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AP_Frsky_Telem: fix setting of land_complete flag

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When is_flying is true, land_complete should be set to 0, and
conversely.
This commit is contained in:
floaledm 2016-10-31 19:07:00 -05:00 committed by Andrew Tridgell
parent bae9ce20c1
commit 5386edb791
2 changed files with 5 additions and 5 deletions
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8
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -684,8 +684,8 @@ uint32_t AP_Frsky_Telem::calc_ap_status(void)
ap_status = (uint8_t)((_ap.control_mode+1) & AP_CONTROL_MODE_LIMIT); ap_status = (uint8_t)((_ap.control_mode+1) & AP_CONTROL_MODE_LIMIT);
// simple/super simple modes flags // simple/super simple modes flags
ap_status |= (uint8_t)(*_ap.valuep & AP_SSIMPLE_FLAGS)<<AP_SSIMPLE_OFFSET; ap_status |= (uint8_t)(*_ap.valuep & AP_SSIMPLE_FLAGS)<<AP_SSIMPLE_OFFSET;
// is_flying flag // is_flying flag which is the inverse of the land_complete flag
ap_status |= (uint8_t)((*_ap.valuep & AP_ISFLYING_FLAG) ^ AP_ISFLYING_FLAG); ap_status |= (uint8_t)((*_ap.valuep & AP_LANDCOMPLETE_FLAG) ^ AP_LANDCOMPLETE_FLAG);
// armed flag // armed flag
ap_status |= (uint8_t)(AP_Notify::flags.armed)<<AP_ARMED_OFFSET; ap_status |= (uint8_t)(AP_Notify::flags.armed)<<AP_ARMED_OFFSET;
// battery failsafe flag // battery failsafe flag
@ -910,8 +910,8 @@ void AP_Frsky_Telem::calc_gps_position(void)
void AP_Frsky_Telem::set_is_flying(bool is_flying) void AP_Frsky_Telem::set_is_flying(bool is_flying)
{ {
if (is_flying) { if (is_flying) {
_ap.value |= AP_ISFLYING_FLAG; _ap.value &= ~AP_LANDCOMPLETE_FLAG; // set land_complete flag to 0
} else { } else {
_ap.value &= ~AP_ISFLYING_FLAG; _ap.value |= AP_LANDCOMPLETE_FLAG; // set land_complete flag to 1
} }
} }

2
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
View File

@ -90,7 +90,7 @@ for FrSky SPort Passthrough
#define AP_CONTROL_MODE_LIMIT 0x1F #define AP_CONTROL_MODE_LIMIT 0x1F
#define AP_SSIMPLE_FLAGS 0x6 #define AP_SSIMPLE_FLAGS 0x6
#define AP_SSIMPLE_OFFSET 4 #define AP_SSIMPLE_OFFSET 4
#define AP_ISFLYING_FLAG 0x80 #define AP_LANDCOMPLETE_FLAG 0x80
#define AP_INITIALIZED_FLAG 0x2000 #define AP_INITIALIZED_FLAG 0x2000
#define AP_ARMED_OFFSET 8 #define AP_ARMED_OFFSET 8
#define AP_BATT_FS_OFFSET 9 #define AP_BATT_FS_OFFSET 9