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Add anti gravity as feature and mode

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borisbstyle 2017-03-31 15:55:31 +02:00
parent 53bd377742
commit 2d9306652d
9 changed files with 365 additions and 8 deletions
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233
[activeBoxIdCount++] = BOXAIRMODE Normal file
View file

@ -0,0 +1,233 @@
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2
src/main/fc/config.c
View file

@ -179,7 +179,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->yawRateAccelLimit = 10.0f;
pidProfile->rateAccelLimit = 0.0f;
pidProfile->itermThrottleThreshold = 350;
pidProfile->itermAcceleratorGain = 1.0f;
pidProfile->itermAcceleratorGain = 3.0f;
}
void resetProfile(profile_t *profile)

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

@ -56,6 +56,7 @@ typedef enum {
FEATURE_RX_SPI = 1 << 25,
FEATURE_SOFTSPI = 1 << 26,
FEATURE_ESC_SENSOR = 1 << 27,
FEATURE_ANTI_GRAVITY = 1 << 28,
} features_e;
void beeperOffSet(uint32_t mask);

7
src/main/fc/fc_msp.c
View file

@ -123,7 +123,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXANGLE, "ANGLE;", 1 },
{ BOXHORIZON, "HORIZON;", 2 },
{ BOXBARO, "BARO;", 3 },
//{ BOXVARIO, "VARIO;", 4 },
{ BOXANTIGRAVITY, "ANTI GRAVITY;", 4 },
{ BOXMAG, "MAG;", 5 },
{ BOXHEADFREE, "HEADFREE;", 6 },
{ BOXHEADADJ, "HEADADJ;", 7 },
@ -327,6 +327,10 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
}
if (!feature(FEATURE_ANTI_GRAVITY)) {
activeBoxIds[activeBoxIdCount++] = BOXANTIGRAVITY;
}
if (sensors(SENSOR_ACC)) {
activeBoxIds[activeBoxIdCount++] = BOXANGLE;
activeBoxIds[activeBoxIdCount++] = BOXHORIZON;
@ -444,6 +448,7 @@ static uint32_t packFlightModeFlags(void)
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |
IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << BOXFAILSAFE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXANTIGRAVITY)) << BOXANTIGRAVITY |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX)) << BOXFPVANGLEMIX;
uint32_t ret = 0;

3
src/main/fc/fc_rc.c
View file

@ -181,8 +181,9 @@ void processRcCommand(void)
if (isRXDataNew) {
currentRxRefreshRate = constrain(getTaskDeltaTime(TASK_RX),1000,20000);
if (currentProfile->pidProfile.itermAcceleratorGain > 1.0f)
if (isAntiGravityModeActive()) {
checkForThrottleErrorResetState(currentRxRefreshRate);
}
}
if (rxConfig()->rcInterpolation || flightModeFlags) {

4
src/main/fc/rc_controls.c
View file

@ -73,6 +73,10 @@ bool isAirmodeActive(void) {
return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
}
bool isAntiGravityModeActive(void) {
return (IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || feature(FEATURE_ANTI_GRAVITY));
}
void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
#ifndef BLACKBOX
#define UNUSED(x) (void)(x)

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

@ -24,7 +24,7 @@ typedef enum {
BOXANGLE,
BOXHORIZON,
BOXBARO,
// BOXVARIO,
BOXANTIGRAVITY,
BOXMAG,
BOXHEADFREE,
BOXHEADADJ,
@ -271,6 +271,7 @@ typedef struct adjustmentProfile_s {
} adjustmentProfile_t;
bool isAirmodeActive(void);
bool isAntiGravityModeActive(void);
void resetAdjustmentStates(void);
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
void processRcAdjustments(controlRateConfig_t *controlRateConfig, struct rxConfig_s *rxConfig);

14
src/main/flight/mixer.c
View file

@ -479,10 +479,16 @@ void mixTable(pidProfile_t *pidProfile)
const float motorOutputRange = motorOutputMax - motorOutputMin;
float scaledAxisPIDf[3];
// Limit the PIDsum
scaledAxisPIDf[FD_ROLL] = constrainf((axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] * throttle + axisPID_D[FD_ROLL]) / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
scaledAxisPIDf[FD_PITCH] = constrainf((axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] * throttle + axisPID_D[FD_PITCH]) / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
scaledAxisPIDf[FD_YAW] = constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW] * throttle) / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimitYaw);
// Calculate and Limit the PIDsum
scaledAxisPIDf[FD_ROLL] =
constrainf((axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL]) / PID_MIXER_SCALING,
-pidProfile->pidSumLimit, pidProfile->pidSumLimit);
scaledAxisPIDf[FD_PITCH] =
constrainf((axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH]) / PID_MIXER_SCALING,
-pidProfile->pidSumLimit, pidProfile->pidSumLimit);
scaledAxisPIDf[FD_YAW] =
constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW]) / PID_MIXER_SCALING,
-pidProfile->pidSumLimit, pidProfile->pidSumLimitYaw);
// Calculate voltage compensation
const float vbatCompensationFactor = (batteryConfig && pidProfile->vbatPidCompensation) ? calculateVbatPidCompensation() : 1.0f;

