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Code Issues Releases Activity

OP1670:Sanitycheck acro/rate+cruisecontrol

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This commit is contained in:
abeck70 2015-01-07 13:26:12 +11:00
parent 54b8e7a2ab
commit d157b1f553
1 changed files with 12 additions and 0 deletions
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12
flight/libraries/sanitycheck.c
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@ -287,6 +287,18 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
return false;
}
// if cruise control, ensure rate or acro are not set
if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL) {
for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_YAW; i++) {
if ((modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RATE ||
modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ACRO)) {
return false;
}
}
}
// Warning: This assumes that certain conditions in the XML file are met. That
// FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL has the same numeric value for each channel
// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL