Merge pull request #3443 from iNavFlight/agh_rc_adjustments_disable_on_norange

Disable RC adjustments when the trigger channel goes out of the range

Author: fiam

src/main/fc/fc_core.c

@@ -483,9 +483,10 @@ void processRx(timeUs_t currentTimeUs)
 
     updateActivatedModes();
 
-    if ((!cliMode) && (!FLIGHT_MODE(FAILSAFE_MODE))) {
-        updateAdjustmentStates();
-        processRcAdjustments(CONST_CAST(controlRateConfig_t*, currentControlRateProfile));
+    if (!cliMode) {
+        bool canUseRxData = rxIsReceivingSignal() && !FLIGHT_MODE(FAILSAFE_MODE);
+        updateAdjustmentStates(canUseRxData);
+        processRcAdjustments(CONST_CAST(controlRateConfig_t*, currentControlRateProfile), canUseRxData);
     }
 
     bool canUseHorizonMode = true;

src/main/fc/rc_adjustments.c

@@ -570,12 +570,10 @@ static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
 
 #define RESET_FREQUENCY_2HZ (1000 / 2)
 
-void processRcAdjustments(controlRateConfig_t *controlRateConfig)
+void processRcAdjustments(controlRateConfig_t *controlRateConfig, bool canUseRxData)
 {
     const uint32_t now = millis();
 
-    const bool canUseRxData = rxIsReceivingSignal();
-
     for (int adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
         adjustmentState_t * const adjustmentState = &adjustmentStates[adjustmentIndex];
 
@@ -636,23 +634,26 @@ void resetAdjustmentStates(void)
     memset(adjustmentStates, 0, sizeof(adjustmentStates));
 }
 
-void updateAdjustmentStates(void)
+void updateAdjustmentStates(bool canUseRxData)
 {
     for (int index = 0; index < MAX_ADJUSTMENT_RANGE_COUNT; index++) {
         const adjustmentRange_t * const adjustmentRange = adjustmentRanges(index);
+        const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentFunction - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
 
-        if (isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {
-
-            const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentFunction - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
-
+        if (canUseRxData && isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {
             configureAdjustment(adjustmentRange->adjustmentIndex, adjustmentRange->auxSwitchChannelIndex, adjustmentConfig);
+        } else {
+            adjustmentState_t * const adjustmentState = &adjustmentStates[index];
+            if (adjustmentState->config == adjustmentConfig) {
+                adjustmentState->config = NULL;
+            }
         }
     }
 }
 
 bool isAdjustmentFunctionSelected(uint8_t adjustmentFunction) {
     for (uint8_t index = 0; index < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; ++index) {
-        if (adjustmentStates[index].config->adjustmentFunction == adjustmentFunction) {
+        if (adjustmentStates[index].config && adjustmentStates[index].config->adjustmentFunction == adjustmentFunction) {
             return true;
         }
     }

src/main/fc/rc_adjustments.h

@@ -135,7 +135,7 @@ typedef struct adjustmentState_s {
 PG_DECLARE_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges);
 
 void resetAdjustmentStates(void);
-void updateAdjustmentStates(void);
+void updateAdjustmentStates(bool canUseRxData);
 struct controlRateConfig_s;
-void processRcAdjustments(struct controlRateConfig_s *controlRateConfig);
+void processRcAdjustments(struct controlRateConfig_s *controlRateConfig, bool canUseRxData);
 bool isAdjustmentFunctionSelected(uint8_t adjustmentFunction);