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Unified BOX3DDISABLE and BOX3DONASWITCH switches.

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This commit is contained in:
mikeller 2018-02-13 20:02:02 +13:00
parent a301a0019e
commit 232fc4e8de
9 changed files with 23 additions and 23 deletions
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8
src/main/fc/fc_core.c
View file

@ -237,8 +237,8 @@ void updateArmingStatus(void)
/* Ignore ARMING_DISABLED_THROTTLE (once arm switch is on) if we are in 3D mode */ /* Ignore ARMING_DISABLED_THROTTLE (once arm switch is on) if we are in 3D mode */
bool ignoreThrottle = feature(FEATURE_3D) bool ignoreThrottle = feature(FEATURE_3D)
&& !IS_RC_MODE_ACTIVE(BOX3DDISABLE) && !IS_RC_MODE_ACTIVE(BOX3D)
&& !isModeActivationConditionPresent(BOX3DONASWITCH) && !flight3DConfig()->switched_mode3d
&& !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE)); && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
#ifdef USE_RUNAWAY_TAKEOFF #ifdef USE_RUNAWAY_TAKEOFF
@ -452,8 +452,8 @@ uint8_t calculateThrottlePercent(void)
{ {
uint8_t ret = 0; uint8_t ret = 0;
if (feature(FEATURE_3D) if (feature(FEATURE_3D)
&& !IS_RC_MODE_ACTIVE(BOX3DDISABLE) && !IS_RC_MODE_ACTIVE(BOX3D)
&& !isModeActivationConditionPresent(BOX3DONASWITCH)) { && !flight3DConfig()->switched_mode3d) {
if ((rcData[THROTTLE] >= PWM_RANGE_MAX) || (rcData[THROTTLE] <= PWM_RANGE_MIN)) { if ((rcData[THROTTLE] >= PWM_RANGE_MAX) || (rcData[THROTTLE] <= PWM_RANGE_MIN)) {
ret = 100; ret = 100;

15
src/main/fc/fc_rc.c
View file

@ -324,21 +324,20 @@ void updateRcCommands(void)
rcCommand[THROTTLE] = rcLookupThrottle(tmp); rcCommand[THROTTLE] = rcLookupThrottle(tmp);
if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLE) && !failsafeIsActive()) { if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3D) && !failsafeIsActive()) {
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000); fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - rxConfig()->midrc); rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - rxConfig()->midrc);
} }
if (feature(FEATURE_3D) && isModeActivationConditionPresent(BOX3DONASWITCH) && !failsafeIsActive()) { if (feature(FEATURE_3D) && flight3DConfig()->switched_mode3d && !failsafeIsActive()) {
if (IS_RC_MODE_ACTIVE(BOX3DONASWITCH)) { if (IS_RC_MODE_ACTIVE(BOX3D)) {
reverseMotors = true;
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MIN - rxConfig()->midrc);
}
else {
reverseMotors = false; reverseMotors = false;
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000); fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - rxConfig()->midrc); rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - rxConfig()->midrc);
} else {
reverseMotors = true;
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MIN - rxConfig()->midrc);
} }
} }
if (FLIGHT_MODE(HEADFREE_MODE)) { if (FLIGHT_MODE(HEADFREE_MODE)) {

5
src/main/fc/rc_controls.c
View file

@ -91,7 +91,8 @@ PG_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig,
.deadband3d_low = 1406, .deadband3d_low = 1406,
.deadband3d_high = 1514, .deadband3d_high = 1514,
.neutral3d = 1460, .neutral3d = 1460,
.deadband3d_throttle = 50 .deadband3d_throttle = 50,
.switched_mode3d = false
); );
bool isUsingSticksForArming(void) bool isUsingSticksForArming(void)
@ -107,7 +108,7 @@ bool areSticksInApModePosition(uint16_t ap_mode)
throttleStatus_e calculateThrottleStatus(void) throttleStatus_e calculateThrottleStatus(void)
{ {
if (feature(FEATURE_3D)) { if (feature(FEATURE_3D)) {
if (IS_RC_MODE_ACTIVE(BOX3DDISABLE) || isModeActivationConditionPresent(BOX3DONASWITCH)) { if (IS_RC_MODE_ACTIVE(BOX3D) || flight3DConfig()->switched_mode3d) {
if (rcData[THROTTLE] < rxConfig()->mincheck) { if (rcData[THROTTLE] < rxConfig()->mincheck) {
return THROTTLE_LOW; return THROTTLE_LOW;
} }

1
src/main/fc/rc_controls.h
View file

@ -94,6 +94,7 @@ typedef struct flight3DConfig_s {
uint16_t deadband3d_high; // max 3d value uint16_t deadband3d_high; // max 3d value
uint16_t neutral3d; // center 3d value uint16_t neutral3d; // center 3d value
uint16_t deadband3d_throttle; // default throttle deadband from MIDRC uint16_t deadband3d_throttle; // default throttle deadband from MIDRC
uint8_t switched_mode3d; // enable '3D Switched Mode'
} flight3DConfig_t; } flight3DConfig_t;
PG_DECLARE(flight3DConfig_t, flight3DConfig); PG_DECLARE(flight3DConfig_t, flight3DConfig);

3
src/main/fc/rc_modes.h
View file

@ -56,7 +56,7 @@ typedef enum {
BOXSERVO3, BOXSERVO3,
BOXBLACKBOX, BOXBLACKBOX,
BOXAIRMODE, BOXAIRMODE,
BOX3DDISABLE, BOX3D,
BOXFPVANGLEMIX, BOXFPVANGLEMIX,
BOXBLACKBOXERASE, BOXBLACKBOXERASE,
BOXCAMERA1, BOXCAMERA1,
@ -65,7 +65,6 @@ typedef enum {
BOXFLIPOVERAFTERCRASH, BOXFLIPOVERAFTERCRASH,
BOXPREARM, BOXPREARM,
BOXBEEPGPSCOUNT, BOXBEEPGPSCOUNT,
BOX3DONASWITCH,
BOXVTXPITMODE, BOXVTXPITMODE,
BOXUSER1, BOXUSER1,
BOXUSER2, BOXUSER2,

