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

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Corvus Corax 2014-05-04 11:39:34 +02:00
commit 6b25c06a03
3 changed files with 11 additions and 7 deletions
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6
flight/libraries/sanitycheck.c
View File

@ -195,12 +195,6 @@ int32_t configuration_check()
*/
static int32_t check_stabilization_settings(int index, bool multirotor, bool coptercontrol)
{
// Make sure the modes have identical sizes
if (FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM != FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_NUMELEM ||
FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM != FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_NUMELEM) {
return SYSTEMALARMS_ALARM_ERROR;
}
uint8_t modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM];
// Get the different axis modes for this switch position

10
flight/modules/ManualControl/inc/manualcontrol.h
View File

@ -181,6 +181,16 @@ void pathPlannerHandler(bool newinit);
1 \
)
#define assumptions7 \
( \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM == (int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_NUMELEM) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM == (int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_NUMELEM) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM == (int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_NUMELEM) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM == (int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_NUMELEM) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM == (int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_NUMELEM) && \
1 \
)
#define assumptions_flightmode \
( \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_MANUAL == (int)FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \

2
flight/modules/ManualControl/manualcontrol.c
View File

@ -113,7 +113,7 @@ static void commandUpdatedCb(UAVObjEvent *ev);
static void manualControlTask(void);
#define assumptions (assumptions1 && assumptions2 && assumptions3 && assumptions4 && assumptions5 && assumptions6 && assumptions_flightmode)
#define assumptions (assumptions1 && assumptions2 && assumptions3 && assumptions4 && assumptions5 && assumptions6 && assumptions7 && assumptions_flightmode)
/**
* Module starting