Added shadow copies for CLI and MSP.
This commit is contained in:
parent
985a9208d5
commit
6de1c32d9d
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@ -448,7 +448,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
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#endif
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case FLIGHT_LOG_FIELD_CONDITION_RSSI:
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return rxConfig()->rssi_channel > 0 || featureConfigured(FEATURE_RSSI_ADC);
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return rxConfig()->rssi_channel > 0 || featureIsEnabled(FEATURE_RSSI_ADC);
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case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
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return blackboxConfig()->p_ratio != 1;
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@ -1488,7 +1488,7 @@ STATIC_UNIT_TESTED void blackboxLogIteration(timeUs_t currentTimeUs)
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writeInterframe();
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}
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#ifdef USE_GPS
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if (featureConfigured(FEATURE_GPS)) {
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if (featureIsEnabled(FEATURE_GPS)) {
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if (blackboxShouldLogGpsHomeFrame()) {
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writeGPSHomeFrame();
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writeGPSFrame(currentTimeUs);
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@ -1554,7 +1554,7 @@ void blackboxUpdate(timeUs_t currentTimeUs)
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if (!sendFieldDefinition('I', 'P', blackboxMainFields, blackboxMainFields + 1, ARRAYLEN(blackboxMainFields),
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&blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
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#ifdef USE_GPS
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if (featureConfigured(FEATURE_GPS)) {
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if (featureIsEnabled(FEATURE_GPS)) {
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blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADER);
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} else
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#endif
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@ -48,7 +48,7 @@ static uint8_t cmsx_FeatureLedstrip;
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static long cmsx_Ledstrip_FeatureRead(void)
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{
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if (!featureRead) {
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cmsx_FeatureLedstrip = featureConfigured(FEATURE_LED_STRIP) ? 1 : 0;
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cmsx_FeatureLedstrip = featureIsEnabled(FEATURE_LED_STRIP) ? 1 : 0;
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featureRead = true;
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}
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@ -60,9 +60,9 @@ static long cmsx_Ledstrip_FeatureWriteback(const OSD_Entry *self)
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UNUSED(self);
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if (featureRead) {
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if (cmsx_FeatureLedstrip)
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featureSet(FEATURE_LED_STRIP);
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featureEnable(FEATURE_LED_STRIP);
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else
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featureClear(FEATURE_LED_STRIP);
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featureDisable(FEATURE_LED_STRIP);
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}
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return 0;
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@ -35,32 +35,32 @@ PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
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.enabledFeatures = DEFAULT_FEATURES | DEFAULT_RX_FEATURE | FEATURE_DYNAMIC_FILTER | FEATURE_ANTI_GRAVITY,
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);
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void featureSetLocal(const uint32_t mask, uint32_t *features)
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void featureSet(const uint32_t mask, uint32_t *features)
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{
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*features |= mask;
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}
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void featureClearLocal(const uint32_t mask, uint32_t *features)
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void featureClear(const uint32_t mask, uint32_t *features)
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{
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*features &= ~(mask);
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}
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bool featureConfigured(const uint32_t mask)
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bool featureIsEnabled(const uint32_t mask)
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{
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return featureConfig()->enabledFeatures & mask;
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}
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void featureSet(const uint32_t mask)
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void featureEnable(const uint32_t mask)
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{
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featureSetLocal(mask, &featureConfigMutable()->enabledFeatures);
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featureSet(mask, &featureConfigMutable()->enabledFeatures);
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}
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void featureClear(const uint32_t mask)
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void featureDisable(const uint32_t mask)
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{
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featureClearLocal(mask, &featureConfigMutable()->enabledFeatures);
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featureClear(mask, &featureConfigMutable()->enabledFeatures);
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}
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void featureClearAll(void)
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void featureDisableAll(void)
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{
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featureConfigMutable()->enabledFeatures = 0;
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}
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@ -62,11 +62,11 @@ typedef struct featureConfig_s {
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PG_DECLARE(featureConfig_t, featureConfig);
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bool featureConfigured(const uint32_t mask);
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void featureSet(const uint32_t mask);
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void featureClear(const uint32_t mask);
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void featureClearAll(void);
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bool featureIsEnabled(const uint32_t mask);
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void featureEnable(const uint32_t mask);
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void featureDisable(const uint32_t mask);
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void featureDisableAll(void);
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uint32_t featureMask(void);
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void featureSetLocal(const uint32_t mask, uint32_t *features);
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void featureClearLocal(const uint32_t mask, uint32_t *features);
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void featureSet(const uint32_t mask, uint32_t *features);
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void featureClear(const uint32_t mask, uint32_t *features);
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@ -174,7 +174,7 @@ static void validateAndFixConfig(void)
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!findSerialPortConfig(FUNCTION_GPS) &&
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#endif
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true) {
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featureClear(FEATURE_GPS);
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featureDisable(FEATURE_GPS);
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}
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#ifndef USE_OSD_SLAVE
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@ -194,7 +194,7 @@ static void validateAndFixConfig(void)
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}
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if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
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featureClear(FEATURE_3D);
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featureDisable(FEATURE_3D);
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if (motorConfig()->mincommand < 1000) {
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motorConfigMutable()->mincommand = 1000;
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@ -207,40 +207,40 @@ static void validateAndFixConfig(void)
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validateAndFixGyroConfig();
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if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP) || featureConfigured(FEATURE_RX_SPI))) {
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featureSet(DEFAULT_RX_FEATURE);
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if (!(featureIsEnabled(FEATURE_RX_PARALLEL_PWM) || featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_SERIAL) || featureIsEnabled(FEATURE_RX_MSP) || featureIsEnabled(FEATURE_RX_SPI))) {
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featureEnable(DEFAULT_RX_FEATURE);
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}
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if (featureConfigured(FEATURE_RX_PPM)) {
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featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_SPI);
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if (featureIsEnabled(FEATURE_RX_PPM)) {
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featureDisable(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_SPI);
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}
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if (featureConfigured(FEATURE_RX_MSP)) {
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featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_SPI);
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if (featureIsEnabled(FEATURE_RX_MSP)) {
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featureDisable(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_SPI);
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}
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if (featureConfigured(FEATURE_RX_SERIAL)) {
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featureClear(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
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if (featureIsEnabled(FEATURE_RX_SERIAL)) {
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featureDisable(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
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}
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#ifdef USE_RX_SPI
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if (featureConfigured(FEATURE_RX_SPI)) {
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featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP);
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if (featureIsEnabled(FEATURE_RX_SPI)) {
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featureDisable(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP);
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}
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#endif // USE_RX_SPI
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if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
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featureClear(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
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if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
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featureDisable(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
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}
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#ifdef USE_SOFTSPI
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if (featureConfigured(FEATURE_SOFTSPI)) {
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featureClear(FEATURE_RX_PPM | FEATURE_RX_PARALLEL_PWM | FEATURE_SOFTSERIAL);
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if (featureIsEnabled(FEATURE_SOFTSPI)) {
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featureDisable(FEATURE_RX_PPM | FEATURE_RX_PARALLEL_PWM | FEATURE_SOFTSERIAL);
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batteryConfigMutable()->voltageMeterSource = VOLTAGE_METER_NONE;
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#if defined(STM32F10X)
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featureClear(FEATURE_LED_STRIP);
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featureDisable(FEATURE_LED_STRIP);
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// rssi adc needs the same ports
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featureClear(FEATURE_RSSI_ADC);
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featureDisable(FEATURE_RSSI_ADC);
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// current meter needs the same ports
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if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) {
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batteryConfigMutable()->currentMeterSource = CURRENT_METER_NONE;
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@ -250,14 +250,14 @@ static void validateAndFixConfig(void)
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#endif // USE_SOFTSPI
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#if defined(USE_ADC)
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if (featureConfigured(FEATURE_RSSI_ADC)) {
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if (featureIsEnabled(FEATURE_RSSI_ADC)) {
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rxConfigMutable()->rssi_channel = 0;
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rxConfigMutable()->rssi_src_frame_errors = false;
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} else
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#endif
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if (rxConfigMutable()->rssi_channel
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#if defined(USE_PWM) || defined(USE_PPM)
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|| featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM)
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|| featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM)
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#endif
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) {
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rxConfigMutable()->rssi_src_frame_errors = false;
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@ -291,7 +291,7 @@ static void validateAndFixConfig(void)
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#endif
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if (
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featureConfigured(FEATURE_3D) || !featureConfigured(FEATURE_GPS)
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featureIsEnabled(FEATURE_3D) || !featureIsEnabled(FEATURE_GPS)
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#if !defined(USE_GPS) || !defined(USE_GPS_RESCUE)
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|| true
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#endif
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@ -308,7 +308,7 @@ static void validateAndFixConfig(void)
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#if defined(USE_ESC_SENSOR)
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if (!findSerialPortConfig(FUNCTION_ESC_SENSOR)) {
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featureClear(FEATURE_ESC_SENSOR);
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featureDisable(FEATURE_ESC_SENSOR);
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}
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#endif
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@ -316,71 +316,71 @@ static void validateAndFixConfig(void)
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// I have kept them all here in one place, some could be moved to sections of code above.
