CR18 to CR21

breadoven · Apr 15, 2024 · f6386c3 · f6386c3
1 parent 67759b1
commit f6386c3
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Showing 6 changed files with 82 additions and 65 deletions.
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
@@ -1309,9 +1309,17 @@ static void loadSlowState(blackboxSlowState_t *slow)
 {
     memcpy(&slow->flightModeFlags, &rcModeActivationMask, sizeof(slow->flightModeFlags)); //was flightModeFlags;
     // Also log Nav auto selected flight modes rather than just those selected by boxmode
-    if (!IS_RC_MODE_ACTIVE(BOXANGLE) && FLIGHT_MODE(ANGLE_MODE)) {
+    // CR118
+    if (FLIGHT_MODE(ANGLE_MODE)) {
         slow->flightModeFlags |= (1 << BOXANGLE);
     }
+    if (FLIGHT_MODE(NAV_ALTHOLD_MODE)) {
+        slow->flightModeFlags |= (1 << BOXNAVALTHOLD);
+    }
+    if (FLIGHT_MODE(NAV_RTH_MODE)) {
+        slow->flightModeFlags |= (1 << BOXNAVRTH);
+    }
+    // CR118
     if (navigationGetHeadingControlState() == NAV_HEADING_CONTROL_AUTO) {
         slow->flightModeFlags |= (1 << BOXHEADINGHOLD);
     }

diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
@@ -342,6 +342,10 @@ static void updateArmingStatus(void)
             DISABLE_ARMING_FLAG(ARMING_DISABLED_NO_PREARM);
         }
 
+        if (ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED) && !IS_RC_MODE_ACTIVE(BOXARM)) {
+            DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
+        }
+
         /* CHECK: Arming switch */
         // If arming is disabled and the ARM switch is on
         // Note that this should be last check so all other blockers could be cleared correctly

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
@@ -5427,6 +5427,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
     static uint8_t statsCurrentPage = 0;
     static bool statsDisplayed = false;
     static bool statsAutoPagingEnabled = true;
+    static bool throttleHigh = false;   // CR119
 
     // Detect arm/disarm
     if (armState != ARMING_FLAG(ARMED)) {
@@ -5447,6 +5448,8 @@ static void osdRefresh(timeUs_t currentTimeUs)
             osdSetNextRefreshIn(delay);
         } else {
             // Display the "Stats" screen
+
+            throttleHigh = checkStickPosition(THR_HI);  // CR119
             statsDisplayed = true;
             statsCurrentPage = 0;
             statsAutoPagingEnabled = osdConfig()->stats_page_auto_swap_time > 0 ? true : false;
@@ -5517,7 +5520,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
         }
 
         // Handle events when either "Splash", "Armed" or "Stats" screens are displayed.
-        if ((currentTimeUs > resumeRefreshAt) || OSD_RESUME_UPDATES_STICK_COMMAND) {
+        if (currentTimeUs > resumeRefreshAt || (OSD_RESUME_UPDATES_STICK_COMMAND && !throttleHigh)) {  // CR119
             // Time elapsed or canceled by stick commands.
             // Exit to normal OSD operation.
             displayClearScreen(osdDisplayPort);
@@ -5526,6 +5529,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
         } else {
             // Continue "Splash", "Armed" or "Stats" screens.
             displayHeartbeat(osdDisplayPort);
+            throttleHigh = checkStickPosition(THR_HI);  // CR119
         }
 
         return;