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Disable RC adjustments when the trigger channel goes out of the range #3443

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Merged
fiam merged 1 commit into from
Jun 26, 2018
Merged

Disable RC adjustments when the trigger channel goes out of the range #3443

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7 changes: 4 additions & 3 deletions src/main/fc/fc_core.c
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Original file line number Diff line number Diff line change
Expand Up @@ -483,9 +483,10 @@ void processRx(timeUs_t currentTimeUs)

updateActivatedModes();

if ((!cliMode) && (!FLIGHT_MODE(FAILSAFE_MODE))) {
updateAdjustmentStates();
processRcAdjustments(CONST_CAST(controlRateConfig_t*, currentControlRateProfile));
if (!cliMode) {
bool canUseRxData = rxIsReceivingSignal() && !FLIGHT_MODE(FAILSAFE_MODE);
updateAdjustmentStates(canUseRxData);
processRcAdjustments(CONST_CAST(controlRateConfig_t*, currentControlRateProfile), canUseRxData);
}

bool canUseHorizonMode = true;
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19 changes: 10 additions & 9 deletions src/main/fc/rc_adjustments.c
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Expand Up @@ -570,12 +570,10 @@ static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)

#define RESET_FREQUENCY_2HZ (1000 / 2)

void processRcAdjustments(controlRateConfig_t *controlRateConfig)
void processRcAdjustments(controlRateConfig_t *controlRateConfig, bool canUseRxData)
{
const uint32_t now = millis();

const bool canUseRxData = rxIsReceivingSignal();

for (int adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentState_t * const adjustmentState = &adjustmentStates[adjustmentIndex];

Expand Down Expand Up @@ -636,23 +634,26 @@ void resetAdjustmentStates(void)
memset(adjustmentStates, 0, sizeof(adjustmentStates));
}

void updateAdjustmentStates(void)
void updateAdjustmentStates(bool canUseRxData)
{
for (int index = 0; index < MAX_ADJUSTMENT_RANGE_COUNT; index++) {
const adjustmentRange_t * const adjustmentRange = adjustmentRanges(index);
const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentFunction - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];

if (isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {

const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentFunction - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];

if (canUseRxData && isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {
configureAdjustment(adjustmentRange->adjustmentIndex, adjustmentRange->auxSwitchChannelIndex, adjustmentConfig);
} else {
adjustmentState_t * const adjustmentState = &adjustmentStates[index];
if (adjustmentState->config == adjustmentConfig) {
adjustmentState->config = NULL;
}
}
}
}

bool isAdjustmentFunctionSelected(uint8_t adjustmentFunction) {
for (uint8_t index = 0; index < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; ++index) {
if (adjustmentStates[index].config->adjustmentFunction == adjustmentFunction) {
if (adjustmentStates[index].config && adjustmentStates[index].config->adjustmentFunction == adjustmentFunction) {
return true;
}
}
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4 changes: 2 additions & 2 deletions src/main/fc/rc_adjustments.h
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Expand Up @@ -135,7 +135,7 @@ typedef struct adjustmentState_s {
PG_DECLARE_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges);

void resetAdjustmentStates(void);
void updateAdjustmentStates(void);
void updateAdjustmentStates(bool canUseRxData);
struct controlRateConfig_s;
void processRcAdjustments(struct controlRateConfig_s *controlRateConfig);
void processRcAdjustments(struct controlRateConfig_s *controlRateConfig, bool canUseRxData);
bool isAdjustmentFunctionSelected(uint8_t adjustmentFunction);