_MAG
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{MAG_MODE, LED_MODE_MAG},
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{MAG_MODE, LED_MODE_MAG},
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#endif
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#ifdef USE_BARO
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{BARO_MODE, LED_MODE_BARO},
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#endif
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#endif
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{HORIZON_MODE, LED_MODE_HORIZON},
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{HORIZON_MODE, LED_MODE_HORIZON},
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{ANGLE_MODE, LED_MODE_ANGLE},
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{ANGLE_MODE, LED_MODE_ANGLE},
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@ -153,14 +153,11 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
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{ BOXARM, "ARM;", 0 },
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{ BOXARM, "ARM;", 0 },
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{ BOXANGLE, "ANGLE;", 1 },
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{ BOXANGLE, "ANGLE;", 1 },
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{ BOXHORIZON, "HORIZON;", 2 },
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{ BOXHORIZON, "HORIZON;", 2 },
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{ BOXBARO, "BARO;", 3 },
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//{ BOXVARIO, "VARIO;", 4 },
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//{ BOXVARIO, "VARIO;", 4 },
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{ BOXMAG, "MAG;", 5 },
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{ BOXMAG, "MAG;", 5 },
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{ BOXHEADFREE, "HEADFREE;", 6 },
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{ BOXHEADFREE, "HEADFREE;", 6 },
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{ BOXHEADADJ, "HEADADJ;", 7 },
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{ BOXHEADADJ, "HEADADJ;", 7 },
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{ BOXCAMSTAB, "CAMSTAB;", 8 },
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{ BOXCAMSTAB, "CAMSTAB;", 8 },
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{ BOXGPSHOME, "GPS HOME;", 10 },
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{ BOXGPSHOLD, "GPS HOLD;", 11 },
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{ BOXPASSTHRU, "PASSTHRU;", 12 },
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{ BOXPASSTHRU, "PASSTHRU;", 12 },
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{ BOXBEEPERON, "BEEPER;", 13 },
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{ BOXBEEPERON, "BEEPER;", 13 },
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{ BOXLEDLOW, "LEDLOW;", 15 },
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{ BOXLEDLOW, "LEDLOW;", 15 },
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@ -294,13 +291,10 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
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junk = 0;
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junk = 0;
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tmp = IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << BOXANGLE |
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tmp = IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << BOXANGLE |
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IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)) << BOXHORIZON |
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IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)) << BOXHORIZON |
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IS_ENABLED(FLIGHT_MODE(BARO_MODE)) << BOXBARO |
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IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << BOXMAG |
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IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << BOXMAG |
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IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)) << BOXHEADFREE |
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IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)) << BOXHEADFREE |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHEADADJ)) << BOXHEADADJ |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHEADADJ)) << BOXHEADADJ |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMSTAB)) << BOXCAMSTAB |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMSTAB)) << BOXCAMSTAB |
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IS_ENABLED(FLIGHT_MODE(GPS_HOME_MODE)) << BOXGPSHOME |
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IS_ENABLED(FLIGHT_MODE(GPS_HOLD_MODE)) << BOXGPSHOLD |
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IS_ENABLED(FLIGHT_MODE(PASSTHRU_MODE)) << BOXPASSTHRU |
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IS_ENABLED(FLIGHT_MODE(PASSTHRU_MODE)) << BOXPASSTHRU |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBEEPERON)) << BOXBEEPERON |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBEEPERON)) << BOXBEEPERON |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDLOW)) << BOXLEDLOW |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDLOW)) << BOXLEDLOW |
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@ -863,7 +857,6 @@ bool writeFCModeToBST(void)
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tmp = IS_ENABLED(ARMING_FLAG(ARMED)) |
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tmp = IS_ENABLED(ARMING_FLAG(ARMED)) |
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IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << 1 |
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IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << 1 |
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IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)) << 2 |
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IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)) << 2 |
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IS_ENABLED(FLIGHT_MODE(BARO_MODE)) << 3 |
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IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << 4 |
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IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << 4 |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << 5 |
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IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << 5 |
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IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << 7;
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IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << 7;
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@ -240,27 +240,15 @@ static uint16_t getMode()
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if (FLIGHT_MODE(ANGLE_MODE)) {
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if (FLIGHT_MODE(ANGLE_MODE)) {
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flightMode = 0; //Stab
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flightMode = 0; //Stab
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}
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}
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if (FLIGHT_MODE(BARO_MODE)) {
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flightMode = 2; //AltHold
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}
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if (FLIGHT_MODE(PASSTHRU_MODE)) {