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#ifndef USE_PPM
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featureClear(FEATURE_RX_PPM);
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featureDisable(FEATURE_RX_PPM);
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#endif
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#ifndef USE_SERIAL_RX
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featureClear(FEATURE_RX_SERIAL);
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featureDisable(FEATURE_RX_SERIAL);
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#endif
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#if !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL2)
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featureClear(FEATURE_SOFTSERIAL);
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featureDisable(FEATURE_SOFTSERIAL);
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#endif
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#ifndef USE_RANGEFINDER
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featureClear(FEATURE_RANGEFINDER);
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featureDisable(FEATURE_RANGEFINDER);
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#endif
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#ifndef USE_TELEMETRY
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featureClear(FEATURE_TELEMETRY);
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featureDisable(FEATURE_TELEMETRY);
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#endif
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#ifndef USE_PWM
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featureClear(FEATURE_RX_PARALLEL_PWM);
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featureDisable(FEATURE_RX_PARALLEL_PWM);
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#endif
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#ifndef USE_RX_MSP
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featureClear(FEATURE_RX_MSP);
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featureDisable(FEATURE_RX_MSP);
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#endif
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#ifndef USE_LED_STRIP
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featureClear(FEATURE_LED_STRIP);
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featureDisable(FEATURE_LED_STRIP);
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#endif
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#ifndef USE_DASHBOARD
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featureClear(FEATURE_DASHBOARD);
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featureDisable(FEATURE_DASHBOARD);
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#endif
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#ifndef USE_OSD
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featureClear(FEATURE_OSD);
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featureDisable(FEATURE_OSD);
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#endif
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#ifndef USE_SERVOS
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featureClear(FEATURE_SERVO_TILT | FEATURE_CHANNEL_FORWARDING);
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featureDisable(FEATURE_SERVO_TILT | FEATURE_CHANNEL_FORWARDING);
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#endif
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#ifndef USE_TRANSPONDER
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featureClear(FEATURE_TRANSPONDER);
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featureDisable(FEATURE_TRANSPONDER);
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#endif
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#ifndef USE_RX_SPI
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featureClear(FEATURE_RX_SPI);
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featureDisable(FEATURE_RX_SPI);
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#endif
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#ifndef USE_SOFTSPI
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featureClear(FEATURE_SOFTSPI);
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featureDisable(FEATURE_SOFTSPI);
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#endif
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#ifndef USE_ESC_SENSOR
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featureClear(FEATURE_ESC_SENSOR);
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featureDisable(FEATURE_ESC_SENSOR);
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#endif
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#ifndef USE_GYRO_DATA_ANALYSE
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featureClear(FEATURE_DYNAMIC_FILTER);
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featureDisable(FEATURE_DYNAMIC_FILTER);
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#endif
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#if !defined(USE_ADC)
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featureClear(FEATURE_RSSI_ADC);
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featureDisable(FEATURE_RSSI_ADC);
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#endif
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#if defined(USE_BEEPER)
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@ -548,6 +548,14 @@ void writeEEPROM(void)
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#endif
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}
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void writeEEPROMWithFeatures(uint32_t features)
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{
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featureDisableAll();
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featureEnable(features);
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writeEEPROM();
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}
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void resetEEPROM(void)
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{
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resetConfigs();
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@ -53,6 +53,7 @@ void initEEPROM(void);
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void resetEEPROM(void);
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bool readEEPROM(void);
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void writeEEPROM(void);
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void writeEEPROMWithFeatures(uint32_t features);
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void ensureEEPROMStructureIsValid(void);
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void saveConfigAndNotify(void);
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@ -268,7 +268,7 @@ void updateArmingStatus(void)
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&& !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_CALIBRATING));
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/* Ignore ARMING_DISABLED_THROTTLE (once arm switch is on) if we are in 3D mode */
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bool ignoreThrottle = featureConfigured(FEATURE_3D)
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bool ignoreThrottle = featureIsEnabled(FEATURE_3D)
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&& !IS_RC_MODE_ACTIVE(BOX3D)
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&& !flight3DConfig()->switched_mode3d
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&& !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
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@ -313,7 +313,7 @@ void disarm(void)
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#endif
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BEEP_OFF;
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#ifdef USE_DSHOT
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if (isMotorProtocolDshot() && flipOverAfterCrashMode && !featureConfigured(FEATURE_3D)) {
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if (isMotorProtocolDshot() && flipOverAfterCrashMode && !featureIsEnabled(FEATURE_3D)) {
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pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
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}
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#endif
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@ -352,7 +352,7 @@ void tryArm(void)
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if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
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if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
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flipOverAfterCrashMode = false;
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if (!featureConfigured(FEATURE_3D)) {
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if (!featureIsEnabled(FEATURE_3D)) {
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pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
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}
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} else {
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@ -360,7 +360,7 @@ void tryArm(void)
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#ifdef USE_RUNAWAY_TAKEOFF
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runawayTakeoffCheckDisabled = false;
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#endif
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if (!featureConfigured(FEATURE_3D)) {
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if (!featureIsEnabled(FEATURE_3D)) {
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pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, false);
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}
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}
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@ -387,7 +387,7 @@ void tryArm(void)
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//beep to indicate arming
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#ifdef USE_GPS
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if (featureConfigured(FEATURE_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5) {
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if (featureIsEnabled(FEATURE_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5) {
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beeper(BEEPER_ARMING_GPS_FIX);
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} else {
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beeper(BEEPER_ARMING);
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@ -517,7 +517,7 @@ void runawayTakeoffTemporaryDisable(uint8_t disableFlag)
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uint8_t calculateThrottlePercent(void)
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{
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uint8_t ret = 0;
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if (featureConfigured(FEATURE_3D)
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if (featureIsEnabled(FEATURE_3D)
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&& !IS_RC_MODE_ACTIVE(BOX3D)
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&& !flight3DConfig()->switched_mode3d) {
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@ -560,7 +560,7 @@ bool processRx(timeUs_t currentTimeUs)
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}
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// in 3D mode, we need to be able to disarm by switch at any time
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if (featureConfigured(FEATURE_3D)) {
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if (featureIsEnabled(FEATURE_3D)) {
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if (!IS_RC_MODE_ACTIVE(BOXARM))
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disarm();
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}
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@ -615,7 +615,7 @@ bool processRx(timeUs_t currentTimeUs)
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// - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent
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// - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
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bool inStableFlight = false;
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if (!featureConfigured(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
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if (!featureIsEnabled(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
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const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
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const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
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if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))
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||||
|
@ -667,9 +667,9 @@ bool processRx(timeUs_t currentTimeUs)
|
|||
// board after delay so users without buzzer won't lose fingers.
|
||||
// mixTable constrains motor commands, so checking throttleStatus is enough
|
||||
if (ARMING_FLAG(ARMED)
|
||||
&& featureConfigured(FEATURE_MOTOR_STOP)
|
||||
&& featureIsEnabled(FEATURE_MOTOR_STOP)
|
||||
&& !STATE(FIXED_WING)
|
||||
&& !featureConfigured(FEATURE_3D)
|
||||
&& !featureIsEnabled(FEATURE_3D)
|
||||
&& !isAirmodeActive()
|
||||
) {
|
||||
if (isUsingSticksForArming()) {
|
||||
|
@ -711,7 +711,7 @@ bool processRx(timeUs_t currentTimeUs)
|
|||
|
||||
processRcStickPositions();
|
||||
|
||||
if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL)) {
|
||||
if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {
|
||||
updateInflightCalibrationState();
|
||||
}
|
||||
|
||||
|
@ -814,7 +814,7 @@ bool processRx(timeUs_t currentTimeUs)
|
|||
}
|
||||
|
||||
#ifdef USE_TELEMETRY
|
||||
if (featureConfigured(FEATURE_TELEMETRY)) {
|
||||
if (featureIsEnabled(FEATURE_TELEMETRY)) {
|
||||
bool enableSharedPortTelemetry = (!isModeActivationConditionPresent(BOXTELEMETRY) && ARMING_FLAG(ARMED)) || (isModeActivationConditionPresent(BOXTELEMETRY) && IS_RC_MODE_ACTIVE(BOXTELEMETRY));
|
||||
if (enableSharedPortTelemetry && !sharedPortTelemetryEnabled) {
|
||||
mspSerialReleaseSharedTelemetryPorts();
|
||||
|
@ -872,7 +872,7 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
|
|||
&& !runawayTakeoffCheckDisabled
|
||||
&& !flipOverAfterCrashMode
|
||||
&& !runawayTakeoffTemporarilyDisabled
|
||||
&& (!featureConfigured(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
|
||||
&& (!featureIsEnabled(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
|
||||
|
||||
if (((fabsf(pidData[FD_PITCH].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
|
||||
|| (fabsf(pidData[FD_ROLL].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
|
||||
|
|
|
@ -296,7 +296,7 @@ void init(void)
|
|||
#endif
|
||||
|
||||
#if defined(USE_SPEKTRUM_BIND)
|
||||
if (featureConfigured(FEATURE_RX_SERIAL)) {
|
||||
if (featureIsEnabled(FEATURE_RX_SERIAL)) {
|
||||
switch (rxConfig()->serialrx_provider) {
|
||||
case SERIALRX_SPEKTRUM1024:
|
||||
case SERIALRX_SPEKTRUM2048:
|
||||
|
@ -327,23 +327,23 @@ void init(void)
|
|||
#endif
|
||||
|
||||
#if defined(AVOID_UART1_FOR_PWM_PPM)
|
||||
serialInit(featureConfigured(FEATURE_SOFTSERIAL),
|
||||
featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
|
||||
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL),
|
||||
featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
|
||||
#elif defined(AVOID_UART2_FOR_PWM_PPM)
|
||||
serialInit(featureConfigured(FEATURE_SOFTSERIAL),
|
||||
featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
|
||||
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL),
|
||||
featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
|
||||
#elif defined(AVOID_UART3_FOR_PWM_PPM)
|
||||
serialInit(featureConfigured(FEATURE_SOFTSERIAL),
|
||||
featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
|
||||
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL),
|
||||
featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
|
||||
#else
|
||||
serialInit(featureConfigured(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
|
||||
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
|
||||
#endif
|
||||
|
||||
mixerInit(mixerConfig()->mixerMode);
|
||||
mixerConfigureOutput();
|
||||
|
||||
uint16_t idlePulse = motorConfig()->mincommand;
|
||||
if (featureConfigured(FEATURE_3D)) {
|
||||
if (featureIsEnabled(FEATURE_3D)) {
|
||||
idlePulse = flight3DConfig()->neutral3d;
|
||||
}
|
||||
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
|
||||
|
@ -357,12 +357,12 @@ void init(void)
|
|||
|
||||
if (0) {}
|
||||
#if defined(USE_PPM)
|
||||
else if (featureConfigured(FEATURE_RX_PPM)) {
|
||||
else if (featureIsEnabled(FEATURE_RX_PPM)) {
|
||||
ppmRxInit(ppmConfig());
|
||||
}
|
||||
#endif
|
||||
#if defined(USE_PWM)
|
||||
else if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
|
||||
else if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
|
||||
pwmRxInit(pwmConfig());
|
||||
}
|
||||
#endif
|
||||
|
@ -449,13 +449,13 @@ void init(void)
|
|||
// XXX These kind of code should goto target/config.c?
|
||||
// XXX And these no longer work properly as FEATURE_RANGEFINDER does control HCSR04 runtime configuration.
