diff --git a/src/main/config/config.c b/src/main/config/config.c index 52f705d385..5f0cf31eae 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -185,11 +185,11 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) { controlRateConfig->rcRate8 = 100; controlRateConfig->rcYawRate8 = 100; - controlRateConfig->rcExpo8 = 10; + controlRateConfig->rcExpo8 = 0; controlRateConfig->thrMid8 = 50; controlRateConfig->thrExpo8 = 0; - controlRateConfig->dynThrPID = 20; - controlRateConfig->rcYawExpo8 = 10; + controlRateConfig->dynThrPID = 10; + controlRateConfig->rcYawExpo8 = 0; controlRateConfig->tpa_breakpoint = 1650; for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) { @@ -205,7 +205,7 @@ static void resetPidProfile(pidProfile_t *pidProfile) pidProfile->I8[ROLL] = 40; pidProfile->D8[ROLL] = 20; pidProfile->P8[PITCH] = 60; - pidProfile->I8[PITCH] = 60; + pidProfile->I8[PITCH] = 65; pidProfile->D8[PITCH] = 22; pidProfile->P8[YAW] = 80; pidProfile->I8[YAW] = 45; @@ -236,11 +236,11 @@ static void resetPidProfile(pidProfile_t *pidProfile) pidProfile->yawItermIgnoreRate = 32; pidProfile->dterm_filter_type = FILTER_BIQUAD; pidProfile->dterm_lpf_hz = 100; // filtering ON by default - pidProfile->dterm_notch_hz = 0; - pidProfile->dterm_notch_cutoff = 150; + pidProfile->dterm_notch_hz = 260; + pidProfile->dterm_notch_cutoff = 160; pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT; pidProfile->vbatPidCompensation = 0; - pidProfile->pidAtMinThrottle = PID_STABILISATION_OFF; + pidProfile->pidAtMinThrottle = PID_STABILISATION_ON; // Betaflight PID controller parameters pidProfile->ptermSetpointWeight = 75; @@ -504,9 +504,9 @@ void createDefaultConfig(master_t *config) config->gyroConfig.gyroMovementCalibrationThreshold = 32; // xxx_hardware: 0:default/autodetect, 1: disable - config->mag_hardware = 0; + config->mag_hardware = 1; - config->baro_hardware = 0; + config->baro_hardware = 1; resetBatteryConfig(&config->batteryConfig); @@ -585,8 +585,6 @@ void createDefaultConfig(master_t *config) resetSerialConfig(&config->serialConfig); - config->emf_avoidance = 0; // TODO - needs removal - resetProfile(&config->profile[0]); resetRollAndPitchTrims(&config->accelerometerTrims); @@ -614,12 +612,12 @@ void createDefaultConfig(master_t *config) config->throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv // Failsafe Variables - config->failsafeConfig.failsafe_delay = 10; // 1sec - config->failsafeConfig.failsafe_off_delay = 10; // 1sec - config->failsafeConfig.failsafe_throttle = 1000; // default throttle off. - config->failsafeConfig.failsafe_kill_switch = 0; // default failsafe switch action is identical to rc link loss - config->failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition - config->failsafeConfig.failsafe_procedure = 0; // default full failsafe procedure is 0: auto-landing + config->failsafeConfig.failsafe_delay = 10; // 1sec + config->failsafeConfig.failsafe_off_delay = 10; // 1sec + config->failsafeConfig.failsafe_throttle = 1000; // default throttle off. + config->failsafeConfig.failsafe_kill_switch = 0; // default failsafe switch action is identical to rc link loss + config->failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition + config->failsafeConfig.failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT;// default full failsafe procedure is 0: auto-landing #ifdef USE_SERVOS // servos diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h index aa572fac0a..cf93ca3b45 100644 --- a/src/main/config/config_master.h +++ b/src/main/config/config_master.h @@ -25,7 +25,6 @@ typedef struct master_t { uint8_t mixerMode; uint32_t enabledFeatures; - uint8_t emf_avoidance; // change pll settings to avoid noise in the uhf band // motor/esc/servo related stuff motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS]; diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 9b333b35e4..e3546636f6 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -517,6 +517,10 @@ static const char * const lookupTableLowpassType[] = { "NORMAL", "HIGH" }; +static const char * const lookupTableFailsafe[] = { + "AUTO-LAND", "DROP" +}; + typedef struct lookupTableEntry_s { const char * const *values; const uint8_t valueCount; @@ -555,6 +559,7 @@ typedef enum { TABLE_DELTA_METHOD, TABLE_RC_INTERPOLATION, TABLE_LOWPASS_TYPE, + TABLE_FAILSAFE, #ifdef OSD TABLE_OSD, #endif @@ -593,6 +598,7 @@ static const lookupTableEntry_t