The firmware source code can be downloaded from here The newest binary firmware image is available here
Latest CP210x Drivers can be downloaded from here "
+ "message": "Welcome to Cleanflight - Configurator, a utility designed to simplify updating, configuring and tuning of your flight controller.
The firmware source code can be downloaded from here The newest binary firmware image is available here, development builds available here
Latest CP210x Drivers can be downloaded from here "
},
"defaultContributingHead": {
"message": "Contributing"
@@ -372,8 +372,8 @@
"initialSetupModel": {
"message": "Model: $1"
},
- "initialSetupHeading": {
- "message": "Heading: $1 deg"
+ "initialSetupAttitude": {
+ "message": "$1 deg"
},
"initialSetupAccelCalibStarted": {
"message": "Accelerometer calibration started"
@@ -426,6 +426,10 @@
"configurationFeaturesHelp": {
"message": "Note: Not all combinations of features are valid. When the flight controller firmware detects invalid feature combinations conflicting features will be disabled. Note: Configure serial ports before enabling the features that will use the ports."
},
+
+ "configurationSerialRXHelp": {
+ "message": "Note: Rememer to configure a Serial Port (via Ports tab) and choose a Serial Receiver Provider when using RX_SERIAL feature."
+ },
"configurationBoardAlignment": {
"message": "Board Alignment"
@@ -499,6 +503,18 @@
"configurationBatteryMultiwiiCurrent": {
"message": "Enable support for legacy Multiwii MSP current output"
},
+ "configurationSystem": {
+ "message": "System configuration"
+ },
+ "configurationLoopTime": {
+ "message": "Flight Controller Loop Time"
+ },
+ "configurationCalculatedCyclesSec": {
+ "message": "Cycles/Sec (Hz)"
+ },
+ "configurationLoopTimeHelp": {
+ "message": "Note: Changing this may require PID re-tuning."
+ },
"configurationGPS": {
"message": "GPS"
},
@@ -511,6 +527,10 @@
"configurationGPSubxSbas": {
"message": "Ground Assistance Type"
},
+ "configurationGPSHelp": {
+ "message": "Note: Remember to configure a Serial Port (via Ports tab) when using GPS feature."
+ },
+
"configurationSerialRX": {
"message": "Serial Receiver Provider"
},
@@ -522,7 +542,10 @@
},
"portsHelp": {
- "message": "Configure serial ports. Note: not all combinations are valid. When the flight controller firmware detects this the serial port configuration will be reset."
+ "message": "Note: not all combinations are valid. When the flight controller firmware detects this the serial port configuration will be reset."
+ },
+ "portsMSPHelp": {
+ "message": "Note: Do NOT disable MSP on the first serial port unless you know what you are doing. You may have to reflash and erase your configuration if you do."
},
"portsFirmwareUpgradeRequired": {
"message": "Firmware upgrade required. Serial port configurations of firmware < 1.8.0 is not supported."
@@ -613,6 +636,9 @@
"message": "EEPROM saved"
},
+ "receiverHelp": {
+ "message": "Please read receiver chapter of the documentation. Configure serial port (if required), receiver mode (serial/ppm/pwm), provider (for serial receivers), bind receiver, set channel map, configure channel endpoints/range on TX so that all channels go from ~1000 to ~2000. Set midpoint (default 1500), trim channels to 1500, configure stick deadband, verify behaviour when TX is off or out of range. IMPORTANT: Before flying read failsafe chapter of documentation and configure failsafe."
+ },
"receiverThrottleMid": {
"message": "Throttle MID"
},
@@ -646,6 +672,9 @@
"receiverButtonRefresh": {
"message": "Refresh"
},
+ "receiverButtonSticks": {
+ "message": "Control sticks"
+ },
"receiverDataRefreshed": {
"message": "RC Tuning data refreshed"
},
@@ -791,15 +820,13 @@
},
- "servosModel": {
- "message": "Model:"
+ "servosFirmwareUpgradeRequired": {
+ "message": "Servos requires firmware >= 1.10.0."