|
||||
#if defined(RANGEFINDER_HCSR04_SOFTSERIAL2_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL2)
|
||||
if (featureConfigured(FEATURE_RANGEFINDER) && featureConfigured(FEATURE_SOFTSERIAL)) {
|
||||
if (featureIsEnabled(FEATURE_RANGEFINDER) && featureIsEnabled(FEATURE_SOFTSERIAL)) {
|
||||
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(RANGEFINDER_HCSR04_SOFTSERIAL1_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL1)
|
||||
if (featureConfigured(FEATURE_RANGEFINDER) && featureConfigured(FEATURE_SOFTSERIAL)) {
|
||||
if (featureIsEnabled(FEATURE_RANGEFINDER) && featureIsEnabled(FEATURE_SOFTSERIAL)) {
|
||||
serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
|
||||
}
|
||||
#endif
|
||||
|
@ -465,9 +465,9 @@ void init(void)
|
|||
adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
|
||||
|
||||
// The FrSky D SPI RX sends RSSI_ADC_PIN (if configured) as A2
|
||||
adcConfigMutable()->rssi.enabled = featureConfigured(FEATURE_RSSI_ADC);
|
||||
adcConfigMutable()->rssi.enabled = featureIsEnabled(FEATURE_RSSI_ADC);
|
||||
#ifdef USE_RX_SPI
|
||||
adcConfigMutable()->rssi.enabled |= (featureConfigured(FEATURE_RX_SPI) && rxSpiConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
|
||||
adcConfigMutable()->rssi.enabled |= (featureIsEnabled(FEATURE_RX_SPI) && rxSpiConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
|
||||
#endif
|
||||
adcInit(adcConfig());
|
||||
#endif
|
||||
|
@ -496,7 +496,7 @@ void init(void)
|
|||
servosInit();
|
||||
servoConfigureOutput();
|
||||
if (isMixerUsingServos()) {
|
||||
//pwm_params.useChannelForwarding = featureConfigured(FEATURE_CHANNEL_FORWARDING);
|
||||
//pwm_params.useChannelForwarding = featureIsEnabled(FEATURE_CHANNEL_FORWARDING);
|
||||
servoDevInit(&servoConfig()->dev);
|
||||
}
|
||||
servosFilterInit();
|
||||
|
@ -558,7 +558,7 @@ void init(void)
|
|||
#if defined(USE_OSD) && !defined(USE_OSD_SLAVE)
|
||||
//The OSD need to be initialised after GYRO to avoid GYRO initialisation failure on some targets
|
||||
|
||||
if (featureConfigured(FEATURE_OSD)) {
|
||||
if (featureIsEnabled(FEATURE_OSD)) {
|
||||
#if defined(USE_MAX7456)
|
||||
// If there is a max7456 chip for the OSD then use it
|
||||
osdDisplayPort = max7456DisplayPortInit(vcdProfile());
|
||||
|
@ -587,7 +587,7 @@ void init(void)
|
|||
|
||||
#ifdef USE_DASHBOARD
|
||||
// Dashbord will register with CMS by itself.
|
||||
if (featureConfigured(FEATURE_DASHBOARD)) {
|
||||
if (featureIsEnabled(FEATURE_DASHBOARD)) {
|
||||
dashboardInit();
|
||||
}
|
||||
#endif
|
||||
|
@ -598,7 +598,7 @@ void init(void)
|
|||
#endif
|
||||
|
||||
#ifdef USE_GPS
|
||||
if (featureConfigured(FEATURE_GPS)) {
|
||||
if (featureIsEnabled(FEATURE_GPS)) {
|
||||
gpsInit();
|
||||
}
|
||||
#endif
|
||||
|
@ -606,19 +606,19 @@ void init(void)
|
|||
#ifdef USE_LED_STRIP
|
||||
ledStripInit();
|
||||
|
||||
if (featureConfigured(FEATURE_LED_STRIP)) {
|
||||
if (featureIsEnabled(FEATURE_LED_STRIP)) {
|
||||
ledStripEnable();
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_TELEMETRY
|
||||
if (featureConfigured(FEATURE_TELEMETRY)) {
|
||||
if (featureIsEnabled(FEATURE_TELEMETRY)) {
|
||||
telemetryInit();
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_ESC_SENSOR
|
||||
if (featureConfigured(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
escSensorInit();
|
||||
}
|
||||
#endif
|
||||
|
@ -628,7 +628,7 @@ void init(void)
|
|||
#endif
|
||||
|
||||
#ifdef USE_TRANSPONDER
|
||||
if (featureConfigured(FEATURE_TRANSPONDER)) {
|
||||
if (featureIsEnabled(FEATURE_TRANSPONDER)) {
|
||||
transponderInit();
|
||||
transponderStartRepeating();
|
||||
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
|
||||
|
@ -711,7 +711,7 @@ void init(void)
|
|||
batteryInit(); // always needs doing, regardless of features.
|
||||
|
||||
#ifdef USE_DASHBOARD
|
||||
if (featureConfigured(FEATURE_DASHBOARD)) {
|
||||
if (featureIsEnabled(FEATURE_DASHBOARD)) {
|
||||
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
|
||||
dashboardShowFixedPage(PAGE_GPS);
|
||||
#else
|
||||
|
|
|
@ -203,7 +203,7 @@ static void checkForThrottleErrorResetState(uint16_t rxRefreshRate)
|
|||
|
||||
const int rxRefreshRateMs = rxRefreshRate / 1000;
|
||||
const int indexMax = constrain(THROTTLE_DELTA_MS / rxRefreshRateMs, 1, THROTTLE_BUFFER_MAX);
|
||||
const int16_t throttleVelocityThreshold = (featureConfigured(FEATURE_3D)) ? currentPidProfile->itermThrottleThreshold / 2 : currentPidProfile->itermThrottleThreshold;
|
||||
const int16_t throttleVelocityThreshold = (featureIsEnabled(FEATURE_3D)) ? currentPidProfile->itermThrottleThreshold / 2 : currentPidProfile->itermThrottleThreshold;
|
||||
|
||||
rcCommandThrottlePrevious[index++] = rcCommand[THROTTLE];
|
||||
if (index >= indexMax) {
|
||||
|
@ -621,7 +621,7 @@ FAST_CODE FAST_CODE_NOINLINE void updateRcCommands(void)
|
|||
}
|
||||
|
||||
int32_t tmp;
|
||||
if (featureConfigured(FEATURE_3D)) {
|
||||
if (featureIsEnabled(FEATURE_3D)) {
|
||||
tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
|
||||
tmp = (uint32_t)(tmp - PWM_RANGE_MIN);
|
||||
} else {
|
||||
|
@ -635,7 +635,7 @@ FAST_CODE FAST_CODE_NOINLINE void updateRcCommands(void)
|
|||
|
||||
rcCommand[THROTTLE] = rcLookupThrottle(tmp);
|
||||
|
||||
if (featureConfigured(FEATURE_3D) && !failsafeIsActive()) {
|
||||
if (featureIsEnabled(FEATURE_3D) && !failsafeIsActive()) {
|
||||
if (!flight3DConfig()->switched_mode3d) {
|
||||
if (IS_RC_MODE_ACTIVE(BOX3D)) {
|
||||
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
|
||||
|
|
|
@ -216,7 +216,7 @@ static void taskCalculateAltitude(timeUs_t currentTimeUs)
|
|||
#ifdef USE_TELEMETRY
|
||||
static void taskTelemetry(timeUs_t currentTimeUs)
|
||||
{
|
||||
if (!cliMode && featureConfigured(FEATURE_TELEMETRY)) {
|
||||
if (!cliMode && featureIsEnabled(FEATURE_TELEMETRY)) {
|
||||
subTaskTelemetryPollSensors(currentTimeUs);
|
||||
|
||||
telemetryProcess(currentTimeUs);
|
||||
|
@ -251,12 +251,12 @@ void fcTasksInit(void)
|
|||
#ifdef USE_OSD_SLAVE
|
||||
const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts;
|
||||
#else
|
||||
const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || featureConfigured(FEATURE_OSD);
|
||||
const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || featureIsEnabled(FEATURE_OSD);
|
||||
#endif
|
||||
setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
|
||||
|
||||
#ifdef USE_TRANSPONDER
|
||||
setTaskEnabled(TASK_TRANSPONDER, featureConfigured(FEATURE_TRANSPONDER));
|
||||
setTaskEnabled(TASK_TRANSPONDER, featureIsEnabled(FEATURE_TRANSPONDER));
|
||||
#endif
|
||||
|
||||
#ifdef STACK_CHECK
|
||||
|
@ -285,7 +285,7 @@ void fcTasksInit(void)
|
|||
setTaskEnabled(TASK_BEEPER, true);
|
||||
#endif
|
||||
#ifdef USE_GPS
|
||||
setTaskEnabled(TASK_GPS, featureConfigured(FEATURE_GPS));
|
||||
setTaskEnabled(TASK_GPS, featureIsEnabled(FEATURE_GPS));
|
||||
#endif
|
||||
#ifdef USE_MAG
|
||||
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
|
||||
|
@ -294,13 +294,13 @@ void fcTasksInit(void)
|
|||
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
|
||||
#endif
|
||||
#if defined(USE_BARO) || defined(USE_GPS)
|
||||
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || featureConfigured(FEATURE_GPS));
|
||||
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || featureIsEnabled(FEATURE_GPS));
|
||||
#endif
|
||||
#ifdef USE_DASHBOARD
|
||||
setTaskEnabled(TASK_DASHBOARD, featureConfigured(FEATURE_DASHBOARD));
|
||||
setTaskEnabled(TASK_DASHBOARD, featureIsEnabled(FEATURE_DASHBOARD));
|
||||
#endif
|
||||
#ifdef USE_TELEMETRY
|
||||
if (featureConfigured(FEATURE_TELEMETRY)) {
|
||||
if (featureIsEnabled(FEATURE_TELEMETRY)) {
|
||||
setTaskEnabled(TASK_TELEMETRY, true);
|
||||
if (rxConfig()->serialrx_provider == SERIALRX_JETIEXBUS) {
|
||||
// Reschedule telemetry to 500hz for Jeti Exbus
|
||||
|
@ -312,19 +312,19 @@ void fcTasksInit(void)
|
|||
}
|
||||
#endif
|
||||
#ifdef USE_LED_STRIP
