diff --git a/flight/libraries/sanitycheck.c b/flight/libraries/sanitycheck.c
index bf0e37014..d46304662 100644
--- a/flight/libraries/sanitycheck.c
+++ b/flight/libraries/sanitycheck.c
@@ -213,7 +213,7 @@ static int32_t check_stabilization_settings(int index, bool multirotor, bool cop
// (why not? might be fun to test ones reactions ;) if you dare, set your frame to "custom"!
if (multirotor) {
for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) {
- if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NONE) {
+ if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL) {
return SYSTEMALARMS_ALARM_ERROR;
}
}
@@ -221,7 +221,7 @@ static int32_t check_stabilization_settings(int index, bool multirotor, bool cop
// coptercontrol cannot do altitude holding
if (coptercontrol) {
- if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDE
+ if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
) {
return SYSTEMALARMS_ALARM_ERROR;
@@ -230,22 +230,23 @@ static int32_t check_stabilization_settings(int index, bool multirotor, bool cop
// check that thrust modes are only set to thrust axis
for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) {
- if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDE
+ if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|| modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
) {
return SYSTEMALARMS_ALARM_ERROR;
}
}
- if (!(modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NONE
- || modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDE
+ if (!(modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL
+ || modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
)) {
return SYSTEMALARMS_ALARM_ERROR;
}
// Warning: This assumes that certain conditions in the XML file are met. That
- // FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel
- // and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE
+ // FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL has the same numeric value for each channel
+ // and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL
+ // (this is checked at compile time by static constraint manualcontrol.h)
return SYSTEMALARMS_ALARM_OK;
}
diff --git a/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c b/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
index 65cb9bffa..d969f556a 100644
--- a/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
+++ b/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
@@ -632,7 +632,7 @@ static uint8_t updateFixedDesiredAttitude()
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
- stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_NONE;
+ stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
StabilizationDesiredSet(&stabDesired);
diff --git a/flight/modules/ManualControl/inc/manualcontrol.h b/flight/modules/ManualControl/inc/manualcontrol.h
index 4f5fdcd32..bce5a6724 100644
--- a/flight/modules/ManualControl/inc/manualcontrol.h
+++ b/flight/modules/ManualControl/inc/manualcontrol.h
@@ -81,7 +81,7 @@ void pathPlannerHandler(bool newinit);
*/
#define assumptions1 \
( \
- ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
+ ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
@@ -90,7 +90,7 @@ void pathPlannerHandler(bool newinit);
#define assumptions3 \
( \
- ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
+ ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_MANUAL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
@@ -99,7 +99,7 @@ void pathPlannerHandler(bool newinit);
#define assumptions5 \
( \
- ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
+ ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_MANUAL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
diff --git a/flight/modules/ManualControl/stabilizedhandler.c b/flight/modules/ManualControl/stabilizedhandler.c
index d7912d936..e98de70d4 100644
--- a/flight/modules/ManualControl/stabilizedhandler.c
+++ b/flight/modules/ManualControl/stabilizedhandler.c
@@ -86,7 +86,7 @@ void stabilizedHandler(bool newinit)
}
stabilization.Roll =
- (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd.Roll :
+ (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Roll * stabSettings.RollMax :
@@ -98,7 +98,7 @@ void stabilizedHandler(bool newinit)
0; // this is an invalid mode
stabilization.Pitch =
- (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd.Pitch :
+ (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
@@ -120,7 +120,7 @@ void stabilizedHandler(bool newinit)
} else {
stabilization.StabilizationMode.Yaw = stab_settings[2];
stabilization.Yaw =
- (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd.Yaw :
+ (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
diff --git a/flight/modules/Stabilization/stabilization.c b/flight/modules/Stabilization/stabilization.c
index 9b72e54ca..166360921 100644
--- a/flight/modules/Stabilization/stabilization.c
+++ b/flight/modules/Stabilization/stabilization.c
@@ -545,7 +545,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
break;
- case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:
+ case STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL:
actuatorDesiredAxis[i] = boundf(stabDesiredAxis[i], -1.0f, 1.0f);
break;
default:
diff --git a/shared/uavobjectdefinition/flightmodesettings.xml b/shared/uavobjectdefinition/flightmodesettings.xml
index e2ea535f6..753f4e7e9 100644
--- a/shared/uavobjectdefinition/flightmodesettings.xml
+++ b/shared/uavobjectdefinition/flightmodesettings.xml
@@ -7,36 +7,36 @@
diff --git a/shared/uavobjectdefinition/stabilizationdesired.xml b/shared/uavobjectdefinition/stabilizationdesired.xml
index 38279a96b..963dd1440 100644
--- a/shared/uavobjectdefinition/stabilizationdesired.xml
+++ b/shared/uavobjectdefinition/stabilizationdesired.xml
@@ -6,7 +6,7 @@
-
+