},
+
"servosChangeDirection": {
"message": "Change Direction in TX To Match"
},
- "servosGyroAccelDirection": {
- "message": "Gyroscope / Accelerometer Direction"
- },
"servosName": {
"message": "Name"
},
@@ -812,8 +839,14 @@
"servosMax": {
"message": "MAX"
},
- "servosDirection": {
- "message": "Direction"
+ "servosAngleAtMin": {
+ "message": "Angle at min"
+ },
+ "servosAngleAtMax": {
+ "message": "Angle at max"
+ },
+ "servosDirectionAndRate": {
+ "message": "Direction and rate"
},
"servosLiveMode": {
"message": "Enable Live mode:"
@@ -821,9 +854,6 @@
"servosButtonSave": {
"message": "Save"
},
- "servosModelNoSupport": {
- "message": "This model doesn't support servos"
- },
"servosNormal": {
"message": "Normal"
},
@@ -1042,7 +1072,7 @@
"message": "Attempt to flash the board automatically (triggered by newly detected serial port)"
},
"firmwareFlasherFullChipErase": {
- "message": "Full Chip Erase"
+ "message": "Full chip erase"
},
"firmwareFlasherFullChipEraseDescription": {
"message": "Wipes all configuration data currently stored on the board"
@@ -1054,7 +1084,7 @@
"message": "Flash most recent (untested) development firmware"
},
"firmwareFlasherManualBaud": {
- "message": "Manual Baud Rate"
+ "message": "Manual baud rate"
},
"firmwareFlasherManualBaudDescription": {
"message": "Manual selection of baud rate for boards that don't support the default speed or for flashing via bluetooth."
@@ -1099,7 +1129,7 @@
"message": "Warning"
},
"firmwareFlasherWarningText": {
- "message": "Please do not try to flash non-cleanflight hardware with this firmware flasher (it wont work). Do not disconnect the board or turn off your computer while flashing.
Note: STM32 bootloader is stored in ROM, it cannot be bricked. Note: Auto-Connect is always disabled while you are inside firmware flasher. Note: This can wipe your configuration including but not limited to PIDs, Auxiliary, and FEATURES. Make sure you have a backup. "
+ "message": "Please do not try to flash non-cleanflight hardware with this firmware flasher. Do notdisconnect the board or turn off your computer while flashing.
Note: STM32 bootloader is stored in ROM, it cannot be bricked. Note: Auto-Connect is always disabled while you are inside firmware flasher. Note: Make sure you have a backup; some upgrades/downgrades will wipe your configuration. Note: If you have problems flashing try disconnecting all cables from your FC.
Note: If you have lost comminication with your board then power off the board, jumper the bootloader pins, power on, enable 'No reboot sequence', enable 'Full chip erase', re-flash, then power off, remove bootloader jumper, power on and connect (For all firmware except OPBL firmware)."
},
"firmwareFlasherButtonLeave": {
"message": "Leave Firmware Flasher"
@@ -1125,5 +1155,41 @@
},
"ledStripEepromSaved": {
"message": "EEPROM saved"
+ },
+ "controlAxisRoll": {
+ "message": "Roll"
+ },
+ "controlAxisPitch": {
+ "message": "Pitch"
+ },
+ "controlAxisYaw": {
+ "message": "Yaw"
+ },
+ "controlAxisThrottle": {
+ "message": "Throttle"
+ },
+ "controlAxisAux1": {
+ "message": "AUX 1"
+ },
+ "controlAxisAux2": {
+ "message": "AUX 2"
+ },
+ "controlAxisAux3": {
+ "message": "AUX 3"
+ },
+ "controlAxisAux4": {
+ "message": "AUX 4"
+ },
+ "controlAxisAux5": {
+ "message": "AUX 5"
+ },
+ "controlAxisAux6": {
+ "message": "AUX 6"
+ },
+ "controlAxisAux7": {
+ "message": "AUX 7"
+ },
+ "controlAxisAux8": {
+ "message": "AUX 8"
}
-}
+}
\ No newline at end of file
diff --git a/changelog.html b/changelog.html
index ea2cc733..4e24f8a7 100644
--- a/changelog.html
+++ b/changelog.html
@@ -1,3 +1,12 @@
+2015.10.31 - 0.66.0 - cleanflight
+
+ - Update servo configuration (requires firmware >= 1.10.0).