|
||||
setTaskEnabled(TASK_LEDSTRIP, featureConfigured(FEATURE_LED_STRIP));
|
||||
setTaskEnabled(TASK_LEDSTRIP, featureIsEnabled(FEATURE_LED_STRIP));
|
||||
#endif
|
||||
#ifdef USE_TRANSPONDER
|
||||
setTaskEnabled(TASK_TRANSPONDER, featureConfigured(FEATURE_TRANSPONDER));
|
||||
setTaskEnabled(TASK_TRANSPONDER, featureIsEnabled(FEATURE_TRANSPONDER));
|
||||
#endif
|
||||
#ifdef USE_OSD
|
||||
setTaskEnabled(TASK_OSD, featureConfigured(FEATURE_OSD) && osdInitialized());
|
||||
setTaskEnabled(TASK_OSD, featureIsEnabled(FEATURE_OSD) && osdInitialized()));
|
||||
#endif
|
||||
#ifdef USE_BST
|
||||
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
|
||||
#endif
|
||||
#ifdef USE_ESC_SENSOR
|
||||
setTaskEnabled(TASK_ESC_SENSOR, featureConfigured(FEATURE_ESC_SENSOR));
|
||||
setTaskEnabled(TASK_ESC_SENSOR, featureIsEnabled(FEATURE_ESC_SENSOR));
|
||||
#endif
|
||||
#ifdef USE_ADC_INTERNAL
|
||||
setTaskEnabled(TASK_ADC_INTERNAL, true);
|
||||
|
@ -336,7 +336,7 @@ void fcTasksInit(void)
|
|||
#ifdef USE_MSP_DISPLAYPORT
|
||||
setTaskEnabled(TASK_CMS, true);
|
||||
#else
|
||||
setTaskEnabled(TASK_CMS, featureConfigured(FEATURE_OSD) || featureConfigured(FEATURE_DASHBOARD));
|
||||
setTaskEnabled(TASK_CMS, featureIsEnabled(FEATURE_OSD) || featureIsEnabled(FEATURE_DASHBOARD));
|
||||
#endif
|
||||
#endif
|
||||
#ifdef USE_VTX_CONTROL
|
||||
|
|
|
@ -113,7 +113,7 @@ bool areSticksInApModePosition(uint16_t ap_mode)
|
|||
|
||||
throttleStatus_e calculateThrottleStatus(void)
|
||||
{
|
||||
if (featureConfigured(FEATURE_3D)) {
|
||||
if (featureIsEnabled(FEATURE_3D)) {
|
||||
if (IS_RC_MODE_ACTIVE(BOX3D) || flight3DConfig()->switched_mode3d) {
|
||||
if (rcData[THROTTLE] < rxConfig()->mincheck) {
|
||||
return THROTTLE_LOW;
|
||||
|
@ -240,7 +240,7 @@ void processRcStickPositions()
|
|||
gyroStartCalibration(false);
|
||||
|
||||
#ifdef USE_GPS
|
||||
if (featureConfigured(FEATURE_GPS)) {
|
||||
if (featureIsEnabled(FEATURE_GPS)) {
|
||||
GPS_reset_home_position();
|
||||
}
|
||||
#endif
|
||||
|
@ -253,7 +253,7 @@ void processRcStickPositions()
|
|||
return;
|
||||
}
|
||||
|
||||
if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
|
||||
if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
|
||||
// Inflight ACC Calibration
|
||||
handleInflightCalibrationStickPosition();
|
||||
return;
|
||||
|
|
|
@ -59,7 +59,7 @@ void rcModeUpdate(boxBitmask_t *newState)
|
|||
}
|
||||
|
||||
bool isAirmodeActive(void) {
|
||||
return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || featureConfigured(FEATURE_AIRMODE));
|
||||
return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || featureIsEnabled(FEATURE_AIRMODE));
|
||||
}
|
||||
|
||||
bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range) {
|
||||
|
|
|
@ -383,7 +383,7 @@ void initEscEndpoints(void)
|
|||
case PWM_TYPE_DSHOT300:
|
||||
case PWM_TYPE_DSHOT150:
|
||||
disarmMotorOutput = DSHOT_DISARM_COMMAND;
|
||||
if (featureConfigured(FEATURE_3D)) {
|
||||
if (featureIsEnabled(FEATURE_3D)) {
|
||||
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
|
||||
} else {
|
||||
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
|
||||
|
@ -395,7 +395,7 @@ void initEscEndpoints(void)
|
|||
break;
|
||||
#endif
|
||||
default:
|
||||
if (featureConfigured(FEATURE_3D)) {
|
||||
if (featureIsEnabled(FEATURE_3D)) {
|
||||
disarmMotorOutput = flight3DConfig()->neutral3d;
|
||||
motorOutputLow = flight3DConfig()->limit3d_low;
|
||||
motorOutputHigh = flight3DConfig()->limit3d_high;
|
||||
|
@ -536,7 +536,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
|
|||
static timeUs_t reversalTimeUs = 0; // time when motors last reversed in 3D mode
|
||||
float currentThrottleInputRange = 0;
|
||||
|
||||
if (featureConfigured(FEATURE_3D)) {
|
||||
if (featureIsEnabled(FEATURE_3D)) {
|
||||
if (!ARMING_FLAG(ARMED)) {
|
||||
rcThrottlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
|
||||
}
|
||||
|
@ -708,7 +708,7 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS])
|
|||
motorOutput = constrain(motorOutput, motorRangeMin, motorRangeMax);
|
||||
}
|
||||
// Motor stop handling
|
||||
if (featureConfigured(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !featureConfigured(FEATURE_3D) && !isAirmodeActive()) {
|
||||
if (featureIsEnabled(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !featureIsEnabled(FEATURE_3D) && !isAirmodeActive()) {
|
||||
if (((rcData[THROTTLE]) < rxConfig()->mincheck)) {
|
||||
motorOutput = disarmMotorOutput;
|
||||
}
|
||||
|
@ -851,7 +851,7 @@ float convertExternalToMotor(uint16_t externalValue)
|
|||
case true:
|
||||
externalValue = constrain(externalValue, PWM_RANGE_MIN, PWM_RANGE_MAX);
|
||||
|
||||
if (featureConfigured(FEATURE_3D)) {
|
||||
if (featureIsEnabled(FEATURE_3D)) {
|
||||
if (externalValue == PWM_RANGE_MID) {
|
||||
motorValue = DSHOT_DISARM_COMMAND;
|
||||
} else if (externalValue < PWM_RANGE_MID) {
|
||||
|
@ -880,7 +880,7 @@ uint16_t convertMotorToExternal(float motorValue)
|
|||
switch ((int)isMotorProtocolDshot()) {
|
||||
#ifdef USE_DSHOT
|
||||
case true:
|
||||
if (featureConfigured(FEATURE_3D)) {
|
||||
if (featureIsEnabled(FEATURE_3D)) {
|
||||
if (motorValue == DSHOT_DISARM_COMMAND || motorValue < DSHOT_MIN_THROTTLE) {
|
||||
externalValue = PWM_RANGE_MID;
|
||||
} else if (motorValue <= DSHOT_3D_DEADBAND_LOW) {
|
||||
|
|
|
@ -224,7 +224,7 @@ void servosInit(void)
|
|||
// enable servos for mixes that require them. note, this shifts motor counts.
|
||||
useServo = mixers[currentMixerMode].useServo;
|
||||
// if we want camstab/trig, that also enables servos, even if mixer doesn't
|
||||
if (featureConfigured(FEATURE_SERVO_TILT) || featureConfigured(FEATURE_CHANNEL_FORWARDING)) {
|
||||
if (featureIsEnabled(FEATURE_SERVO_TILT) || featureIsEnabled(FEATURE_CHANNEL_FORWARDING)) {
|
||||
useServo = 1;
|
||||
}
|
||||
|
||||
|
@ -377,13 +377,13 @@ void writeServos(void)
|
|||
}
|
||||
|
||||
// Two servos for SERVO_TILT, if enabled
|
||||
if (featureConfigured(FEATURE_SERVO_TILT) || currentMixerMode == MIXER_GIMBAL) {
|
||||
if (featureIsEnabled(FEATURE_SERVO_TILT) || currentMixerMode == MIXER_GIMBAL) {
|
||||
updateGimbalServos(servoIndex);
|
||||
servoIndex += 2;
|
||||
}
|
||||
|
||||
// forward AUX to remaining servo outputs (not constrained)
|
||||
if (featureConfigured(FEATURE_CHANNEL_FORWARDING)) {
|
||||
if (featureIsEnabled(FEATURE_CHANNEL_FORWARDING)) {
|
||||
forwardAuxChannelsToServos(servoIndex);
|
||||
servoIndex += MAX_AUX_CHANNEL_COUNT;
|
||||
}
|
||||
|
@ -406,7 +406,7 @@ void servoMixer(void)
|
|||
input[INPUT_STABILIZED_YAW] = pidData[FD_YAW].Sum * PID_SERVO_MIXER_SCALING;
|
||||
|
||||
// Reverse yaw servo when inverted in 3D mode
|
||||
if (featureConfigured(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc)) {
|
||||
if (featureIsEnabled(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc)) {
|
||||
input[INPUT_STABILIZED_YAW] *= -1;
|
||||
}
|
||||
}
|
||||
|
@ -498,7 +498,7 @@ static void servoTable(void)
|
|||
}
|
||||
|
||||
// camera stabilization
|
||||
if (featureConfigured(FEATURE_SERVO_TILT)) {
|
||||
if (featureIsEnabled(FEATURE_SERVO_TILT)) {
|
||||
// center at fixed position, or vary either pitch or roll by RC channel
|
||||
servo[SERVO_GIMBAL_PITCH] = determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
|
||||
servo[SERVO_GIMBAL_ROLL] = determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
|
||||
|
|
|
@ -179,6 +179,9 @@ static bool configIsInCopy = false;
|
|||
static int8_t pidProfileIndexToUse = CURRENT_PROFILE_INDEX;
|
||||
static int8_t rateProfileIndexToUse = CURRENT_PROFILE_INDEX;
|
||||
|
||||
static bool featureMaskIsCopied = false;
|
||||
static uint32_t featureMaskCopy;
|
||||
|
||||
#if defined(USE_BOARD_INFO)
|
||||
static bool boardInformationUpdated = false;
|
||||
#if defined(USE_SIGNATURE)
|
||||
|
@ -2345,9 +2348,18 @@ static void cliMcuId(char *cmdline)
|
|||
cliPrintLinef("mcu_id %08x%08x%08x", U_ID_0, U_ID_1, U_ID_2);