lookupTables[] = { { lookupTableDeltaMethod, sizeof(lookupTableDeltaMethod) / sizeof(char *) }, { lookupTableRcInterpolation, sizeof(lookupTableRcInterpolation) / sizeof(char *) }, { lookupTableLowpassType, sizeof(lookupTableLowpassType) / sizeof(char *) }, + { lookupTableFailsafe, sizeof(lookupTableFailsafe) / sizeof(char *) }, #ifdef OSD { lookupTableOsdType, sizeof(lookupTableOsdType) / sizeof(char *) }, #endif @@ -646,7 +652,6 @@ typedef struct { } clivalue_t; const clivalue_t valueTable[] = { -// { "emf_avoidance", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.emf_avoidance, .config.lookup = { TABLE_OFF_ON } }, { "mid_rc", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.midrc, .config.minmax = { 1200, 1700 } }, { "min_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.mincheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, { "max_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.maxcheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, @@ -808,7 +813,7 @@ const clivalue_t valueTable[] = { { "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX } }, { "failsafe_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.failsafeConfig.failsafe_kill_switch, .config.lookup = { TABLE_OFF_ON } }, { "failsafe_throttle_low_delay",VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle_low_delay, .config.minmax = { 0, 300 } }, - { "failsafe_procedure", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.failsafeConfig.failsafe_procedure, .config.lookup = { TABLE_OFF_ON } }, + { "failsafe_procedure", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.failsafeConfig.failsafe_procedure, .config.lookup = { TABLE_FAILSAFE } }, { "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_min_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } }, { "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } }, @@ -852,8 +857,8 @@ const clivalue_t valueTable[] = { { "yaw_rate_accel_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } }, { "rate_accel_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } }, - { "accumulation_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } }, - { "yaw_accumulation_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } }, + { "accum_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } }, + { "yaw_accum_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } }, { "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } }, { "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_process_denom, .config.minmax = { 1, 8 } }, diff --git a/src/main/main.c b/src/main/main.c index 24b983308d..2d961c442c 100644 --- a/src/main/main.c +++ b/src/main/main.c @@ -675,7 +675,7 @@ void main_init(void) /* Setup scheduler */ schedulerInit(); - rescheduleTask(TASK_GYROPID, gyro.targetLooptime); + rescheduleTask(TASK_GYROPID, gyro.targetLooptime + 5); // Add a littlebit of extra time to reduce busy wait setTaskEnabled(TASK_GYROPID, true); if (sensors(SENSOR_ACC)) { diff --git a/src/main/mw.c b/src/main/mw.c index 86abfd6c63..80605784e6 100644 --- a/src/main/mw.c +++ b/src/main/mw.c @@ -816,8 +816,6 @@ void taskMainPidLoopCheck(void) static uint32_t previousTime; static bool runTaskMainSubprocesses; - const uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF); - cycleTime = micros() - previousTime; previousTime = micros(); @@ -827,30 +825,31 @@ void taskMainPidLoopCheck(void) } const uint32_t startTime = micros(); + while (true) { - if (gyroSyncCheckUpdate(&gyro) || ((currentDeltaTime + (micros() - previousTime)) >= (gyro.targetLooptime + GYRO_WATCHDOG_DELAY))) { - static uint8_t pidUpdateCountdown; - + if (gyroSyncCheckUpdate(&gyro)) { if (debugMode == DEBUG_PIDLOOP) {debug[0] = micros() - startTime;} // time spent busy waiting - if (runTaskMainSubprocesses) { - subTaskMainSubprocesses(); - runTaskMainSubprocesses = false; - } - - gyroUpdate(); - - if (pidUpdateCountdown) { - pidUpdateCountdown--; - } else { - pidUpdateCountdown = setPidUpdateCountDown(); - subTaskPidController(); - subTaskMotorUpdate(); - runTaskMainSubprocesses = true; - } - break; } } + + static uint8_t pidUpdateCountdown; + + if (runTaskMainSubprocesses) { + subTaskMainSubprocesses(); + runTaskMainSubprocesses = false; + } + + gyroUpdate(); + + if (pidUpdateCountdown) { + pidUpdateCountdown--; + } else { + pidUpdateCountdown = setPidUpdateCountDown(); + subTaskPidController(); + subTaskMotorUpdate(); + runTaskMainSubprocesses = true; + } } void taskUpdateAccelerometer(void)