+ - Add some notes and help messages for common issues.
+ - Update sponsors panel and add links to new boards.
+ - Upgrade some JS libraries to latest versions (Three, JQuery/UI, D3)
+ - Allow stick input from UI (when using RX_MSP)
+ - Align servo numbering with firmware and documentation
+
2015.05.23 - 0.65.0 - cleanflight
- Support flashing of the SPRacingF3.
@@ -23,10 +32,10 @@
2015.03.29 - 0.63.0 - cleanflight
- - Configuration tab supports auto_disarm_delay and disarm_kill_switch - Requires 1.8.0 firmware.
- - PID Tuning tab allows TPA Breakpoint changes - Requires 1.8.0 firmware.
- - Corrected Artificial Horizon Pitch/Roll views.
- - Changed logging time stamp to include date stamp.
+ - Configuration tab supports auto_disarm_delay and disarm_kill_switch (requires firmware >= 1.8.0).
+ - PID Tuning tab allows TPA Breakpoint changes (requires firmware >= 1.8.0).
+ - Correct Artificial Horizon Pitch/Roll views.
+ - Change logging time stamp to include date stamp.
- Support new firmware 1.8 serial port configuration.
- Move documentation and help to new tab.
- Add contributing section to welcome tab.
@@ -38,7 +47,7 @@
2015.02.26 - 0.62.0 - cleanflight
- Add flight indicators to setup screen tab.
- - Add dataflash tab. Requires 1.8.0 firmware.
+ - Add dataflash tab (requires firmware >= 1.8.0)..
- Add Cleanflight logos.
- Fix loading online flash files - github moved them to amazon aws.
- Fix to fallback 3D model.
@@ -46,7 +55,7 @@
2015.02.03 - 0.61.0 - cleanflight
- - Support changing PID controller - there new PID controllers in 1.7.0 firmware.
+ - Support changing PID controller - three new PID controllers in 1.7.0 firmware.
- Support for LED thrust ring.
- Support for LED colors.
- Support for displaying sonar sensor reading on the sensors tab.
@@ -54,21 +63,21 @@
- New Logo. (Tom McCullough)
- New 3D models (AkFreak).
- Update presentation of LEDs that have multiple functions.
- - Added Documentation and Support panels to welcome tab.
+ - Add Documentation and Support panels to welcome tab.
- Add support for backup and restore of LED strip configuration.
- Fix for disappearing tabs in chrome 41 beta.
- Various other minor improvements.
2015.01.08 - 0.60.0 - cleanflight
- - Add LED strip tab for LED configuration - requires v1.6.0 firmware to save.
+ - Add LED strip tab for LED configuration (requires firmware >= 1.6.0)..
- Replace motor order images (stronnag)
2015.01.08 - 0.59.1 - cleanflight
- - Add support for Blackbox flight recorder feature (requires v1.5.0 firmware).
+ - Add support for Blackbox flight recorder feature (requires firmware >= 1.5.0).
- Update RSSI channel section to allow any channel.
- - Implemented configuration migration to aid with backwards compatibility.
+ - Implement configuration migration to aid with backwards compatibility.
- Allow CLI access when connecting firmware with an out-of-date API.
- Support 'release candidate' and 'stable' releases.
- Latest firmware required.
- - Merged latest baseflight configurator changes.
+ - Merge latest baseflight configurator changes.
- Added support for choosing and downloading firmware via the github relases API.
- Added Armattan Quads as a sponsor.
- Various UI tweaks.
@@ -96,17 +105,17 @@
2014.12.06 - 0.57
- Firmware flasher now contains firmware builds picker
- - Implemented new and experimental review mechanism
+ - Implement new and experimental review mechanism
- Support for new A-tail Quad craft type
- Firmware flasher flashing speed optimizations
- - Added specific 3D models for atail/vtail quad (norem)
+ - Add specific 3D models for atail/vtail quad (norem)
- Major bugfix for stuck UI after delayed port open procedure
- Bugfix for GPS distance to home not displaying
- Bugfix for backup/restore misbehaving (mostly on OSX)
2014.11.04 - 0.56
- - Added hex plus, hex X, tri, y4, y6 3D models (jef79m)
+ - Add hex plus, hex X, tri, y4, y6 3D models (jef79m)
- Bugfix for battery voltage saving sequence
- Bugfix for fetching development firmware
+ These sticks allow Cleanflight to be armed and tested without a transmitter or receiver being
+ present. However, this feature is not intended for flight and propellers must not be attached.
