Replace PASSTHROUGH with MANUAL flight mode (FW) (iNavFlight#2661)

* FW: add manual flight mode
* manual mode: separate roll and pitch expo
* manual flight mode: cleaning
* replace PASSTHRU mode with MANUAL mode
* manual mode: merge pitch and roll expo
* manual mode: add OSD menu for manual rates and expo
* manual mode: forgot to add yaw rate adjustment in OSD menu
* manual mode: add adjustments
* manual mode: move rates applications in fc_core
* group controlRateConfig settings by function
* group controlRateConfig settings by function: fix ALIENFLIGHTF3 default rates config
* manual mode rc adjustments: adapt to fc72312 changes
* manual mode: clean rc adjustments
* add new MSPv2 messages: MSP2_INAV_RATE_PROFILE and MSP2_INAV_SET_RATE_PROFILE

src/main/blackbox/blackbox.c

@@ -1383,15 +1383,15 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("looptime", "%d",                        getPidUpdateRate());
         BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom", "%d",                 gyroConfig()->gyroSyncDenominator);
         BLACKBOX_PRINT_HEADER_LINE("rc_rate", "%d",                         100); //For compatibility reasons write rc_rate 100
-        BLACKBOX_PRINT_HEADER_LINE("rc_expo", "%d",                         currentControlRateProfile->rcExpo8);
-        BLACKBOX_PRINT_HEADER_LINE("rc_yaw_expo", "%d",                     currentControlRateProfile->rcYawExpo8);
-        BLACKBOX_PRINT_HEADER_LINE("thr_mid", "%d",                         currentControlRateProfile->thrMid8);
-        BLACKBOX_PRINT_HEADER_LINE("thr_expo", "%d",                        currentControlRateProfile->thrExpo8);
-        BLACKBOX_PRINT_HEADER_LINE("tpa_rate", "%d",                        currentControlRateProfile->dynThrPID);
-        BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint", "%d",                  currentControlRateProfile->tpa_breakpoint);
-        BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d",                     currentControlRateProfile->rates[ROLL],
-                                                                            currentControlRateProfile->rates[PITCH],
-                                                                            currentControlRateProfile->rates[YAW]);
+        BLACKBOX_PRINT_HEADER_LINE("rc_expo", "%d",                         currentControlRateProfile->stabilized.rcExpo8);
+        BLACKBOX_PRINT_HEADER_LINE("rc_yaw_expo", "%d",                     currentControlRateProfile->stabilized.rcYawExpo8);
+        BLACKBOX_PRINT_HEADER_LINE("thr_mid", "%d",                         currentControlRateProfile->throttle.rcMid8);
+        BLACKBOX_PRINT_HEADER_LINE("thr_expo", "%d",                        currentControlRateProfile->throttle.rcExpo8);
+        BLACKBOX_PRINT_HEADER_LINE("tpa_rate", "%d",                        currentControlRateProfile->throttle.dynPID);
+        BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint", "%d",                  currentControlRateProfile->throttle.pa_breakpoint);
+        BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d",                     currentControlRateProfile->stabilized.rates[ROLL],
+                                                                            currentControlRateProfile->stabilized.rates[PITCH],
+                                                                            currentControlRateProfile->stabilized.rates[YAW]);
         BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d",                   pidBank()->pid[PID_ROLL].P,
                                                                             pidBank()->pid[PID_ROLL].I,
                                                                             pidBank()->pid[PID_ROLL].D);

src/main/cms/cms_menu_imu.c

@@ -259,6 +259,35 @@ static CMS_Menu cmsx_menuPidGpsnav = {
     .entries = cmsx_menuPidGpsnavEntries,
 };
 
