Merged in f5soh/librepilot/LP-550_Flight_Modules_fixes (pull request #463)

LP-550 Flight Modules fixes

Approved-by: Lalanne Laurent <f5soh@free.fr>
Approved-by: Philippe Renon <philippe_renon@yahoo.fr>
Approved-by: Alessio Morale <alessiomorale@gmail.com>

Author: f5soh

flight/modules/Airspeed/airspeed.c

@@ -93,15 +93,16 @@ int32_t AirspeedStart()
  */
 int32_t AirspeedInitialize()
 {
+    HwSettingsOptionalModulesData optionalModules;
+
+    HwSettingsOptionalModulesGet(&optionalModules);
+
 #ifdef MODULE_AIRSPEED_BUILTIN
     airspeedEnabled = true;
+    optionalModules.Airspeed = HWSETTINGS_OPTIONALMODULES_ENABLED;
+    HwSettingsOptionalModulesSet(&optionalModules);
 #else
-
-    HwSettingsOptionalModulesOptions optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
-    HwSettingsOptionalModulesArrayGet(optionalModules);
-
-
-    if (optionalModules[HWSETTINGS_OPTIONALMODULES_AIRSPEED] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
+    if (optionalModules.Airspeed == HWSETTINGS_OPTIONALMODULES_ENABLED) {
         airspeedEnabled = true;
     } else {
         airspeedEnabled = false;

flight/modules/AutoTune/autotune.c

@@ -164,11 +164,15 @@ static void UpdateStabilizationDesired(bool doingIdent);
  */
 int32_t AutoTuneInitialize(void)
 {
-#if defined(MODULE_AutoTune_BUILTIN)
-    moduleEnabled = true;
-#else
     HwSettingsOptionalModulesData optionalModules;
+
     HwSettingsOptionalModulesGet(&optionalModules);
+
+#if defined(MODULE_AUTOTUNE_BUILTIN)
+    moduleEnabled = true;
+    optionalModules.AutoTune = HWSETTINGS_OPTIONALMODULES_ENABLED;
+    HwSettingsOptionalModulesSet(&optionalModules);
+#else
     if (optionalModules.AutoTune == HWSETTINGS_OPTIONALMODULES_ENABLED) {
         // even though the AutoTune module is automatically enabled
         // (below, when the flight mode switch is configured to use autotune)
@@ -180,7 +184,7 @@ int32_t AutoTuneInitialize(void)
         // do it for them if they have autotune on their flight mode switch
         moduleEnabled = AutoTuneFoundInFMS();
     }
-#endif /* defined(MODULE_AutoTune_BUILTIN) */
+#endif /* defined(MODULE_AUTOTUNE_BUILTIN) */
 
     if (moduleEnabled) {
         AccessoryDesiredInitialize();

flight/modules/Battery/battery.c

@@ -57,14 +57,10 @@
 //
 // Configuration
 //
-#define SAMPLE_PERIOD_MS    500
+#define SAMPLE_PERIOD_MS     500
 
 // Time since power on the cells detection is active
-#define DETECTION_TIMEFRAME 60000
-// Private types
-
-// Private variables
-static bool batteryEnabled = false;
+#define DETECTION_TIMEFRAME  60000
 
 #ifndef PIOS_ADC_VOLTAGE_PIN
 #define PIOS_ADC_VOLTAGE_PIN -1
@@ -92,12 +88,17 @@ static void GetNbCells(const FlightBatterySettingsData *batterySettings, FlightB
  */
 int32_t BatteryInitialize(void)
 {
-#ifdef MODULE_BATTERY_BUILTIN
-    batteryEnabled = true;
-#else
+    bool batteryEnabled;
+
     HwSettingsOptionalModulesData optionalModules;
+
     HwSettingsOptionalModulesGet(&optionalModules);
 
+#ifdef MODULE_BATTERY_BUILTIN
+    batteryEnabled = true;
+    optionalModules.Battery = HWSETTINGS_OPTIONALMODULES_ENABLED;
+    HwSettingsOptionalModulesSet(&optionalModules);
+#else
     if (optionalModules.Battery == HWSETTINGS_OPTIONALMODULES_ENABLED) {
         batteryEnabled = true;
     } else {

flight/modules/CameraStab/camerastab.c

@@ -92,13 +92,15 @@ int32_t CameraStabInitialize(void)
 {
     bool cameraStabEnabled;
 
-#ifdef MODULE_CAMERASTAB_BUILTIN
-    cameraStabEnabled = true;
-#else
     HwSettingsOptionalModulesData optionalModules;
 
     HwSettingsOptionalModulesGet(&optionalModules);
 
+#ifdef MODULE_CAMERASTAB_BUILTIN
+    cameraStabEnabled = true;
+    optionalModules.CameraStab = HWSETTINGS_OPTIONALMODULES_ENABLED;
+    HwSettingsOptionalModulesSet(&optionalModules);
+#else
     if (optionalModules.CameraStab == HWSETTINGS_OPTIONALMODULES_ENABLED) {
         cameraStabEnabled = true;
     } else {

flight/modules/GPS/GPS.c

@@ -196,13 +196,15 @@ int32_t GPSStart(void)
 
 int32_t GPSInitialize(void)
 {
-#ifdef MODULE_GPS_BUILTIN
-    gpsEnabled = true;
-#else
     HwSettingsOptionalModulesData optionalModules;
 
     HwSettingsOptionalModulesGet(&optionalModules);
 
+#ifdef MODULE_GPS_BUILTIN
+    gpsEnabled = true;
+    optionalModules.GPS = HWSETTINGS_OPTIONALMODULES_ENABLED;
+    HwSettingsOptionalModulesSet(&optionalModules);
+#else
     if (optionalModules.GPS == HWSETTINGS_OPTIONALMODULES_ENABLED) {
         gpsEnabled = true;
     } else {

flight/modules/TxPID/txpid.c

@@ -100,15 +100,22 @@ static float scale(float val, float inMin, float inMax, float outMin, float outM
 int32_t TxPIDInitialize(void)
 {
     bool txPIDEnabled;
+
     HwSettingsOptionalModulesData optionalModules;
 
     HwSettingsOptionalModulesGet(&optionalModules);
 
+#ifdef MODULE_TXPID_BUILTIN
+    txPIDEnabled = true;
+    optionalModules.TxPID = HWSETTINGS_OPTIONALMODULES_ENABLED;
+    HwSettingsOptionalModulesSet(&optionalModules);
+#else
     if (optionalModules.TxPID == HWSETTINGS_OPTIONALMODULES_ENABLED) {
         txPIDEnabled = true;
     } else {
         txPIDEnabled = false;
     }
+#endif
 
     if (txPIDEnabled) {
         TxPIDStatusInitialize();