+
+
+ This feature does not guarantee reliable control of your craft. Serious injury is likely to
+ result if propellers are left on.
+
+
+
+
+
\ No newline at end of file
diff --git a/tabs/receiver_msp.js b/tabs/receiver_msp.js
new file mode 100644
index 00000000..2cb2c353
--- /dev/null
+++ b/tabs/receiver_msp.js
@@ -0,0 +1,185 @@
+"use strict";
+
+var
+ CHANNEL_MIN_VALUE = 1000,
+ CHANNEL_MID_VALUE = 1500,
+ CHANNEL_MAX_VALUE = 2000,
+
+ // What's the index of each channel in the MSP channel list?
+ channelMSPIndexes = {
+ roll: 0,
+ pitch: 1,
+ yaw: 2,
+ throttle: 3,
+ aux1: 4,
+ aux2: 5,
+ aux3: 6,
+ aux4: 7,
+ },
+
+ // Set reasonable initial stick positions (Mode 2)
+ stickValues = {
+ throttle: CHANNEL_MIN_VALUE,
+ pitch: CHANNEL_MID_VALUE,
+ roll: CHANNEL_MID_VALUE,
+ yaw: CHANNEL_MID_VALUE,
+ aux1: CHANNEL_MIN_VALUE,
+ aux2: CHANNEL_MIN_VALUE,
+ aux3: CHANNEL_MIN_VALUE,
+ aux4: CHANNEL_MIN_VALUE
+ },
+
+ // First the vertical axis, then the horizontal:
+ gimbals = [
+ ["throttle", "yaw"],
+ ["pitch", "roll"],
+ ],
+
+ gimbalElems,
+ sliderElems,
+
+ enableTX = false;
+
+function transmitChannels() {
+ var
+ channelValues = [0, 0, 0, 0, 0, 0, 0, 0];
+
+ if (!enableTX) {
+ return;
+ }
+
+ for (var stickName in stickValues) {
+ channelValues[channelMSPIndexes[stickName]] = stickValues[stickName];
+ }
+
+ // Callback given to us by the window creator so we can have it send data over MSP for us:
+ if (!window.setRawRx(channelValues)) {
+ // MSP connection has gone away
+ chrome.app.window.current().close();
+ }
+}
+
+function stickPortionToChannelValue(portion) {
+ portion = Math.min(Math.max(portion, 0.0), 1.0);
+
+ return Math.round(portion * (CHANNEL_MAX_VALUE - CHANNEL_MIN_VALUE) + CHANNEL_MIN_VALUE);
+}
+
+function channelValueToStickPortion(channel) {
+ return (channel - CHANNEL_MIN_VALUE) / (CHANNEL_MAX_VALUE - CHANNEL_MIN_VALUE);
+}
+
+function updateControlPositions() {
+ for (var stickName in stickValues) {
+ var
+ stickValue = stickValues[stickName];
+
+ // Look for the gimbal which corresponds to this stick name
+ for (var gimbalIndex in gimbals) {
+ var
+ gimbal = gimbals[gimbalIndex],
+ gimbalElem = gimbalElems.get(gimbalIndex),
+ gimbalSize = $(gimbalElem).width(),
+ stickElem = $(".control-stick", gimbalElem);
+
+ if (gimbal[0] == stickName) {
+ stickElem.css('top', (1.0 - channelValueToStickPortion(stickValue)) * gimbalSize + "px");
+ break;
+ } else if (gimbal[1] == stickName) {