+//
+// MANUAL Rate & Expo
+//
+static OSD_Entry cmsx_menuManualRateProfileEntries[] =
+{
+    { "-- MANUAL RATE --", OME_Label, NULL, profileIndexString, 0 },
+
+    OSD_SETTING_ENTRY("MANU ROLL RATE", SETTING_MANUAL_ROLL_RATE),
+    OSD_SETTING_ENTRY("MANU PITCH RATE", SETTING_MANUAL_PITCH_RATE),
+    OSD_SETTING_ENTRY("MANU YAW RATE", SETTING_MANUAL_YAW_RATE),
+
+    OSD_SETTING_ENTRY("MANU RC EXPO", SETTING_MANUAL_RC_EXPO),
+    OSD_SETTING_ENTRY("MANU RC YAW EXP", SETTING_MANUAL_RC_YAW_EXPO),
+
+    { "BACK", OME_Back, NULL, NULL, 0 },
+    { NULL, OME_END, NULL, NULL, 0 }
+};
+
+static CMS_Menu cmsx_menuManualRateProfile = {
+#ifdef CMS_MENU_DEBUG
+    .GUARD_text = "MENUMANURATE",
+    .GUARD_type = OME_MENU,
+#endif
+    .onEnter = NULL,
+    .onExit = NULL,
+    .onGlobalExit = NULL,
+    .entries = cmsx_menuManualRateProfileEntries
+};
+
 //
 // Rate & Expo
 //
@@ -423,6 +452,7 @@ static OSD_Entry cmsx_menuImuEntries[] =
     // Rate profile dependent
     {"RATE PROF", OME_UINT8,   cmsx_profileIndexOnChange, &(OSD_UINT8_t){ &tmpProfileIndex, 1, MAX_CONTROL_RATE_PROFILE_COUNT, 1}, 0},
     {"RATE",      OME_Submenu, cmsMenuChange,                 &cmsx_menuRateProfile,                                       0},
+    {"MANU RATE", OME_Submenu, cmsMenuChange,                 &cmsx_menuManualRateProfile,                                 0},
 
     // Global
     {"GYRO GLB",  OME_Submenu, cmsMenuChange,                 &cmsx_menuGyro,                                              0},

src/main/fc/controlrate_profile.c

@@ -33,21 +33,34 @@
 const controlRateConfig_t *currentControlRateProfile;
 
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 0);
+PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 1);
 
 void pgResetFn_controlRateProfiles(controlRateConfig_t *instance)
 {
     for (int i = 0; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) {
         RESET_CONFIG(controlRateConfig_t, &instance[i],
-            .rcExpo8 = 70,
-            .thrMid8 = 50,
-            .thrExpo8 = 0,
-            .dynThrPID = 0,
-            .rcYawExpo8 = 20,
-            .tpa_breakpoint = 1500,
-            .rates[FD_ROLL] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT,
-            .rates[FD_PITCH] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT,
-            .rates[FD_YAW] = CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT
+            .throttle = {
+                .rcMid8 = 50,
+                .rcExpo8 = 0,
+                .dynPID = 0,
+                .pa_breakpoint = 1500
+            },
+
+            .stabilized = {
+                .rcExpo8 = 70,
+                .rcYawExpo8 = 20,
+                .rates[FD_ROLL] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT,
+                .rates[FD_PITCH] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT,
+                .rates[FD_YAW] = CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT,
+            },
+
+            .manual = {
+                .rcExpo8 = 70,
+                .rcYawExpo8 = 20,
+                .rates[FD_ROLL] = 100,
+                .rates[FD_PITCH] = 100,
+                .rates[FD_YAW] = 100
+            }
         );
     }
 }

src/main/fc/controlrate_profile.h

@@ -41,13 +41,26 @@ and so on.
 #define CONTROL_RATE_CONFIG_TPA_MAX              100
 
 typedef struct controlRateConfig_s {
-    uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
-    uint8_t rcExpo8;
-    uint8_t thrMid8;
-    uint8_t thrExpo8;
-    uint8_t rates[3];
-    uint8_t dynThrPID;
-    uint8_t rcYawExpo8;
+
+    struct {
+        uint8_t rcMid8;
+        uint8_t rcExpo8;
+        uint8_t dynPID;
+        uint16_t pa_breakpoint;                // Breakpoint where TPA is activated
+    } throttle;
+
+    struct {
+        uint8_t rcExpo8;
+        uint8_t rcYawExpo8;
+        uint8_t rates[3];
+    } stabilized;
+
+    struct {
+        uint8_t rcExpo8;
+        uint8_t rcYawExpo8;
+        uint8_t rates[3];
+    } manual;
+
 } controlRateConfig_t;
 
