Add feature for SuperExpo and Airmode // Super Expo by default activated

src/main/config/config.c

@@ -398,7 +398,7 @@ static void resetConf(void)
 #endif
 
     featureSet(FEATURE_FAILSAFE);
-    featureSet(FEATURE_ONESHOT125);
+    featureSet(FEATURE_SUPEREXPO);
 
     // global settings
     masterConfig.current_profile_index = 0;     // default profile
@@ -461,8 +461,8 @@ static void resetConf(void)
     masterConfig.rxConfig.max_aux_channel = 6;
     masterConfig.rxConfig.superExpoFactor = 30;
     masterConfig.rxConfig.airModeActivateThreshold = 1350;
-    masterConfig.rxConfig.superExpoFactorYaw = 30;
+    masterConfig.rxConfig.superExpoFactorYaw = 40;
-    masterConfig.rxConfig.superExpoYawMode = 0;
+    masterConfig.rxConfig.superExpoYawMode = 1;
 
     resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
 

src/main/config/config.h

@@ -44,6 +44,8 @@ typedef enum {
     FEATURE_BLACKBOX = 1 << 19,
     FEATURE_CHANNEL_FORWARDING = 1 << 20,
     FEATURE_TRANSPONDER = 1 << 21,
+    FEATURE_AIRMODE = 1 << 22,
+    FEATURE_SUPEREXPO = 1 << 23,
 } features_e;
 
 void handleOneshotFeatureChangeOnRestart(void);

src/main/flight/pid.c

@@ -209,7 +209,7 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
         uint16_t kP = (pidProfile->dynamic_pid) ? getDynamicKp(axis, pidProfile) : pidProfile->P8[axis];
 
         // -----calculate P component
-        if ((IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) {
+        if ((isSuperExpoActive() && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) {
             PTerm = (luxPTermScale * kP * tpaFactor) * (AngleRate - gyroRate * calculateExpoPlus(axis, rxConfig));
         } else {
             PTerm = luxPTermScale * RateError * kP * tpaFactor;
@@ -334,7 +334,7 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
         uint16_t kP = (pidProfile->dynamic_pid) ? getDynamicKp(axis, pidProfile) : pidProfile->P8[axis];
 
         // -----calculate P component
-        if ((IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) {
+        if ((isSuperExpoActive() && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) {
             PTerm = (kP * PIDweight[axis] / 100) * (AngleRateTmp - (int32_t)(gyroRate * calculateExpoPlus(axis, rxConfig))) >> 7;
         } else {
             PTerm = (RateError * kP * PIDweight[axis] / 100) >> 7;

src/main/io/rc_controls.c

@@ -70,6 +70,13 @@ int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+
 
 uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
 
+bool isAirmodeActive(void) {
+    return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
+}
+
+bool isSuperExpoActive(void) {
+    return (IS_RC_MODE_ACTIVE(BOXSUPEREXPO) || feature(FEATURE_SUPEREXPO));
+}
 
 void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
 #ifndef BLACKBOX

src/main/io/rc_controls.h

@@ -243,6 +243,8 @@ typedef struct adjustmentState_s {
 
 #define MAX_ADJUSTMENT_RANGE_COUNT 15
 
+bool isAirmodeActive(void);
+bool isSuperExpoActive(void);
 void resetAdjustmentStates(void);
 void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);
 void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);

src/main/io/serial_cli.c

@@ -194,7 +194,8 @@ static const char * const featureNames[] = {
     "SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
     "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
     "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125",
-    "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", NULL
+    "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE", "SUPEREXPO",
+    NULL
 };
 
 // sync this with rxFailsafeChannelMode_e

src/main/io/serial_msp.c

@@ -542,8 +542,8 @@ void mspInit(serialConfig_t *serialConfig)
         activeBoxIds[activeBoxIdCount++] = BOXHORIZON;
     }
 
-    activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
+    if (!feature(FEATURE_AIRMODE)) activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
-    activeBoxIds[activeBoxIdCount++] = BOXSUPEREXPO;
+    if (!feature(FEATURE_SUPEREXPO)) activeBoxIds[activeBoxIdCount++] = BOXSUPEREXPO;
     activeBoxIds[activeBoxIdCount++] = BOX3DDISABLESWITCH;
 
     if (sensors(SENSOR_BARO)) {

src/main/mw.c

@@ -454,7 +454,7 @@ void updateMagHold(void)
 void processRx(void)
 {
     static bool armedBeeperOn = false;
-    static bool airmodeIsActivated;
+    static bool wasAirmodeIsActivated;
 
     calculateRxChannelsAndUpdateFailsafe(currentTime);
 
@@ -477,15 +477,15 @@ void processRx(void)
 
     throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
 
-    if (IS_RC_MODE_ACTIVE(BOXAIRMODE) && ARMING_FLAG(ARMED)) {
+    if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
-        if (rcCommand[THROTTLE] >= masterConfig.rxConfig.airModeActivateThreshold) airmodeIsActivated = true; // Prevent Iterm from being reset
+        if (rcCommand[THROTTLE] >= masterConfig.rxConfig.airModeActivateThreshold) wasAirmodeIsActivated = true; // Prevent Iterm from being reset
     } else {
-        airmodeIsActivated = false;
+        wasAirmodeIsActivated = false;
     }
 
     /* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
      This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
-    if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
+    if (throttleStatus == THROTTLE_LOW && !wasAirmodeIsActivated) {
         pidResetErrorGyroState();
     }