+ stickElem.css('left', channelValueToStickPortion(stickValue) * gimbalSize + "px");
+ break;
+ }
+ }
+ }
+}
+
+function handleGimbalMouseDrag(e) {
+ var
+ gimbal = $(gimbalElems.get(e.data.gimbalIndex)),
+ gimbalOffset = gimbal.offset(),
+ gimbalSize = gimbal.width();
+
+ stickValues[gimbals[e.data.gimbalIndex][0]] = stickPortionToChannelValue(1.0 - (e.pageY - gimbalOffset.top) / gimbalSize);
+ stickValues[gimbals[e.data.gimbalIndex][1]] = stickPortionToChannelValue((e.pageX - gimbalOffset.left) / gimbalSize);
+
+ updateControlPositions();
+}
+
+function localizeAxisNames() {
+ for (var gimbalIndex in gimbals) {
+ var
+ gimbal = gimbalElems.get(gimbalIndex);
+
+ $(".gimbal-label-vert", gimbal).text(chrome.i18n.getMessage("controlAxis" + gimbals[gimbalIndex][0]));
+ $(".gimbal-label-horz", gimbal).text(chrome.i18n.getMessage("controlAxis" + gimbals[gimbalIndex][1]));
+ }
+
+ for (var sliderIndex = 0; sliderIndex < 4; sliderIndex++) {
+ $(".slider-label", sliderElems.get(sliderIndex)).text(chrome.i18n.getMessage("controlAxisAux" + (sliderIndex + 1)));
+ }
+}
+
+$(document).ready(function() {
+ $(".button-enable").click(function() {
+ var
+ shrinkHeight = $(".warning").height();
+
+ $(".warning").slideUp("short", function() {
+ chrome.app.window.current().innerBounds.minHeight -= shrinkHeight;
+ chrome.app.window.current().innerBounds.height -= shrinkHeight;
+ chrome.app.window.current().innerBounds.maxHeight -= shrinkHeight;
+ });
+
+ enableTX = true;
+ });
+
+ gimbalElems = $(".control-gimbal");
+ sliderElems = $(".control-slider");
+
+ gimbalElems.each(function(gimbalIndex) {
+ $(this).on('mousedown', {gimbalIndex: gimbalIndex}, function(e) {
+ if (e.which == 1) { // Only move sticks on left mouse button
+ handleGimbalMouseDrag(e);
+
+ $(window).on('mousemove', {gimbalIndex: gimbalIndex}, handleGimbalMouseDrag);
+ }
+ });
+ });
+
+ $(".slider", sliderElems).each(function(sliderIndex) {
+ var
+ initialValue = stickValues["aux" + (sliderIndex + 1)];
+
+ $(this)
+ .noUiSlider({
+ start: initialValue,
+ range: {
+ min: CHANNEL_MIN_VALUE,
+ max: CHANNEL_MAX_VALUE
+ }
+ }).on('slide change set', function(e, value) {
+ value = Math.round(parseFloat(value));
+
+ stickValues["aux" + (sliderIndex + 1)] = value;
+
+ $(".tooltip", this).text(value);
+ });
+
+ $(this).append('');
+
+ $(".tooltip", this).text(initialValue);
+ });
+
+ /*
+ * Mouseup handler needs to be bound to the window in order to receive mouseup if mouse leaves window.