 PG_DECLARE_ARRAY(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);

src/main/fc/fc_core.c

@@ -294,9 +294,16 @@ void annexCode(void)
     }
     else {
         // Compute ROLL PITCH and YAW command
-        rcCommand[ROLL] = getAxisRcCommand(rcData[ROLL], currentControlRateProfile->rcExpo8, rcControlsConfig()->deadband);
-        rcCommand[PITCH] = getAxisRcCommand(rcData[PITCH], currentControlRateProfile->rcExpo8, rcControlsConfig()->deadband);
-        rcCommand[YAW] = -getAxisRcCommand(rcData[YAW], currentControlRateProfile->rcYawExpo8, rcControlsConfig()->yaw_deadband);
+        rcCommand[ROLL] = getAxisRcCommand(rcData[ROLL], FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual.rcExpo8 : currentControlRateProfile->stabilized.rcExpo8, rcControlsConfig()->deadband);
+        rcCommand[PITCH] = getAxisRcCommand(rcData[PITCH], FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual.rcExpo8 : currentControlRateProfile->stabilized.rcExpo8, rcControlsConfig()->deadband);
+        rcCommand[YAW] = -getAxisRcCommand(rcData[YAW], FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual.rcYawExpo8 : currentControlRateProfile->stabilized.rcYawExpo8, rcControlsConfig()->yaw_deadband);
+
+        // Apply manual control rates
+        if (FLIGHT_MODE(MANUAL_MODE)) {
+            rcCommand[ROLL] = rcCommand[ROLL] * currentControlRateProfile->manual.rates[FD_ROLL] / 100L;
+            rcCommand[PITCH] = rcCommand[PITCH] * currentControlRateProfile->manual.rates[FD_PITCH] / 100L;
+            rcCommand[YAW] = rcCommand[YAW] * currentControlRateProfile->manual.rates[FD_YAW] / 100L;
+        }
 
         //Compute THROTTLE command
         throttleValue = constrain(rcData[THROTTLE], rxConfig()->mincheck, PWM_RANGE_MAX);
@@ -561,19 +568,20 @@ void processRx(timeUs_t currentTimeUs)
 
     // Handle passthrough mode
     if (STATE(FIXED_WING)) {
-        if ((IS_RC_MODE_ACTIVE(BOXPASSTHRU) && !navigationRequiresAngleMode() && !failsafeRequiresAngleMode()) ||    // Normal activation of passthrough
+        if ((IS_RC_MODE_ACTIVE(BOXMANUAL) && !navigationRequiresAngleMode() && !failsafeRequiresAngleMode()) ||    // Normal activation of passthrough
             (!ARMING_FLAG(ARMED) && isCalibrating())){                                                              // Backup - if we are not armed - enforce passthrough while calibrating
-            ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
+            ENABLE_FLIGHT_MODE(MANUAL_MODE);
         } else {
-            DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
+            DISABLE_FLIGHT_MODE(MANUAL_MODE);
         }
+	IS_RC_MODE_ACTIVE(BOXMANUAL) ? ENABLE_FLIGHT_MODE(MANUAL_MODE) : DISABLE_FLIGHT_MODE(MANUAL_MODE);
     }
 
     /* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
        This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air
        Low Throttle + roll and Pitch centered is assuming the copter is on the ground. Done to prevent complex air/ground detections */
-    if (FLIGHT_MODE(PASSTHRU_MODE) || !ARMING_FLAG(ARMED)) {
-        /* In PASSTHRU mode we reset integrators prevent I-term wind-up (PID output is not used in PASSTHRU) */
+    if (FLIGHT_MODE(MANUAL_MODE) || !ARMING_FLAG(ARMED)) {
+        /* In MANUAL mode we reset integrators prevent I-term wind-up (PID output is not used in MANUAL) */
         pidResetErrorAccumulators();
     }
     else {

