From d2893fd32b4d5bb8fa8b0bb8beab2f77da9131dc Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Thu, 20 Jun 2013 19:39:19 +0200 Subject: [PATCH] OP-1019 fix sanitychecks and other uavo definition sanity checks for the newly defined altitudevario mode --- flight/libraries/sanitycheck.c | 1 + flight/modules/ManualControl/inc/manualcontrol.h | 2 ++ 2 files changed, 3 insertions(+) diff --git a/flight/libraries/sanitycheck.c b/flight/libraries/sanitycheck.c index dfc7b2c31..c1bb65eb3 100644 --- a/flight/libraries/sanitycheck.c +++ b/flight/libraries/sanitycheck.c @@ -110,6 +110,7 @@ int32_t configuration_check() } break; case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD: + case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEVARIO: if (coptercontrol) { severity = SYSTEMALARMS_ALARM_ERROR; } else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_ALTITUDEHOLD)) { // Revo supports altitude hold diff --git a/flight/modules/ManualControl/inc/manualcontrol.h b/flight/modules/ManualControl/inc/manualcontrol.h index 6278daa45..7b989fb5e 100644 --- a/flight/modules/ManualControl/inc/manualcontrol.h +++ b/flight/modules/ManualControl/inc/manualcontrol.h @@ -41,6 +41,7 @@ typedef enum { FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABI (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) ? FLIGHTMODE_STABILIZED : \ (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) ? FLIGHTMODE_STABILIZED : \ (x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) ? FLIGHTMODE_GUIDANCE : \ + (x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO) ? FLIGHTMODE_GUIDANCE : \ (x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) ? FLIGHTMODE_GUIDANCE : \ (x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) ? FLIGHTMODE_GUIDANCE : \ (x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) ? FLIGHTMODE_GUIDANCE : \ @@ -116,6 +117,7 @@ int32_t ManualControlInitialize(); ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \ ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \ ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD == (int)FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) && \ + ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEVARIO == (int)FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO) && \ ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int)FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \ ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int)FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) && \ ((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_PATHPLANNER == (int)FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) && \