Merge pull request #3457 from mikeller/added_dshotreverse_mode

Added BOXDSHOTREVERSE as a separate mode to BOX3DDISABLE.

src/main/fc/fc_core.c

@@ -220,9 +220,8 @@ void tryArm(void)
             return;
         }
 #ifdef USE_DSHOT
-        if (!feature(FEATURE_3D)) {
-            //TODO: Use BOXDSHOTREVERSE here
-            if (!IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
+        if (isMotorProtocolDshot()) {
+            if (!IS_RC_MODE_ACTIVE(BOXDSHOTREVERSE)) {
                 reverseMotors = false;
                 for (unsigned index = 0; index < getMotorCount(); index++) {
                     pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);

src/main/fc/fc_msp.c

@@ -150,12 +150,13 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
     { BOXBLACKBOX, "BLACKBOX", 26 },
     { BOXFAILSAFE, "FAILSAFE", 27 },
     { BOXAIRMODE, "AIR MODE", 28 },
-    { BOX3DDISABLESWITCH, "DISABLE 3D SWITCH", 29},
+    { BOX3DDISABLE, "DISABLE 3D", 29},
     { BOXFPVANGLEMIX, "FPV ANGLE MIX", 30},
     { BOXBLACKBOXERASE, "BLACKBOX ERASE (>30s)", 31 },
     { BOXCAMERA1, "CAMERA CONTROL 1", 32},
     { BOXCAMERA2, "CAMERA CONTROL 2", 33},
     { BOXCAMERA3, "CAMERA CONTROL 3", 34 },
+    { BOXDSHOTREVERSE, "DSHOT REVERSE MOTORS", 35 },
 };
 
 // mask of enabled IDs, calculated on startup based on enabled features. boxId_e is used as bit index
@@ -396,8 +397,13 @@ void initActiveBoxIds(void)
 
     BME(BOXFPVANGLEMIX);
 
-    //TODO: Split this into BOX3DDISABLESWITCH and BOXDSHOTREVERSE
-    BME(BOX3DDISABLESWITCH);
+    if (feature(FEATURE_3D)) {
+        BME(BOX3DDISABLE);
+    }
+
+    if (isMotorProtocolDshot()) {
+        BME(BOXDSHOTREVERSE);
+    }
 
     if (feature(FEATURE_SERVO_TILT)) {
         BME(BOXCAMSTAB);
@@ -469,7 +475,7 @@ static int packFlightModeFlags(boxBitmask_t *mspFlightModeFlags)
     const uint64_t rcModeCopyMask = BM(BOXHEADADJ) | BM(BOXCAMSTAB) | BM(BOXCAMTRIG) | BM(BOXBEEPERON)
         | BM(BOXLEDMAX) | BM(BOXLEDLOW) | BM(BOXLLIGHTS) | BM(BOXCALIB) | BM(BOXGOV) | BM(BOXOSD)
         | BM(BOXTELEMETRY) | BM(BOXGTUNE) | BM(BOXBLACKBOX) | BM(BOXBLACKBOXERASE) | BM(BOXAIRMODE)
-        | BM(BOXANTIGRAVITY) | BM(BOXFPVANGLEMIX);
+        | BM(BOXANTIGRAVITY) | BM(BOXFPVANGLEMIX) | BM(BOXDSHOTREVERSE) | BM(BOX3DDISABLE);
     STATIC_ASSERT(sizeof(rcModeCopyMask) * 8 >= CHECKBOX_ITEM_COUNT, copy_mask_too_small_for_boxes);
     for (unsigned i = 0; i < CHECKBOX_ITEM_COUNT; i++) {
         if ((rcModeCopyMask & BM(i))    // mode copy is enabled

src/main/fc/fc_rc.c

@@ -306,7 +306,7 @@ void updateRcCommands(void)
 
     rcCommand[THROTTLE] = rcLookupThrottle(tmp);
 
-    if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH) && !failsafeIsActive()) {
+    if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLE) && !failsafeIsActive()) {
         fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
         rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - rxConfig()->midrc);
     }

src/main/fc/rc_controls.c

@@ -103,7 +103,7 @@ bool areSticksInApModePosition(uint16_t ap_mode)
 
 throttleStatus_e calculateThrottleStatus(void)
 {
-    if (feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
+    if (feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLE)) {
         if ((rcData[THROTTLE] > (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle) && rcData[THROTTLE] < (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)))
             return THROTTLE_LOW;
     } else {

src/main/fc/rc_modes.h

@@ -51,12 +51,13 @@ typedef enum {
     BOXBLACKBOX,
     BOXFAILSAFE,
     BOXAIRMODE,
-    BOX3DDISABLESWITCH,
+    BOX3DDISABLE,
     BOXFPVANGLEMIX,
     BOXBLACKBOXERASE,
     BOXCAMERA1,
     BOXCAMERA2,
     BOXCAMERA3,
+    BOXDSHOTREVERSE,
     CHECKBOX_ITEM_COUNT
 } boxId_e;