2
src/main/flight/mixer.c
View file

@ -577,7 +577,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
throttle = rcCommand[THROTTLE] - rcCommand3dDeadBandHigh; throttle = rcCommand[THROTTLE] - rcCommand3dDeadBandHigh;
currentThrottleInputRange = rcCommandThrottleRange3dHigh; currentThrottleInputRange = rcCommandThrottleRange3dHigh;
} else if ((rcThrottlePrevious <= rcCommand3dDeadBandLow && } else if ((rcThrottlePrevious <= rcCommand3dDeadBandLow &&
!isModeActivationConditionPresent(BOX3DONASWITCH)) || !flight3DConfigMutable()->switched_mode3d) ||
isMotorsReversed()) { isMotorsReversed()) {
// INVERTED_TO_DEADBAND // INVERTED_TO_DEADBAND
motorRangeMin = motorOutputLow; motorRangeMin = motorOutputLow;

7
src/main/interface/msp_box.c
View file

@ -73,7 +73,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
{ BOXBLACKBOX, "BLACKBOX", 26 }, { BOXBLACKBOX, "BLACKBOX", 26 },
{ BOXFAILSAFE, "FAILSAFE", 27 }, { BOXFAILSAFE, "FAILSAFE", 27 },
{ BOXAIRMODE, "AIR MODE", 28 }, { BOXAIRMODE, "AIR MODE", 28 },
{ BOX3DDISABLE, "DISABLE 3D", 29}, { BOX3D, "DISABLE / SWITCH 3D", 29},
{ BOXFPVANGLEMIX, "FPV ANGLE MIX", 30}, { BOXFPVANGLEMIX, "FPV ANGLE MIX", 30},
{ BOXBLACKBOXERASE, "BLACKBOX ERASE (>30s)", 31 }, { BOXBLACKBOXERASE, "BLACKBOX ERASE (>30s)", 31 },
{ BOXCAMERA1, "CAMERA CONTROL 1", 32}, { BOXCAMERA1, "CAMERA CONTROL 1", 32},
@ -82,7 +82,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
{ BOXFLIPOVERAFTERCRASH, "FLIP OVER AFTER CRASH", 35 }, { BOXFLIPOVERAFTERCRASH, "FLIP OVER AFTER CRASH", 35 },
{ BOXPREARM, "PREARM", 36 }, { BOXPREARM, "PREARM", 36 },
{ BOXBEEPGPSCOUNT, "BEEP GPS SATELLITE COUNT", 37 }, { BOXBEEPGPSCOUNT, "BEEP GPS SATELLITE COUNT", 37 },
{ BOX3DONASWITCH, "3D ON A SWITCH", 38 }, // { BOX3DONASWITCH, "3D ON A SWITCH", 38 }, (removed)
{ BOXVTXPITMODE, "VTX PIT MODE", 39 }, { BOXVTXPITMODE, "VTX PIT MODE", 39 },
{ BOXUSER1, "USER1", 40 }, { BOXUSER1, "USER1", 40 },
{ BOXUSER2, "USER2", 41 }, { BOXUSER2, "USER2", 41 },
@ -224,8 +224,7 @@ void initActiveBoxIds(void)
BME(BOXFPVANGLEMIX); BME(BOXFPVANGLEMIX);
if (feature(FEATURE_3D)) { if (feature(FEATURE_3D)) {
BME(BOX3DDISABLE); BME(BOX3D);
BME(BOX3DONASWITCH);
} }
if (isMotorProtocolDshot()) { if (isMotorProtocolDshot()) {

1
src/main/interface/settings.c
View file

@ -527,6 +527,7 @@ const clivalue_t valueTable[] = {
{ "3d_deadband_high", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_MIDDLE, PWM_PULSE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_high) }, { "3d_deadband_high", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_MIDDLE, PWM_PULSE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_high) },
{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, neutral3d) }, { "3d_neutral", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, neutral3d) },
{ "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_throttle) }, { "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_throttle) },
{ "3d_switched_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, switched_mode3d) },
// PG_SERVO_CONFIG // PG_SERVO_CONFIG
#ifdef USE_SERVOS #ifdef USE_SERVOS

4
src/test/unit/arming_prevention_unittest.cc
View file

@ -427,7 +427,7 @@ TEST(ArmingPreventionTest, When3DModeDisabledThenNormalThrottleArmingConditionAp
modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750); modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX); modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
modeActivationConditionsMutable(1)->auxChannelIndex = 1; modeActivationConditionsMutable(1)->auxChannelIndex = 1;
modeActivationConditionsMutable(1)->modeId = BOX3DDISABLE; modeActivationConditionsMutable(1)->modeId = BOX3D;
modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750); modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX); modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
useRcControlsConfig(NULL); useRcControlsConfig(NULL);
@ -528,7 +528,7 @@ TEST(ArmingPreventionTest, WhenUsingSwitched3DModeThenNormalThrottleArmingCondit
modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750); modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX); modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
modeActivationConditionsMutable(1)->auxChannelIndex = 1; modeActivationConditionsMutable(1)->auxChannelIndex = 1;
modeActivationConditionsMutable(1)->modeId = BOX3DONASWITCH; modeActivationConditionsMutable(1)->modeId = BOX3D;
modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750); modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX); modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
useRcControlsConfig(NULL); useRcControlsConfig(NULL);