src/main/fc/fc_msp.c

@@ -531,15 +531,37 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 
     case MSP_RC_TUNING:
         sbufWriteU8(dst, 100); //rcRate8 kept for compatibity reasons, this setting is no longer used
-        sbufWriteU8(dst, currentControlRateProfile->rcExpo8);
+        sbufWriteU8(dst, currentControlRateProfile->stabilized.rcExpo8);
         for (int i = 0 ; i < 3; i++) {
-            sbufWriteU8(dst, currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t
+            sbufWriteU8(dst, currentControlRateProfile->stabilized.rates[i]); // R,P,Y see flight_dynamics_index_t
+        }
+        sbufWriteU8(dst, currentControlRateProfile->throttle.dynPID);
+        sbufWriteU8(dst, currentControlRateProfile->throttle.rcMid8);
+        sbufWriteU8(dst, currentControlRateProfile->throttle.rcExpo8);
+        sbufWriteU16(dst, currentControlRateProfile->throttle.pa_breakpoint);
+        sbufWriteU8(dst, currentControlRateProfile->stabilized.rcYawExpo8);
+        break;
+
+    case MSP2_INAV_RATE_PROFILE:
+        // throttle
+        sbufWriteU8(dst, currentControlRateProfile->throttle.rcMid8);
+        sbufWriteU8(dst, currentControlRateProfile->throttle.rcExpo8);
+        sbufWriteU8(dst, currentControlRateProfile->throttle.dynPID);
+        sbufWriteU16(dst, currentControlRateProfile->throttle.pa_breakpoint);
+
+        // stabilized
+        sbufWriteU8(dst, currentControlRateProfile->stabilized.rcExpo8);
+        sbufWriteU8(dst, currentControlRateProfile->stabilized.rcYawExpo8);
+        for (uint8_t i = 0 ; i < 3; ++i) {
+            sbufWriteU8(dst, currentControlRateProfile->stabilized.rates[i]); // R,P,Y see flight_dynamics_index_t
+        }
+
+        // manual
+        sbufWriteU8(dst, currentControlRateProfile->manual.rcExpo8);
+        sbufWriteU8(dst, currentControlRateProfile->manual.rcYawExpo8);
+        for (uint8_t i = 0 ; i < 3; ++i) {
+            sbufWriteU8(dst, currentControlRateProfile->manual.rates[i]); // R,P,Y see flight_dynamics_index_t
         }
-        sbufWriteU8(dst, currentControlRateProfile->dynThrPID);
-        sbufWriteU8(dst, currentControlRateProfile->thrMid8);
-        sbufWriteU8(dst, currentControlRateProfile->thrExpo8);
-        sbufWriteU16(dst, currentControlRateProfile->tpa_breakpoint);
-        sbufWriteU8(dst, currentControlRateProfile->rcYawExpo8);
         break;
 
     case MSP_PID:
@@ -1348,23 +1370,23 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         if (dataSize >= 10) {
             sbufReadU8(src); //Read rcRate8, kept for protocol compatibility reasons
             // need to cast away const to set controlRateProfile
-            ((controlRateConfig_t*)currentControlRateProfile)->rcExpo8 = sbufReadU8(src);
+            ((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcExpo8 = sbufReadU8(src);
             for (int i = 0; i < 3; i++) {
                 rate = sbufReadU8(src);
                 if (i == FD_YAW) {
-                    ((controlRateConfig_t*)currentControlRateProfile)->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
+                    ((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
                 }
                 else {
-                    ((controlRateConfig_t*)currentControlRateProfile)->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
+                    ((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
                 }
             }
             rate = sbufReadU8(src);
-            ((controlRateConfig_t*)currentControlRateProfile)->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);
-            ((controlRateConfig_t*)currentControlRateProfile)->thrMid8 = sbufReadU8(src);
-            ((controlRateConfig_t*)currentControlRateProfile)->thrExpo8 = sbufReadU8(src);
-            ((controlRateConfig_t*)currentControlRateProfile)->tpa_breakpoint = sbufReadU16(src);
+            ((controlRateConfig_t*)currentControlRateProfile)->throttle.dynPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);
+            ((controlRateConfig_t*)currentControlRateProfile)->throttle.rcMid8 = sbufReadU8(src);
+            ((controlRateConfig_t*)currentControlRateProfile)->throttle.rcExpo8 = sbufReadU8(src);
+            ((controlRateConfig_t*)currentControlRateProfile)->throttle.pa_breakpoint = sbufReadU16(src);
             if (dataSize >= 11) {
-                ((controlRateConfig_t*)currentControlRateProfile)->rcYawExpo8 = sbufReadU8(src);
+                ((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcYawExpo8 = sbufReadU8(src);
             }
 
             schedulePidGainsUpdate();
@@ -1373,6 +1395,45 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         }
         break;
 