|
||||
}
|
||||
|
||||
static uint32_t getFeatureMask(const uint32_t featureMask)
|
||||
{
|
||||
if (featureMaskIsCopied) {
|
||||
return featureMaskCopy;
|
||||
} else {
|
||||
return featureMask;
|
||||
}
|
||||
}
|
||||
|
||||
static void printFeature(uint8_t dumpMask, const featureConfig_t *featureConfig, const featureConfig_t *featureConfigDefault)
|
||||
{
|
||||
const uint32_t mask = featureConfig->enabledFeatures;
|
||||
const uint32_t mask = getFeatureMask(featureConfig->enabledFeatures);
|
||||
const uint32_t defaultMask = featureConfigDefault->enabledFeatures;
|
||||
for (uint32_t i = 0; featureNames[i]; i++) { // disabled features first
|
||||
if (strcmp(featureNames[i], emptyString) != 0) { //Skip unused
|
||||
|
@ -2372,16 +2384,17 @@ static void printFeature(uint8_t dumpMask, const featureConfig_t *featureConfig,
|
|||
static void cliFeature(char *cmdline)
|
||||
{
|
||||
uint32_t len = strlen(cmdline);
|
||||
uint32_t mask = featureMask();
|
||||
|
||||
const uint32_t mask = getFeatureMask(featureMask());
|
||||
if (len == 0) {
|
||||
cliPrint("Enabled: ");
|
||||
for (uint32_t i = 0; ; i++) {
|
||||
if (featureNames[i] == NULL)
|
||||
if (featureNames[i] == NULL) {
|
||||
break;
|
||||
if (mask & (1 << i))
|
||||
}
|
||||
if (mask & (1 << i)) {
|
||||
cliPrintf("%s ", featureNames[i]);
|
||||
}
|
||||
}
|
||||
cliPrintLinefeed();
|
||||
} else if (strncasecmp(cmdline, "list", len) == 0) {
|
||||
cliPrint("Available:");
|
||||
|
@ -2394,6 +2407,12 @@ static void cliFeature(char *cmdline)
|
|||
cliPrintLinefeed();
|
||||
return;
|
||||
} else {
|
||||
if (!featureMaskIsCopied) {
|
||||
featureMaskCopy = featureMask();
|
||||
featureMaskIsCopied = true;
|
||||
}
|
||||
uint32_t feature;
|
||||
|
||||
bool remove = false;
|
||||
if (cmdline[0] == '-') {
|
||||
// remove feature
|
||||
|
@ -2409,25 +2428,24 @@ static void cliFeature(char *cmdline)
|
|||
}
|
||||
|
||||
if (strncasecmp(cmdline, featureNames[i], len) == 0) {
|
||||
|
||||
mask = 1 << i;
|
||||
feature = 1 << i;
|
||||
#ifndef USE_GPS
|
||||
if (mask & FEATURE_GPS) {
|
||||
if (feature & FEATURE_GPS) {
|
||||
cliPrintLine("unavailable");
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
#ifndef USE_RANGEFINDER
|
||||
if (mask & FEATURE_RANGEFINDER) {
|
||||
if (feature & FEATURE_RANGEFINDER) {
|
||||
cliPrintLine("unavailable");
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
if (remove) {
|
||||
featureClear(mask);
|
||||
featureClear(feature, &featureMaskCopy);
|
||||
cliPrint("Disabled");
|
||||
} else {
|
||||
featureSet(mask);
|
||||
featureSet(feature, &featureMaskCopy);
|
||||
cliPrint("Enabled");
|
||||
}
|
||||
cliPrintLinef(" %s", featureNames[i]);
|
||||
|
@ -2946,7 +2964,7 @@ static void cliDshotProg(char *cmdline)
|
|||
pwmWriteDshotCommand(escIndex, getMotorCount(), command, true);
|
||||
} else {
|
||||
#if defined(USE_ESC_SENSOR) && defined(USE_ESC_SENSOR_INFO)
|
||||
if (featureConfigured(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
if (escIndex != ALL_MOTORS) {
|
||||
executeEscInfoCommand(escIndex);
|
||||
} else {
|
||||
|
@ -3238,7 +3256,11 @@ static void cliSave(char *cmdline)
|
|||
#endif
|
||||
#endif // USE_BOARD_INFO
|
||||
|
||||
if (featureMaskIsCopied) {
|
||||
writeEEPROMWithFeatures(featureMaskCopy);
|
||||
} else {
|
||||
writeEEPROM();
|
||||
}
|
||||
|
||||
cliReboot();
|
||||
}
|
||||
|
@ -4642,9 +4664,9 @@ void cliEnter(serialPort_t *serialPort)
|
|||
#else
|
||||
cliPrintLine("\r\nCLI");
|
||||
#endif
|
||||
cliPrompt();
|
||||
|
||||
setArmingDisabled(ARMING_DISABLED_CLI);
|
||||
|
||||
cliPrompt();
|
||||
}
|
||||
|
||||
void cliInit(const serialConfig_t *serialConfig)
|
||||
|
|
|
@ -165,6 +165,18 @@ typedef enum {
|
|||
|
||||
#define RTC_NOT_SUPPORTED 0xff
|
||||
|
||||
static bool featureMaskIsCopied = false;
|
||||
static uint32_t featureMaskCopy;
|
||||
|
||||
static uint32_t getFeatureMask(void)
|
||||
{
|
||||
if (featureMaskIsCopied) {
|
||||
return featureMaskCopy;
|
||||
} else {
|
||||
return featureMask();
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
#define ESC_4WAY 0xff
|
||||
|
||||
|
@ -531,7 +543,7 @@ static bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProce
|
|||
break;
|
||||
|
||||
case MSP_FEATURE_CONFIG:
|
||||
sbufWriteU32(dst, featureMask());
|
||||
sbufWriteU32(dst, getFeatureMask());
|
||||
break;
|
||||
|
||||
#ifdef USE_BEEPER
|
||||
|
@ -1018,7 +1030,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
|
|||
|
||||
#if defined(USE_ESC_SENSOR)
|
||||
case MSP_ESC_SENSOR_DATA:
|
||||
if (featureConfigured(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
sbufWriteU8(dst, getMotorCount());
|
||||
for (int i = 0; i < getMotorCount(); i++) {
|
||||
const escSensorData_t *escData = getEscSensorData(i);
|
||||
|
@ -1552,7 +1564,11 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
|
|||
readEEPROM();
|
||||
break;
|
||||
case MSP_EEPROM_WRITE:
|
||||
if (featureMaskIsCopied) {
|
||||
writeEEPROMWithFeatures(featureMaskCopy);
|
||||
} else {
|
||||
writeEEPROM();
|
||||
}
|
||||
readEEPROM();
|
||||
break;
|
||||
default:
|
||||
|
@ -1999,7 +2015,12 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
|
|||
if (ARMING_FLAG(ARMED)) {
|
||||
return MSP_RESULT_ERROR;
|
||||
}
|
||||
|
||||
if (featureMaskIsCopied) {
|
||||
writeEEPROMWithFeatures(featureMaskCopy);
|
||||
} else {
|
||||
writeEEPROM();
|
||||
}
|
||||
readEEPROM();
|
||||
break;
|
||||
|
||||
|
@ -2124,8 +2145,11 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
|
|||
break;
|
||||
#endif // USE_GPS
|
||||
case MSP_SET_FEATURE_CONFIG:
|
||||
featureClearAll();
|
||||
featureSet(sbufReadU32(src)); // features bitmap
|
||||
featureMaskCopy = sbufReadU32(src);
|
||||
if (!featureMaskIsCopied) {
|
||||
featureMaskIsCopied = true;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
#ifdef USE_BEEPER
|
||||
|
|
|
@ -166,11 +166,11 @@ void initActiveBoxIds(void)
|
|||
#define BME(boxId) do { bitArraySet(&ena, boxId); } while (0)
|
||||
BME(BOXARM);
|
||||
BME(BOXPREARM);
|
||||
if (!featureConfigured(FEATURE_AIRMODE)) {
|
||||
if (!featureIsEnabled(FEATURE_AIRMODE)) {
|
||||
BME(BOXAIRMODE);
|
||||
}
|
||||
|
||||
if (!featureConfigured(FEATURE_ANTI_GRAVITY)) {
|
||||
if (!featureIsEnabled(FEATURE_ANTI_GRAVITY)) {
|
||||
BME(BOXANTIGRAVITY);
|
||||
}
|
||||
|
||||
|
@ -188,9 +188,9 @@ void initActiveBoxIds(void)
|
|||
#endif
|
||||
|
||||
#ifdef USE_GPS
|
||||
if (featureConfigured(FEATURE_GPS)) {
|
||||
if (featureIsEnabled(FEATURE_GPS)) {
|
||||
#ifdef USE_GPS_RESCUE
|
||||
if (!featureConfigured(FEATURE_3D)) {
|
||||
if (!featureIsEnabled(FEATURE_3D)) {
|
||||
BME(BOXGPSRESCUE);
|
||||
}
|
||||
#endif
|
||||
|
@ -207,7 +207,7 @@ void initActiveBoxIds(void)
|
|||
BME(BOXBEEPERON);
|
||||
|
||||
#ifdef USE_LED_STRIP
|
||||
if (featureConfigured(FEATURE_LED_STRIP)) {
|
||||
if (featureIsEnabled(FEATURE_LED_STRIP)) {
|
||||
BME(BOXLEDLOW);
|
||||
}
|
||||
#endif
|
||||
|
@ -221,7 +221,7 @@ void initActiveBoxIds(void)
|
|||
|
||||
BME(BOXFPVANGLEMIX);
|
||||
|
||||
if (featureConfigured(FEATURE_3D)) {
|
||||
if (featureIsEnabled(FEATURE_3D)) {
|
||||
BME(BOX3D);
|
||||
}
|
||||
|
||||
|
@ -229,18 +229,18 @@ void initActiveBoxIds(void)
|
|||
BME(BOXFLIPOVERAFTERCRASH);
|
||||
}
|
||||
|
||||
if (featureConfigured(FEATURE_SERVO_TILT)) {
|
||||
if (featureIsEnabled(FEATURE_SERVO_TILT)) {
|
||||
BME(BOXCAMSTAB);
|
||||
}
|
||||
|
||||
if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL)) {
|
||||
if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {
|
||||
BME(BOXCALIB);
|
||||
}
|
||||
|
||||
BME(BOXOSD);
|
||||
|
||||
#ifdef USE_TELEMETRY
|
||||
if (featureConfigured(FEATURE_TELEMETRY)) {
|
||||
if (featureIsEnabled(FEATURE_TELEMETRY)) {
|
||||
BME(BOXTELEMETRY);
|
||||
}
|
||||
#endif
|
||||
|
|
|
@ -384,7 +384,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
|
|||
if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) {
