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Code Issues Releases Activity

Merge branch 'corvuscorax/OP-1309_Stabilization-Refactoring' into corvuscorax/OP-1259_Cruise_Control_Tweaks

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Corvus Corax 2014-05-04 11:21:23 +02:00
commit 5965a5a96e
1 changed files with 18 additions and 0 deletions
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18
flight/libraries/sanitycheck.c
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@ -106,6 +106,15 @@ int32_t configuration_check()
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED3: case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor, coptercontrol) : severity; severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor, coptercontrol) : severity;
break; break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED4:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(4, multirotor, coptercontrol) : severity;
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED5:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(5, multirotor, coptercontrol) : severity;
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED6:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(6, multirotor, coptercontrol) : severity;
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTUNE: case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_AUTOTUNE)) { if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_AUTOTUNE)) {
severity = SYSTEMALARMS_ALARM_ERROR; severity = SYSTEMALARMS_ALARM_ERROR;
@ -205,6 +214,15 @@ static int32_t check_stabilization_settings(int index, bool multirotor, bool cop
case 3: case 3:
FlightModeSettingsStabilization3SettingsArrayGet(modes); FlightModeSettingsStabilization3SettingsArrayGet(modes);
break; break;
case 4:
FlightModeSettingsStabilization4SettingsArrayGet(modes);
break;
case 5:
FlightModeSettingsStabilization5SettingsArrayGet(modes);
break;
case 6:
FlightModeSettingsStabilization6SettingsArrayGet(modes);
break;
default: default:
return SYSTEMALARMS_ALARM_ERROR; return SYSTEMALARMS_ALARM_ERROR;
} }