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Add CRUISE mode which is equivalent to CRSH+AH #6904

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merged 1 commit into from
May 4, 2021
Merged

Add CRUISE mode which is equivalent to CRSH+AH #6904

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3 changes: 3 additions & 0 deletions src/main/fc/fc_msp_box.c
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Original file line number Diff line number Diff line change
Expand Up @@ -90,6 +90,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXMSPRCOVERRIDE, "MSP RC OVERRIDE", 50 },
{ BOXPREARM, "PREARM", 51 },
{ BOXTURTLE, "TURTLE", 52 },
{ BOXNAVCRUISE, "NAV CRUISE", 53 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};

Expand Down Expand Up @@ -220,6 +221,7 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVCOURSEHOLD;
activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;
}
}
}
Expand Down Expand Up @@ -346,6 +348,7 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_ALTHOLD_MODE)), BOXNAVALTHOLD);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_POSHOLD_MODE)), BOXNAVPOSHOLD);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_COURSE_HOLD_MODE)), BOXNAVCOURSEHOLD);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) && IS_ENABLED(FLIGHT_MODE(NAV_COURSE_HOLD_MODE)), BOXNAVCRUISE);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_RTH_MODE)), BOXNAVRTH);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_WP_MODE)), BOXNAVWP);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)), BOXAIRMODE);
Expand Down
1 change: 1 addition & 0 deletions src/main/fc/rc_modes.c
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Expand Up @@ -212,6 +212,7 @@ void updateUsedModeActivationConditionFlags(void)
isUsingNAVModes = isModeActivationConditionPresent(BOXNAVPOSHOLD) ||
isModeActivationConditionPresent(BOXNAVRTH) ||
isModeActivationConditionPresent(BOXNAVCOURSEHOLD) ||
isModeActivationConditionPresent(BOXNAVCRUISE) ||
isModeActivationConditionPresent(BOXNAVWP);
#endif
}
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3 changes: 2 additions & 1 deletion src/main/fc/rc_modes.h
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,7 @@ typedef enum {
BOXMSPRCOVERRIDE = 41,
BOXPREARM = 42,
BOXTURTLE = 43,
BOXNAVCRUISE = 44,
CHECKBOX_ITEM_COUNT
} boxId_e;

Expand Down Expand Up @@ -129,4 +130,4 @@ bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);

void updateActivatedModes(void);
void updateUsedModeActivationConditionFlags(void);
void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm);
void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm);
5 changes: 4 additions & 1 deletion src/main/fc/runtime_config.c
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Expand Up @@ -155,9 +155,12 @@ flightModeForTelemetry_e getFlightModeForTelemetry(void)
if (FLIGHT_MODE(NAV_POSHOLD_MODE))
return FLM_POSITION_HOLD;

if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE))
if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE))
return FLM_CRUISE;

if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE))
return FLM_COURSE_HOLD;

if (FLIGHT_MODE(NAV_WP_MODE))
return FLM_MISSION;

Expand Down
1 change: 1 addition & 0 deletions src/main/fc/runtime_config.h
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Expand Up @@ -152,6 +152,7 @@ typedef enum {
FLM_POSITION_HOLD,
FLM_RTH,
FLM_MISSION,
FLM_COURSE_HOLD,
FLM_CRUISE,
FLM_LAUNCH,
FLM_FAILSAFE,
Expand Down
12 changes: 9 additions & 3 deletions src/main/navigation/navigation.c
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Expand Up @@ -3212,7 +3212,13 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
return NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D;
}

// PH has priority over CRUISE
// CRUISE has priority over COURSE_HOLD and AH
if (IS_RC_MODE_ACTIVE(BOXNAVCRUISE)) {
if ((FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))
return NAV_FSM_EVENT_SWITCH_TO_CRUISE;
}

// PH has priority over COURSE_HOLD
// CRUISE has priority on AH
if (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD)) {

Expand Down Expand Up @@ -3302,8 +3308,8 @@ bool navigationTerrainFollowingEnabled(void)

navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
{
const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD));
const bool navLaunchComboModesEnabled = isNavLaunchEnabled() && (IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) || IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD));
const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) || (STATE(FIXED_WING_LEGACY) && (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) || IS_RC_MODE_ACTIVE(BOXNAVCRUISE)));
const bool navLaunchComboModesEnabled = isNavLaunchEnabled() && (IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) || IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) || IS_RC_MODE_ACTIVE(BOXNAVCRUISE));

if (usedBypass) {
*usedBypass = false;
Expand Down
6 changes: 5 additions & 1 deletion src/main/programming/logic_condition.c
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Original file line number Diff line number Diff line change
Expand Up @@ -559,10 +559,14 @@ static int logicConditionGetFlightModeOperandValue(int operand) {
return (bool) FLIGHT_MODE(NAV_POSHOLD_MODE);
break;

case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_CRUISE:
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_COURSE_HOLD:
return (bool) FLIGHT_MODE(NAV_COURSE_HOLD_MODE);
break;

case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_CRUISE:
return (bool)(FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE));
break;

case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ALTHOLD:
return (bool) FLIGHT_MODE(NAV_ALTHOLD_MODE);
break;
Expand Down
1 change: 1 addition & 0 deletions src/main/programming/logic_condition.h
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Expand Up @@ -135,6 +135,7 @@ typedef enum {
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_AIR, // 8
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_USER1, // 9
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_USER2, // 10
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_COURSE_HOLD, // 11
} logicFlightModeOperands_e;

typedef enum {
Expand Down