|
||||
beeper(BEEPER_RX_SET);
|
||||
#ifdef USE_GPS
|
||||
} else if (featureConfigured(FEATURE_GPS) && IS_RC_MODE_ACTIVE(BOXBEEPGPSCOUNT)) {
|
||||
} else if (featureIsEnabled(FEATURE_GPS) && IS_RC_MODE_ACTIVE(BOXBEEPGPSCOUNT)) {
|
||||
beeperGpsStatus();
|
||||
#endif
|
||||
}
|
||||
|
|
|
@ -357,7 +357,7 @@ static void showProfilePage(void)
|
|||
#ifdef USE_GPS
|
||||
static void showGpsPage(void)
|
||||
{
|
||||
if (!featureConfigured(FEATURE_GPS)) {
|
||||
if (!featureIsEnabled(FEATURE_GPS)) {
|
||||
pageState.pageFlags |= PAGE_STATE_FLAG_FORCE_PAGE_CHANGE;
|
||||
return;
|
||||
}
|
||||
|
|
|
@ -1214,7 +1214,7 @@ static void gpsHandlePassthrough(uint8_t data)
|
|||
{
|
||||
gpsNewData(data);
|
||||
#ifdef USE_DASHBOARD
|
||||
if (featureConfigured(FEATURE_DASHBOARD)) {
|
||||
if (featureIsEnabled(FEATURE_DASHBOARD)) {
|
||||
dashboardUpdate(micros());
|
||||
}
|
||||
#endif
|
||||
|
@ -1230,7 +1230,7 @@ void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort)
|
|||
serialSetMode(gpsPort, gpsPort->mode | MODE_TX);
|
||||
|
||||
#ifdef USE_DASHBOARD
|
||||
if (featureConfigured(FEATURE_DASHBOARD)) {
|
||||
if (featureIsEnabled(FEATURE_DASHBOARD)) {
|
||||
dashboardShowFixedPage(PAGE_GPS);
|
||||
}
|
||||
#endif
|
||||
|
|
|
@ -788,7 +788,7 @@ static bool osdDrawSingleElement(uint8_t item)
|
|||
|
||||
#ifdef USE_ESC_SENSOR
|
||||
// Show warning if we lose motor output, the ESC is overheating or excessive current draw
|
||||
if (featureConfigured(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL)) {
|
||||
char escWarningMsg[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
|
||||
unsigned pos = 0;
|
||||
|
||||
|
@ -956,13 +956,13 @@ static bool osdDrawSingleElement(uint8_t item)
|
|||
|
||||
#ifdef USE_ESC_SENSOR
|
||||
case OSD_ESC_TMP:
|
||||
if (featureConfigured(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
tfp_sprintf(buff, "%3d%c", osdConvertTemperatureToSelectedUnit(escDataCombined->temperature * 10) / 10, osdGetTemperatureSymbolForSelectedUnit());
|
||||
}
|
||||
break;
|
||||
|
||||
case OSD_ESC_RPM:
|
||||
if (featureConfigured(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
tfp_sprintf(buff, "%5d", escDataCombined == NULL ? 0 : calcEscRpm(escDataCombined->rpm));
|
||||
}
|
||||
break;
|
||||
|
@ -1040,7 +1040,7 @@ static void osdDrawElements(void)
|
|||
#endif // GPS
|
||||
|
||||
#ifdef USE_ESC_SENSOR
|
||||
if (featureConfigured(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
osdDrawSingleElement(OSD_ESC_TMP);
|
||||
osdDrawSingleElement(OSD_ESC_RPM);
|
||||
}
|
||||
|
@ -1226,7 +1226,7 @@ void osdUpdateAlarms(void)
|
|||
}
|
||||
|
||||
#ifdef USE_ESC_SENSOR
|
||||
if (featureConfigured(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
// This works because the combined ESC data contains the maximum temperature seen amongst all ESCs
|
||||
if (osdConfig()->esc_temp_alarm != ESC_TEMP_ALARM_OFF && escDataCombined->temperature >= osdConfig()->esc_temp_alarm) {
|
||||
SET_BLINK(OSD_ESC_TMP);
|
||||
|
@ -1560,7 +1560,7 @@ STATIC_UNIT_TESTED void osdRefresh(timeUs_t currentTimeUs)
|
|||
blinkState = (currentTimeUs / 200000) % 2;
|
||||
|
||||
#ifdef USE_ESC_SENSOR
|
||||
if (featureConfigured(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
escDataCombined = getEscSensorData(ESC_SENSOR_COMBINED);
|
||||
}
|
||||
#endif
|
||||
|
|
|
@ -72,7 +72,7 @@ bool vtxRTC6705Init(void)
|
|||
bool vtxRTC6705CanUpdate(void)
|
||||
{
|
||||
#if defined(MAX7456_SPI_INSTANCE) && defined(RTC6705_SPI_INSTANCE) && defined(SPI_SHARED_MAX7456_AND_RTC6705)
|
||||
if (featureConfigured(FEATURE_OSD)) {
|
||||
if (featureIsEnabled(FEATURE_OSD)) {
|
||||
return !max7456DmaInProgress();
|
||||
}
|
||||
#endif
|
||||
|
|
|
@ -233,7 +233,7 @@ void init(void)
|
|||
adcConfigMutable()->vbat.enabled = (batteryConfig()->voltageMeterSource == VOLTAGE_METER_ADC);
|
||||
adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
|
||||
|
||||
adcConfigMutable()->rssi.enabled = featureConfigured(FEATURE_RSSI_ADC);
|
||||
adcConfigMutable()->rssi.enabled = featureIsEnabled(FEATURE_RSSI_ADC);
|
||||
adcInit(adcConfig());
|
||||
#endif
|
||||
|
||||
|
@ -275,7 +275,7 @@ void init(void)
|
|||
#ifdef USE_LED_STRIP
|
||||
ledStripInit();
|
||||
|
||||
if (featureConfigured(FEATURE_LED_STRIP)) {
|
||||
if (featureIsEnabled(FEATURE_LED_STRIP)) {
|
||||
ledStripEnable();
|
||||
}
|
||||
#endif
|
||||
|
@ -285,7 +285,7 @@ void init(void)
|
|||
#endif
|
||||
|
||||
#ifdef USE_TRANSPONDER
|
||||
if (featureConfigured(FEATURE_TRANSPONDER)) {
|
||||
if (featureIsEnabled(FEATURE_TRANSPONDER)) {
|
||||
transponderInit();
|
||||
transponderStartRepeating();
|
||||
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
|
||||
|
|
|
@ -305,7 +305,7 @@ rx_spi_received_e frSkyDHandlePacket(uint8_t * const packet, uint8_t * const pro
|
|||
void frSkyDInit(void)
|
||||
{
|
||||
#if defined(USE_RX_FRSKY_SPI_TELEMETRY) && defined(USE_TELEMETRY_FRSKY_HUB)
|
||||
if (featureConfigured(FEATURE_TELEMETRY)) {
|
||||
if (featureIsEnabled(FEATURE_TELEMETRY)) {
|
||||
telemetryEnabled = initFrSkyHubTelemetryExternal(frSkyDTelemetryWriteByte);
|
||||
}
|
||||
#endif
|
||||
|
|
|
@ -543,7 +543,7 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
|
|||
void frSkyXInit(void)
|
||||
{
|
||||
#if defined(USE_TELEMETRY_SMARTPORT)
|
||||
if (featureConfigured(FEATURE_TELEMETRY)) {
|
||||
if (featureIsEnabled(FEATURE_TELEMETRY)) {
|
||||
telemetryEnabled = initSmartPortTelemetryExternal(frSkyXTelemetryWriteFrame);
|
||||
}
|
||||
#endif
|
||||
|
|
|
@ -60,10 +60,10 @@ void rxPwmInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
|
|||
rxRuntimeConfig->rxRefreshRate = 20000;
|
||||
|
||||
// configure PWM/CPPM read function and max number of channels. serial rx below will override both of these, if enabled
|
||||
if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
|
||||
if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
|
||||
rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT;
|
||||
rxRuntimeConfig->rcReadRawFn = pwmReadRawRC;
|
||||
} else if (featureConfigured(FEATURE_RX_PPM)) {
|
||||
} else if (featureIsEnabled(FEATURE_RX_PPM)) {
|
||||
rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT;
|
||||
rxRuntimeConfig->rcReadRawFn = ppmReadRawRC;
|
||||
}
|
||||
|
|
|
@ -248,7 +248,7 @@ void rxInit(void)
|
|||
rcInvalidPulsPeriod[i] = millis() + MAX_INVALID_PULS_TIME;
|
||||
}
|
||||
|
||||
rcData[THROTTLE] = (featureConfigured(FEATURE_3D)) ? rxConfig()->midrc : rxConfig()->rx_min_usec;
|
||||
rcData[THROTTLE] = (featureIsEnabled(FEATURE_3D)) ? rxConfig()->midrc : rxConfig()->rx_min_usec;
|
||||
|
||||
// Initialize ARM switch to OFF position when arming via switch is defined
|
||||
// TODO - move to rc_mode.c
|
||||
|
@ -268,7 +268,7 @@ void rxInit(void)
|
|||
}
|
||||
|
||||
#ifdef USE_SERIAL_RX
|
||||
if (featureConfigured(FEATURE_RX_SERIAL)) {
|
||||
if (featureIsEnabled(FEATURE_RX_SERIAL)) {
|
||||
const bool enabled = serialRxInit(rxConfig(), &rxRuntimeConfig);
|
||||
if (!enabled) {
|
||||
rxRuntimeConfig.rcReadRawFn = nullReadRawRC;
|
||||
|
@ -278,14 +278,14 @@ void rxInit(void)
|
|||
#endif
|
||||
|
||||
#ifdef USE_RX_MSP
|
||||
if (featureConfigured(FEATURE_RX_MSP)) {
|
||||
if (featureIsEnabled(FEATURE_RX_MSP)) {
|
||||
rxMspInit(rxConfig(), &rxRuntimeConfig);
|
||||
needRxSignalMaxDelayUs = DELAY_5_HZ;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_RX_SPI
|
||||
if (featureConfigured(FEATURE_RX_SPI)) {
|
||||
if (featureIsEnabled(FEATURE_RX_SPI)) {
|
||||
const bool enabled = rxSpiInit(rxSpiConfig(), &rxRuntimeConfig);
|
||||
if (!enabled) {
|
||||
rxRuntimeConfig.rcReadRawFn = nullReadRawRC;
|
||||
|
@ -295,13 +295,13 @@ void rxInit(void)
|
|||
#endif
|
||||
|
||||
#if defined(USE_PWM) || defined(USE_PPM)
|
||||
if (featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
|
||||
if (featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
|
||||