+    case MSP2_INAV_SET_RATE_PROFILE:
+        if (dataSize == 15) {
+            controlRateConfig_t *currentControlRateProfile_p = (controlRateConfig_t*)currentControlRateProfile; // need to cast away const to set controlRateProfile
+
+            // throttle
+            currentControlRateProfile_p->throttle.rcMid8 = sbufReadU8(src);
+            currentControlRateProfile_p->throttle.rcExpo8 = sbufReadU8(src);
+            currentControlRateProfile_p->throttle.dynPID = sbufReadU8(src);
+            currentControlRateProfile_p->throttle.pa_breakpoint = sbufReadU16(src);
+
+            // stabilized
+            currentControlRateProfile_p->stabilized.rcExpo8 = sbufReadU8(src);
+            currentControlRateProfile_p->stabilized.rcYawExpo8 = sbufReadU8(src);
+            for (uint8_t i = 0; i < 3; ++i) {
+                rate = sbufReadU8(src);
+                if (i == FD_YAW) {
+                    currentControlRateProfile_p->stabilized.rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
+                } else {
+                    currentControlRateProfile_p->stabilized.rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
+                }
+            }
+
+            // manual
+            currentControlRateProfile_p->manual.rcExpo8 = sbufReadU8(src);
+            currentControlRateProfile_p->manual.rcYawExpo8 = sbufReadU8(src);
+            for (uint8_t i = 0; i < 3; ++i) {
+                rate = sbufReadU8(src);
+                if (i == FD_YAW) {
+                    currentControlRateProfile_p->manual.rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
+                } else {
+                    currentControlRateProfile_p->manual.rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
+                }
+            }
+
+        } else {
+            return MSP_RESULT_ERROR;
+        }
+        break;
+
     case MSP_SET_MISC:
         tmp = sbufReadU16(src);
         if (tmp < 1600 && tmp > 1400)

src/main/fc/fc_msp_box.c

@@ -47,7 +47,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { BOXCAMSTAB, "CAMSTAB;", 8 },
     { BOXNAVRTH, "NAV RTH;", 10 },         // old GPS HOME
     { BOXNAVPOSHOLD, "NAV POSHOLD;", 11 },     // old GPS HOLD
-    { BOXPASSTHRU, "PASSTHRU;", 12 },
+    { BOXMANUAL, "MANUAL;", 12 },
     { BOXBEEPERON, "BEEPER;", 13 },
     { BOXLEDLOW, "LEDLOW;", 15 },
     { BOXLIGHTS, "LIGHTS;", 16 },
@@ -186,7 +186,7 @@ void initActiveBoxIds(void)
 #endif
 
     if (STATE(FIXED_WING)) {
-        activeBoxIds[activeBoxIdCount++] = BOXPASSTHRU;
+        activeBoxIds[activeBoxIdCount++] = BOXMANUAL;
         activeBoxIds[activeBoxIdCount++] = BOXNAVLAUNCH;
         activeBoxIds[activeBoxIdCount++] = BOXAUTOTRIM;
 #if defined(AUTOTUNE_FIXED_WING)
@@ -256,7 +256,7 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
     CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)),        BOXHEADFREE);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHEADADJ)),     BOXHEADADJ);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMSTAB)),     BOXCAMSTAB);
-    CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(PASSTHRU_MODE)),        BOXPASSTHRU);
+    CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(MANUAL_MODE)),          BOXMANUAL);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBEEPERON)),    BOXBEEPERON);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDLOW)),      BOXLEDLOW);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLIGHTS)),      BOXLIGHTS);