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Code Issues Releases Activity

LP-241 Allow CruiseControl + Rate stabilization

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This commit is contained in:
Laurent Lalanne 2016-06-04 21:02:36 +02:00
parent b1cc1332ec
commit 7ce2d7562e
1 changed files with 6 additions and 6 deletions
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12
flight/libraries/sanitycheck.c
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@ -5,7 +5,8 @@
* @addtogroup OpenPilot Libraries OpenPilot System Libraries * @addtogroup OpenPilot Libraries OpenPilot System Libraries
* @{ * @{
* @file sanitycheck.c * @file sanitycheck.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Utilities to validate a flight configuration * @brief Utilities to validate a flight configuration
* @see The GNU Public License (GPL) Version 3 * @see The GNU Public License (GPL) Version 3
* *
@ -225,7 +226,7 @@ int32_t configuration_check()
} }
/** /**
* Checks the stabiliation settings for a paritcular mode and makes * Checks the stabilization settings for a particular mode and makes
* sure it is appropriate for the airframe * sure it is appropriate for the airframe
* @param[in] index Which stabilization mode to check * @param[in] index Which stabilization mode to check
* @returns true or false * @returns true or false
@ -304,12 +305,11 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
return false; return false;
} }
// if cruise control, ensure Acro+ is not set
// if cruise control, ensure rate or acro are not set
if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL) { if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL) {
for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_YAW; i++) { for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_YAW; i++) {
if ((modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RATE || // Do not allow Acro+, attitude estimation is not safe.
modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ACRO)) { if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ACRO) {
return false; return false;
} }
} }