rxPwmInit(rxConfig(), &rxRuntimeConfig);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(USE_ADC)
|
||||
if (featureConfigured(FEATURE_RSSI_ADC)) {
|
||||
if (featureIsEnabled(FEATURE_RSSI_ADC)) {
|
||||
rssiSource = RSSI_SOURCE_ADC;
|
||||
} else
|
||||
#endif
|
||||
|
@ -344,14 +344,14 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
|
|||
bool useDataDrivenProcessing = true;
|
||||
|
||||
#if defined(USE_PWM) || defined(USE_PPM)
|
||||
if (featureConfigured(FEATURE_RX_PPM)) {
|
||||
if (featureIsEnabled(FEATURE_RX_PPM)) {
|
||||
if (isPPMDataBeingReceived()) {
|
||||
signalReceived = true;
|
||||
rxIsInFailsafeMode = false;
|
||||
needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
|
||||
resetPPMDataReceivedState();
|
||||
}
|
||||
} else if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
|
||||
} else if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
|
||||
if (isPWMDataBeingReceived()) {
|
||||
signalReceived = true;
|
||||
rxIsInFailsafeMode = false;
|
||||
|
@ -435,7 +435,7 @@ static uint16_t getRxfailValue(uint8_t channel)
|
|||
case YAW:
|
||||
return rxConfig()->midrc;
|
||||
case THROTTLE:
|
||||
if (featureConfigured(FEATURE_3D))
|
||||
if (featureIsEnabled(FEATURE_3D))
|
||||
return rxConfig()->midrc;
|
||||
else
|
||||
return rxConfig()->rx_min_usec;
|
||||
|
@ -510,7 +510,7 @@ static void detectAndApplySignalLossBehaviour(void)
|
|||
}
|
||||
}
|
||||
}
|
||||
if (featureConfigured(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM)) {
|
||||
if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM)) {
|
||||
// smooth output for PWM and PPM
|
||||
rcData[channel] = calculateChannelMovingAverage(channel, sample);
|
||||
} else {
|
||||
|
|
|
@ -238,7 +238,7 @@ void spektrumBind(rxConfig_t *rxConfig)
|
|||
switch (rxConfig->serialrx_provider) {
|
||||
case SERIALRX_SRXL:
|
||||
#if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
|
||||
if (featureConfigured(FEATURE_TELEMETRY) && !telemetryCheckRxPortShared(portConfig)) {
|
||||
if (featureIsEnabled(FEATURE_TELEMETRY) && !telemetryCheckRxPortShared(portConfig)) {
|
||||
bindPin = txPin;
|
||||
}
|
||||
break;
|
||||
|
@ -322,7 +322,7 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
|
|||
switch (rxConfig->serialrx_provider) {
|
||||
case SERIALRX_SRXL:
|
||||
#if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
|
||||
srxlEnabled = (featureConfigured(FEATURE_TELEMETRY) && !portShared);
|
||||
srxlEnabled = (featureIsEnabled(FEATURE_TELEMETRY) && !portShared);
|
||||
FALLTHROUGH;
|
||||
#endif
|
||||
case SERIALRX_SPEKTRUM2048:
|
||||
|
|
|
@ -528,7 +528,7 @@ void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
|
|||
performAcclerationCalibration(rollAndPitchTrims);
|
||||
}
|
||||
|
||||
if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL)) {
|
||||
if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {
|
||||
performInflightAccelerationCalibration(rollAndPitchTrims);
|
||||
}
|
||||
|
||||
|
|
|
@ -121,7 +121,7 @@ void batteryUpdateVoltage(timeUs_t currentTimeUs)
|
|||
switch (batteryConfig()->voltageMeterSource) {
|
||||
#ifdef USE_ESC_SENSOR
|
||||
case VOLTAGE_METER_ESC:
|
||||
if (featureConfigured(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
voltageMeterESCRefresh();
|
||||
voltageMeterESCReadCombined(&voltageMeter);
|
||||
}
|
||||
|
@ -399,7 +399,7 @@ void batteryUpdateCurrentMeter(timeUs_t currentTimeUs)
|
|||
case CURRENT_METER_VIRTUAL: {
|
||||
#ifdef USE_VIRTUAL_CURRENT_METER
|
||||
throttleStatus_e throttleStatus = calculateThrottleStatus();
|
||||
bool throttleLowAndMotorStop = (throttleStatus == THROTTLE_LOW && featureConfigured(FEATURE_MOTOR_STOP));
|
||||
bool throttleLowAndMotorStop = (throttleStatus == THROTTLE_LOW && featureIsEnabled(FEATURE_MOTOR_STOP));
|
||||
int32_t throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
|
||||
|
||||
currentMeterVirtualRefresh(lastUpdateAt, ARMING_FLAG(ARMED), throttleLowAndMotorStop, throttleOffset);
|
||||
|
@ -410,7 +410,7 @@ void batteryUpdateCurrentMeter(timeUs_t currentTimeUs)
|
|||
|
||||
case CURRENT_METER_ESC:
|
||||
#ifdef USE_ESC_SENSOR
|
||||
if (featureConfigured(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
currentMeterESCRefresh(lastUpdateAt);
|
||||
currentMeterESCReadCombined(¤tMeter);
|
||||
}
|
||||
|
|
|
@ -148,7 +148,7 @@ bool isEscSensorActive(void)
|
|||
|
||||
escSensorData_t *getEscSensorData(uint8_t motorNumber)
|
||||
{
|
||||
if (!featureConfigured(FEATURE_ESC_SENSOR)) {
|
||||
if (!featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
|
|
|
@ -744,7 +744,7 @@ static void gyroInitFilterNotch2(gyroSensor_t *gyroSensor, uint16_t notchHz, uin
|
|||
#ifdef USE_GYRO_DATA_ANALYSE
|
||||
static bool isDynamicFilterActive(void)
|
||||
{
|
||||
return featureConfigured(FEATURE_DYNAMIC_FILTER);
|
||||
return featureIsEnabled(FEATURE_DYNAMIC_FILTER);
|
||||
}
|
||||
|
||||
static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor)
|
||||
|
|
|
@ -101,7 +101,7 @@ void targetConfiguration(void)
|
|||
rxConfigMutable()->serialrx_inverted = true;
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY_HUB | FUNCTION_RX_SERIAL;
|
||||
telemetryConfigMutable()->telemetry_inverted = false;
|
||||
featureSet(FEATURE_TELEMETRY);
|
||||
featureEnable(FEATURE_TELEMETRY);
|
||||
beeperDevConfigMutable()->isOpenDrain = false;
|
||||
beeperDevConfigMutable()->isInverted = true;
|
||||
parseRcChannels("AETR1234", rxConfigMutable());
|
||||
|
|
|
@ -73,7 +73,7 @@ void targetConfiguration(void)
|
|||
telemetryConfigMutable()->telemetry_inverted = false;
|
||||
batteryConfigMutable()->voltageMeterSource = VOLTAGE_METER_ADC;
|
||||
batteryConfigMutable()->currentMeterSource = CURRENT_METER_ADC;
|
||||
featureSet(FEATURE_TELEMETRY);
|
||||
featureEnable(FEATURE_TELEMETRY);
|
||||
}
|
||||
|
||||
for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
|
||||
|
|
|
@ -72,7 +72,7 @@ void targetConfiguration(void)
|
|||
telemetryConfigMutable()->telemetry_inverted = false;
|
||||
batteryConfigMutable()->voltageMeterSource = VOLTAGE_METER_ADC;
|
||||
batteryConfigMutable()->currentMeterSource = CURRENT_METER_ADC;
|
||||
featureSet(FEATURE_TELEMETRY);
|
||||
featureEnable(FEATURE_TELEMETRY);
|
||||
}
|
||||
|
||||
for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
|
||||
|
|
|
@ -113,7 +113,7 @@ void targetConfiguration(void)
|
|||
|
||||
pidConfigMutable()->runaway_takeoff_prevention = false;
|
||||
|
||||
featureSet((FEATURE_DYNAMIC_FILTER | FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM);
|
||||
featureEnable((FEATURE_DYNAMIC_FILTER | FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM);
|
||||
|
||||
/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
|
||||
for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
|
||||
|
|
|
@ -56,7 +56,7 @@ void targetPreInit(void)
|
|||
serialPortConfig_t *portConfig = serialFindPortConfiguration(SERIAL_PORT_USART1);
|
||||
if (portConfig) {
|
||||
bool smartportEnabled = (portConfig->functionMask & FUNCTION_TELEMETRY_SMARTPORT);
|
||||
if (smartportEnabled && (!telemetryConfig()->telemetry_inverted) && (featureConfigured(FEATURE_TELEMETRY))) {
|
||||
if (smartportEnabled && (!telemetryConfig()->telemetry_inverted) && (featureIsEnabled(FEATURE_TELEMETRY))) {
|
||||
high = true;
|
||||
}
|
||||
}
|
||||
|
|
|
@ -558,10 +558,10 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
|
|||
readEEPROM();
|
||||
break;
|
||||
case BST_SET_FEATURE:
|
||||
featureClearAll();
|
||||
featureSet(bstRead32()); // features bitmap
|
||||
featureDisableAll();
|
||||
featureEnable(bstRead32()); // features bitmap
|
||||
#ifdef SERIALRX_UART
|
||||
if (featureConfigured(FEATURE_RX_SERIAL)) {
|
||||
if (featureIsEnabled(FEATURE_RX_SERIAL)) {
|
||||
serialConfigMutable()->portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL;
|
||||
} else {
|
||||
serialConfigMutable()->portConfigs[SERIALRX_UART].functionMask = FUNCTION_NONE;
|
||||
|
|
|