+ */
+ $(window).mouseup(function(e) {
+ $(this).off('mousemove', handleGimbalMouseDrag);
+ });
+
+ localizeAxisNames();
+
+ updateControlPositions();
+
+ setInterval(transmitChannels, 50);
+});
\ No newline at end of file
diff --git a/tabs/sensors.js b/tabs/sensors.js
index 08423115..6ebcaea0 100644
--- a/tabs/sensors.js
+++ b/tabs/sensors.js
@@ -14,7 +14,8 @@ TABS.sensors.initialize = function (callback) {
SENSOR_DATA.accelerometer[i] = 0;
SENSOR_DATA.gyroscope[i] = 0;
SENSOR_DATA.magnetometer[i] = 0;
- SENSOR_DATA.sonar[i] = 0;
+ SENSOR_DATA.sonar = 0;
+ SENSOR_DATA.altitude = 0;
SENSOR_DATA.debug[i] = 0;
}
}
diff --git a/tabs/servos.css b/tabs/servos.css
index d1ddefa0..319047f0 100644
--- a/tabs/servos.css
+++ b/tabs/servos.css
@@ -3,10 +3,6 @@
.tab-servos input[type="number"]::-webkit-inner-spin-button {
border: 0;
}
-.tab-servos .supported_wrapper,
-.tab-servos .direction_wrapper {
- display: none;
-}
.tab-servos .title {
margin-top: 10px;
@@ -129,4 +125,17 @@
}
.tab-servos .update:hover {
background-color: #dedcdc;
-}
\ No newline at end of file
+}
+
+.tab-servos .require-support {
+ display:none;
+}
+.tab-servos.supported .require-support {
+ display:block;
+}
+.tab-servos .require-upgrade {
+ display:block;
+}
+.tab-servos.supported .require-upgrade {
+ display:none;
+}
diff --git a/tabs/servos.html b/tabs/servos.html
index fd53aa04..8fa54adc 100644
--- a/tabs/servos.html
+++ b/tabs/servos.html
@@ -1,6 +1,5 @@
-
-
+
@@ -8,21 +7,14 @@
+
+
CH1
CH2
CH3
CH4
-
-
-
-
-
-
-
-
-
@@ -30,4 +22,7 @@
+
+
+
\ No newline at end of file
diff --git a/tabs/servos.js b/tabs/servos.js
index 46b7ca85..d1773f37 100644
--- a/tabs/servos.js
+++ b/tabs/servos.js
@@ -1,9 +1,3 @@
-/* Please don't take code in this file very seriously !!!
-
- I was "kinda" forced to write this implementation "this way" because the Servo code implementation
- from multiwii is so horrible, obstructive and non dynamic, not to mention it doesn't make any sense
- that there was just no other way around this then hardcoding/implementing each model separately.
-*/
'use strict';
TABS.servos = {};
@@ -15,15 +9,25 @@ TABS.servos.initialize = function (callback) {
googleAnalytics.sendAppView('Servos');
}
- function get_servo_conf_data() {
- MSP.send_message(MSP_codes.MSP_SERVO_CONF, false, false, get_channel_forwarding_data);
+ function get_servo_configurations() {
+ MSP.send_message(MSP_codes.MSP_SERVO_CONFIGURATIONS, false, false, get_servo_mix_rules);
}
- function get_channel_forwarding_data() {
- MSP.send_message(MSP_codes.MSP_CHANNEL_FORWARDING, false, false, get_rc_data);
+ function get_servo_mix_rules() {
+ MSP.send_message(MSP_codes.MSP_SERVO_MIX_RULES, false, false, get_channel_forwarding);
}
- function get_rc_data() {
+ function get_channel_forwarding() {
+ var nextFunction = get_rc_data;
+
+ if (semver.lt(CONFIG.apiVersion, "1.12.0")) {
+ MSP.send_message(MSP_codes.MSP_CHANNEL_FORWARDING, false, false, nextFunction);
+ } else {
+ nextFunction();
+ }
+ }
+
+ function get_rc_data() {
MSP.send_message(MSP_codes.MSP_RC, false, false, get_boxnames_data);
}
@@ -35,10 +39,18 @@ TABS.servos.initialize = function (callback) {
$('#content').load("./tabs/servos.html", process_html);
}
- MSP.send_message(MSP_codes.MSP_IDENT, false, false, get_servo_conf_data);
-
- function process_html() {
-
+ MSP.send_message(MSP_codes.MSP_IDENT, false, false, get_servo_configurations);
+
+ function update_ui() {
+
+ if (semver.lt(CONFIG.apiVersion, "1.12.0")) {
+
+ $(".tab-servos").removeClass("supported");
+ return;
+ }
+
+ $(".tab-servos").addClass("supported");
+
var servoCheckbox = '';
var servoHeader = '';
for (var i = 0; i < RC.active_channels-4; i++) {
@@ -46,94 +58,52 @@ TABS.servos.initialize = function (callback) {
A' + (i+1) + '
\
';
}
- servoHeader = servoHeader + '
';
+ servoHeader = servoHeader + '
';
for (var i = 0; i < RC.active_channels; i++) {
servoCheckbox = servoCheckbox + '\