106
tatic const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = { 123,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {{123,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = { 123,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = BOXHORIZON, Normal file
View file

@ -0,0 +1,106 @@
diff --git a/src/main/fc/config.h b/src/main/fc/config.h
index 0fe4f9e..9850d2b 100644
--- a/src/main/fc/config.h
+++ b/src/main/fc/config.h
@@ -56,6 +56,7 @@ typedef enum {
FEATURE_RX_SPI = 1 << 25,
FEATURE_SOFTSPI = 1 << 26,
FEATURE_ESC_SENSOR = 1 << 27,
+ FEATURE_TEST = 1 << 28,
} features_e;

void beeperOffSet(uint32_t mask);
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 80da417..4f3dfe7 100755
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -123,7 +123,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXANGLE, "ANGLE;", 1 },
{ BOXHORIZON, "HORIZON;", 2 },
{ BOXBARO, "BARO;", 3 },
- //{ BOXVARIO, "VARIO;", 4 },
+ { BOXTEST, "TEST;", 4 },
{ BOXMAG, "MAG;", 5 },
{ BOXHEADFREE, "HEADFREE;", 6 },
{ BOXHEADADJ, "HEADADJ;", 7 },
@@ -327,6 +327,10 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
}

+ if (!feature(FEATURE_TEST)) {
+ activeBoxIds[activeBoxIdCount++] = BOXTEST;
+ }
+
if (sensors(SENSOR_ACC)) {
activeBoxIds[activeBoxIdCount++] = BOXANGLE;
activeBoxIds[activeBoxIdCount++] = BOXHORIZON;
@@ -444,6 +448,7 @@ static uint32_t packFlightModeFlags(void)
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |
IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << BOXFAILSAFE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE |
+ IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTEST)) << BOXTEST |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX)) << BOXFPVANGLEMIX;

uint32_t ret = 0;
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 0f8a79b..4c9baba 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -73,6 +73,10 @@ bool isAirmodeActive(void) {
return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
}

+bool isTestmodeActive(void) {
+ return (IS_RC_MODE_ACTIVE(BOXTEST) || feature(FEATURE_TEST));
+}
+
void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
#ifndef BLACKBOX
#define UNUSED(x) (void)(x)
diff --git a/src/main/fc/rc_controls.h b/src/main/fc/rc_controls.h
index e9c88f8..dd76247 100644
--- a/src/main/fc/rc_controls.h
+++ b/src/main/fc/rc_controls.h
@@ -24,7 +24,7 @@ typedef enum {
BOXANGLE,
BOXHORIZON,
BOXBARO,
- // BOXVARIO,
+ BOXTEST,
BOXMAG,
BOXHEADFREE,
BOXHEADADJ,
@@ -271,6 +271,7 @@ typedef struct adjustmentProfile_s {
} adjustmentProfile_t;

bool isAirmodeActive(void);
+bool isTestmodeActive(void);
void resetAdjustmentStates(void);
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
void processRcAdjustments(controlRateConfig_t *controlRateConfig, struct rxConfig_s *rxConfig);
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 85df4ad..b282ccf 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -479,10 +479,17 @@ void mixTable(pidProfile_t *pidProfile)
const float motorOutputRange = motorOutputMax - motorOutputMin;

float scaledAxisPIDf[3];
- // Limit the PIDsum
- scaledAxisPIDf[FD_ROLL] = constrainf((axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] * throttle + axisPID_D[FD_ROLL]) / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
- scaledAxisPIDf[FD_PITCH] = constrainf((axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] * throttle + axisPID_D[FD_PITCH]) / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
- scaledAxisPIDf[FD_YAW] = constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW] * throttle) / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimitYaw);
+ float itermDampener = (isTestmodeActive()) ? constrainf(throttle * 1.8f, 0.1f, throttle) : 1.0f;
+ // Calculate and Limit the PIDsum
+ scaledAxisPIDf[FD_ROLL] =
+ constrainf((axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] * itermDampener + axisPID_D[FD_ROLL]) / PID_MIXER_SCALING,
+ -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
+ scaledAxisPIDf[FD_PITCH] =
+ constrainf((axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] * itermDampener + axisPID_D[FD_PITCH]) / PID_MIXER_SCALING,
+ -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
+ scaledAxisPIDf[FD_YAW] =
+ constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW] * itermDampener) / PID_MIXER_SCALING,
+ -pidProfile->pidSumLimit, pidProfile->pidSumLimitYaw);

// Calculate voltage compensation
const float vbatCompensationFactor = (batteryConfig && pidProfile->vbatPidCompensation) ? calculateVbatPidCompensation() : 1.0f;