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Replace PASSTHROUGH with MANUAL flight mode (FW) #2661

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merged 20 commits into from
Jan 31, 2018
Merged

Replace PASSTHROUGH with MANUAL flight mode (FW) #2661

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14502e0
FW: add manual flight mode
shellixyz Oct 31, 2017
a955bf5
manual mode: separate roll and pitch expo
shellixyz Oct 31, 2017
0aa0a75
manual flight mode: cleaning
shellixyz Jan 16, 2018
4e6a95b
Merge branch 'development' into development_manual_flight_mode_separa…
shellixyz Jan 16, 2018
a52bf62
replace PASSTHRU mode with MANUAL mode
shellixyz Jan 21, 2018
7ad5728
manual mode: merge pitch and roll expo
shellixyz Jan 21, 2018
e00ee80
manual mode: add OSD menu for manual rates and expo
shellixyz Jan 21, 2018
5d8259d
manual mode: forgot to add yaw rate adjustment in OSD menu
shellixyz Jan 21, 2018
c82b065
manual mode: add adjustments
shellixyz Jan 22, 2018
71c1530
fix indentation
shellixyz Jan 23, 2018
3936a95
Merge branch 'development_manual_flight_mode_separate_pitchroll_expo'…
shellixyz Jan 23, 2018
bba8620
fix indentation
shellixyz Jan 24, 2018
9c28150
manual mode: move rates applications in fc_core
shellixyz Jan 24, 2018
fc72312
group controlRateConfig settings by function
shellixyz Jan 24, 2018
afcf673
group controlRateConfig settings by function: fix ALIENFLIGHTF3 defau…
shellixyz Jan 24, 2018
af4430c
Merge branch 'development_manual_flight_mode_separate_pitchroll_expo'…
shellixyz Jan 24, 2018
7273418
manual mode rc adjustments: adapt to fc723121 changes
shellixyz Jan 24, 2018
8282e96
fix indentation
shellixyz Jan 24, 2018
2d01012
manual mode: clean rc adjustments
shellixyz Jan 24, 2018
d01af8f
add new MSPv2 messages: MSP2_INAV_RATE_PROFILE and MSP2_INAV_SET_RATE…
shellixyz Jan 25, 2018
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18 changes: 9 additions & 9 deletions src/main/blackbox/blackbox.c
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Expand Up @@ -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);
Expand Down
30 changes: 30 additions & 0 deletions src/main/cms/cms_menu_imu.c
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Expand Up @@ -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
//
Expand Down Expand Up @@ -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},
Expand Down
33 changes: 23 additions & 10 deletions src/main/fc/controlrate_profile.c
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Expand Up @@ -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,
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Suggest we keep manual expos at zero by default to retain 100% compatibility with old PASSTHROUGH behavior. What do you think?

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Expo is applied even in PASSTHROUGH that's why I set the default expo/yaw_expo to 70/20 to keep the old behavior but I don't mind setting them to 0 by default.

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About the MSPv2 frame there is already MSP2_COMMON_SETTING and MSP2_COMMON_SET_SETTING frame types that can be used to query/set the new settings. Do we need a new one ?

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@shellixyz Regarding expo - I see. Didn't realize that. Then it's ok.

Regarding MSPv2 - it would still be good to set this settings in a single message. Possibly a new message to handle the whole rate profile data.

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Done. New frame IDs are 0x2007 (MSP2_INAV_RATE_PROFILE) and 0x2008 (MSP2_INAV_SET_RATE_PROFILE) because I already used lower IDs for new messages in #2668.

.rates[FD_ROLL] = 100,
.rates[FD_PITCH] = 100,
.rates[FD_YAW] = 100
}
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Yay! This is even cleaner than I thought it would be 👍

);
}
}
Expand Down
27 changes: 20 additions & 7 deletions src/main/fc/controlrate_profile.h
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Expand Up @@ -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);
Expand Down
24 changes: 16 additions & 8 deletions src/main/fc/fc_core.c
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Expand Up @@ -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);
Expand Down Expand Up @@ -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 {
Expand Down
91 changes: 76 additions & 15 deletions src/main/fc/fc_msp.c
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Expand Up @@ -522,15 +522,37 @@ 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:
Expand Down Expand Up @@ -1339,23 +1361,23 @@ 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();
Expand All @@ -1364,6 +1386,45 @@ 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)
Expand Down
6 changes: 3 additions & 3 deletions src/main/fc/fc_msp_box.c
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Expand Up @@ -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 },
{ BOXLLIGHTS, "LLIGHTS;", 16 },
Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -252,7 +252,7 @@ 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(BOXLLIGHTS)), BOXLLIGHTS);
Expand Down
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