@ -35,7 +35,7 @@
|
|||
void targetConfiguration(void)
|
||||
{
|
||||
if (hardwareRevision >= FORTINIF4_REV_2) {
|
||||
featureSet(FEATURE_OSD);
|
||||
featureEnable(FEATURE_OSD);
|
||||
}
|
||||
|
||||
telemetryConfigMutable()->halfDuplex = false;
|
||||
|
|
|
@ -65,7 +65,7 @@ void targetConfiguration(void)
|
|||
#else
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_TELEMETRY_FRSKY_HUB;
|
||||
rxConfigMutable()->serialrx_inverted = true;
|
||||
featureSet(FEATURE_TELEMETRY);
|
||||
featureEnable(FEATURE_TELEMETRY);
|
||||
#endif
|
||||
parseRcChannels("TAER1234", rxConfigMutable());
|
||||
|
||||
|
|
|
@ -436,7 +436,7 @@ void pwmCompleteMotorUpdate(uint8_t motorCount) {
|
|||
// for gazebo8 ArduCopterPlugin remap, normal range = [0.0, 1.0], 3D rang = [-1.0, 1.0]
|
||||
|
||||
double outScale = 1000.0;
|
||||
if (featureConfigured(FEATURE_3D)) {
|
||||
if (featureIsEnabled(FEATURE_3D)) {
|
||||
outScale = 500.0;
|
||||
}
|
||||
|
||||
|
|
|
@ -445,7 +445,7 @@ void initCrsfTelemetry(void)
|
|||
crsfSchedule[index++] = BV(CRSF_FRAME_BATTERY_SENSOR_INDEX);
|
||||
}
|
||||
crsfSchedule[index++] = BV(CRSF_FRAME_FLIGHT_MODE_INDEX);
|
||||
if (featureConfigured(FEATURE_GPS)) {
|
||||
if (featureIsEnabled(FEATURE_GPS)) {
|
||||
crsfSchedule[index++] = BV(CRSF_FRAME_GPS_INDEX);
|
||||
}
|
||||
crsfScheduleCount = (uint8_t)index;
|
||||
|
|
|
@ -193,7 +193,7 @@ static void sendThrottleOrBatterySizeAsRpm(void)
|
|||
if (ARMING_FLAG(ARMED)) {
|
||||
const throttleStatus_e throttleStatus = calculateThrottleStatus();
|
||||
uint16_t throttleForRPM = rcCommand[THROTTLE] / BLADE_NUMBER_DIVIDER;
|
||||
if (throttleStatus == THROTTLE_LOW && featureConfigured(FEATURE_MOTOR_STOP)) {
|
||||
if (throttleStatus == THROTTLE_LOW && featureIsEnabled(FEATURE_MOTOR_STOP)) {
|
||||
throttleForRPM = 0;
|
||||
}
|
||||
data = throttleForRPM;
|
||||
|
|
|
@ -228,7 +228,7 @@ static uint16_t getRPM()
|
|||
if (ARMING_FLAG(ARMED)) {
|
||||
const throttleStatus_e throttleStatus = calculateThrottleStatus();
|
||||
rpm = rcCommand[THROTTLE]; // / BLADE_NUMBER_DIVIDER;
|
||||
if (throttleStatus == THROTTLE_LOW && featureConfigured(FEATURE_MOTOR_STOP)) rpm = 0;
|
||||
if (throttleStatus == THROTTLE_LOW && featureIsEnabled(FEATURE_MOTOR_STOP)) rpm = 0;
|
||||
} else {
|
||||
rpm = (uint16_t)(batteryConfig()->batteryCapacity); // / BLADE_NUMBER_DIVIDER
|
||||
}
|
||||
|
|
|
@ -318,7 +318,7 @@ static void smartPortSendPackage(uint16_t id, uint32_t val)
|
|||
}
|
||||
|
||||
static bool reportExtendedEscSensors(void) {
|
||||
return featureConfigured(FEATURE_ESC_SENSOR) && telemetryConfig()->smartport_use_extra_sensors;
|
||||
return featureIsEnabled(FEATURE_ESC_SENSOR) && telemetryConfig()->smartport_use_extra_sensors;
|
||||
}
|
||||
|
||||
#define ADD_SENSOR(dataId) frSkyDataIdTableInfo.table[frSkyDataIdTableInfo.index++] = dataId
|
||||
|
@ -332,7 +332,7 @@ static void initSmartPortSensors(void)
|
|||
|
||||
if (isBatteryVoltageConfigured()) {
|
||||
#ifdef USE_ESC_SENSOR
|
||||
if (!featureConfigured(FEATURE_ESC_SENSOR)) {
|
||||
if (!featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
#endif
|
||||
{
|
||||
ADD_SENSOR(FSSP_DATAID_VFAS);
|
||||
|
@ -365,7 +365,7 @@ static void initSmartPortSensors(void)
|
|||
}
|
||||
|
||||
#ifdef USE_GPS
|
||||
if (featureConfigured(FEATURE_GPS)) {
|
||||
if (featureIsEnabled(FEATURE_GPS)) {
|
||||
ADD_SENSOR(FSSP_DATAID_SPEED);
|
||||
ADD_SENSOR(FSSP_DATAID_LATLONG);
|
||||
ADD_SENSOR(FSSP_DATAID_LATLONG); // twice (one for lat, one for long)
|
||||
|
@ -719,7 +719,7 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
|
|||
// provide GPS lock status
|
||||
smartPortSendPackage(id, (STATE(GPS_FIX) ? 1000 : 0) + (STATE(GPS_FIX_HOME) ? 2000 : 0) + gpsSol.numSat);
|
||||
*clearToSend = false;
|
||||
} else if (featureConfigured(FEATURE_GPS)) {
|
||||
} else if (featureIsEnabled(FEATURE_GPS)) {
|
||||
smartPortSendPackage(id, 0);
|
||||
*clearToSend = false;
|
||||
} else
|
||||
|
|
|
@ -793,7 +793,7 @@ extern "C" {
|
|||
uint32_t millis(void) { return micros() / 1000; }
|
||||
bool rxIsReceivingSignal(void) { return simulationHaveRx; }
|
||||
|
||||
bool featureConfigured(uint32_t f) { return simulationFeatureFlags & f; }
|
||||
bool featureIsEnabled(uint32_t f) { return simulationFeatureFlags & f; }
|
||||
void warningLedFlash(void) {}
|
||||
void warningLedDisable(void) {}
|
||||
void warningLedUpdate(void) {}
|
||||
|
|
|
@ -273,7 +273,7 @@ uint8_t armingFlags = 0;
|
|||
float rcCommand[4] = {0,0,0,0};
|
||||
|
||||
|
||||
bool featureConfigured(uint32_t mask)
|
||||
bool featureIsEnabled(uint32_t mask)
|
||||
{
|
||||
UNUSED(mask);
|
||||
return false;
|
||||
|
|
|
@ -388,7 +388,7 @@ bool sensors(uint32_t) {return false;}
|
|||
void serialWrite(serialPort_t *, uint8_t) {}
|
||||
uint32_t serialTxBytesFree(const serialPort_t *) {return 0;}
|
||||
bool isSerialTransmitBufferEmpty(const serialPort_t *) {return false;}
|
||||
bool featureConfigured(uint32_t) {return false;}
|
||||
bool featureIsEnabled(uint32_t) {return false;}
|
||||
void mspSerialReleasePortIfAllocated(serialPort_t *) {}
|
||||
serialPortConfig_t *findSerialPortConfig(serialPortFunction_e ) {return NULL;}
|
||||
serialPort_t *findSharedSerialPort(uint16_t , serialPortFunction_e ) {return NULL;}
|
||||
|
|
|
@ -567,7 +567,7 @@ throttleStatus_e calculateThrottleStatus()
|
|||
|
||||
void delay(uint32_t) {}
|
||||
|
||||
bool featureConfigured(uint32_t mask) {
|
||||
bool featureIsEnabled(uint32_t mask) {
|
||||
return (mask & testFeatureMask);
|
||||
}
|
||||
|
||||
|
|
|
@ -392,7 +392,7 @@ uint8_t armingFlags;
|
|||
|
||||
void delay(uint32_t) {}
|
||||
|
||||
bool featureConfigured(uint32_t mask) {
|
||||
bool featureIsEnabled(uint32_t mask) {
|
||||
return (mask & testFeatureMask);
|
||||
}
|
||||
|
||||
|
|
|
@ -352,7 +352,7 @@ void delay(uint32_t ms)
|
|||
|
||||
uint32_t micros(void) { return 0; }
|
||||
bool shouldSoundBatteryAlarm(void) { return false; }
|
||||
bool featureConfigured(uint32_t mask) {
|
||||
bool featureIsEnabled(uint32_t mask) {
|
||||
UNUSED(mask);
|
||||
return false;
|
||||
}
|
||||
|
|
|
@ -709,7 +709,7 @@ void gyroStartCalibration(bool isFirstArmingCalibration)
|
|||
}
|
||||
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
|
||||
void handleInflightCalibrationStickPosition(void) {}
|
||||
bool featureConfigured(uint32_t) { return false;}
|
||||
bool featureIsEnabled(uint32_t) { return false;}
|
||||
bool sensors(uint32_t) { return false;}
|
||||
void tryArm(void) {}
|
||||
void disarm(void) {}
|
||||
|
|
|
@ -845,7 +845,7 @@ extern "C" {
|
|||
sbufWriteU8(dst, (uint8_t)val);
|
||||
}
|
||||
|
||||
bool featureConfigured(uint32_t) { return false; }
|
||||
bool featureIsEnabled(uint32_t) { return false; }
|
||||
|
||||
void serialWriteBuf(serialPort_t *instance, const uint8_t *data, int count)
|
||||
{
|
||||
|
|
|
@ -186,11 +186,11 @@ bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadR
|
|||
return true;
|
||||
}
|
||||
|
||||
bool featureConfigured(uint32_t) {
|
||||
bool featureIsEnabled(uint32_t) {
|
||||
return false;
|
||||
}
|
||||
|
||||
void featureClear(uint32_t) {
|
||||
void featureDisable(uint32_t) {
|
||||
}
|
||||
|
||||
bool rxMspFrameComplete(void)
|
||||
|
|
|
@ -293,7 +293,7 @@ void beeperConfirmationBeeps(uint8_t beepCount) {UNUSED(beepCount);}
|
|||
|
||||
uint32_t micros(void) {return 0;}
|
||||
|
||||
bool featureConfigured(uint32_t) {return true;}
|
||||
bool featureIsEnabled(uint32_t) {return true;}
|
||||
|
||||
uint32_t serialRxBytesWaiting(const serialPort_t *) {return 0;}
|
||||
uint32_t serialTxBytesFree(const serialPort_t *) {return 0;}
|
||||
|
|
|
@ -108,7 +108,7 @@ throttleStatus_e calculateThrottleStatus(void)
|
|||
return throttleStatus;
|
||||
}
|
||||
|
||||
bool featureConfigured(uint32_t mask)
|
||||
bool featureIsEnabled(uint32_t mask)
|
||||
{
|
||||
return (definedFeatures & mask) != 0;
|
||||
}
|
||||
|
|
Loading…
Reference in New Issue