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if (FLIGHT_MODE(PASSTHRU_MODE)) {
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flightMode = 3; //Auto
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flightMode = 3; //Auto
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}
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}
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if (FLIGHT_MODE(HEADFREE_MODE) || FLIGHT_MODE(MAG_MODE)) {
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if (FLIGHT_MODE(HEADFREE_MODE) || FLIGHT_MODE(MAG_MODE)) {
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flightMode = 4; //Guided! (there in no HEAD, MAG so use Guided)
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flightMode = 4; //Guided! (there in no HEAD, MAG so use Guided)
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}
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}
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if (FLIGHT_MODE(GPS_HOLD_MODE) && FLIGHT_MODE(BARO_MODE)) {
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flightMode = 5; //Loiter
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}
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if (FLIGHT_MODE(GPS_HOME_MODE)) {
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flightMode = 6; //RTL
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}
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if (FLIGHT_MODE(HORIZON_MODE)) {
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if (FLIGHT_MODE(HORIZON_MODE)) {
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flightMode = 7; //Circle! (there in no horizon so use Circle)
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flightMode = 7; //Circle! (there in no horizon so use Circle)
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}
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}
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if (FLIGHT_MODE(GPS_HOLD_MODE)) {
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flightMode = 8; //PosHold
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}
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if (FLIGHT_MODE(FAILSAFE_MODE)) {
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if (FLIGHT_MODE(FAILSAFE_MODE)) {
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flightMode = 9; //Land
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flightMode = 9; //Land
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}
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}
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@ -175,14 +175,8 @@ static void ltm_sframe(void)
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uint8_t lt_statemode;
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uint8_t lt_statemode;
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if (FLIGHT_MODE(PASSTHRU_MODE))
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if (FLIGHT_MODE(PASSTHRU_MODE))
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lt_flightmode = 0;
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lt_flightmode = 0;
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else if (FLIGHT_MODE(GPS_HOME_MODE))
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lt_flightmode = 13;
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else if (FLIGHT_MODE(GPS_HOLD_MODE))
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lt_flightmode = 9;
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else if (FLIGHT_MODE(HEADFREE_MODE))
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else if (FLIGHT_MODE(HEADFREE_MODE))
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lt_flightmode = 4;
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lt_flightmode = 4;
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else if (FLIGHT_MODE(BARO_MODE))
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lt_flightmode = 8;
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else if (FLIGHT_MODE(ANGLE_MODE))
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else if (FLIGHT_MODE(ANGLE_MODE))
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lt_flightmode = 2;
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lt_flightmode = 2;
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else if (FLIGHT_MODE(HORIZON_MODE))
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else if (FLIGHT_MODE(HORIZON_MODE))
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@ -502,15 +502,6 @@ void mavlinkSendHUDAndHeartbeat(void)
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mavCustomMode = 0; //Stabilize
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mavCustomMode = 0; //Stabilize
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mavModes |= MAV_MODE_FLAG_STABILIZE_ENABLED;
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mavModes |= MAV_MODE_FLAG_STABILIZE_ENABLED;
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}
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}
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if (FLIGHT_MODE(BARO_MODE)) {
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mavCustomMode = 2; //Alt Hold
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}
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if (FLIGHT_MODE(GPS_HOME_MODE)) {
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mavCustomMode = 6; //Return to Launch
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}
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if (FLIGHT_MODE(GPS_HOLD_MODE)) {
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mavCustomMode = 16; //Position Hold (Earlier called Hybrid)
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}
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uint8_t mavSystemState = 0;
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uint8_t mavSystemState = 0;
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if (ARMING_FLAG(ARMED)) {
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if (ARMING_FLAG(ARMED)) {
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@ -698,16 +698,7 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
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if (FLIGHT_MODE(MAG_MODE)) {
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if (FLIGHT_MODE(MAG_MODE)) {
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tmpi += 100;
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tmpi += 100;
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}
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}
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if (FLIGHT_MODE(BARO_MODE)) {
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tmpi += 200;
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}
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if (FLIGHT_MODE(GPS_HOLD_MODE)) {
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tmpi += 1000;
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}
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if (FLIGHT_MODE(GPS_HOME_MODE)) {
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tmpi += 2000;
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}
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if (FLIGHT_MODE(HEADFREE_MODE)) {
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if (FLIGHT_MODE(HEADFREE_MODE)) {
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tmpi += 4000;
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tmpi += 4000;
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}
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}
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