diff --git a/Makefile b/Makefile index 174a62fe4f..f27ba72ea4 100644 --- a/Makefile +++ b/Makefile @@ -68,8 +68,7 @@ COMMON_SRC = startup_stm32f10x_md_gcc.S \ $(STDPERIPH_SRC) # Source files for the NAZE target -NAZE_SRC = drv_spi.c \ - drv_adc.c \ +NAZE_SRC = drv_adc.c \ drv_adxl345.c \ drv_bma280.c \ drv_bmp085.c \ @@ -82,6 +81,7 @@ NAZE_SRC = drv_spi.c \ drv_mpu6050.c \ drv_l3g4200d.c \ drv_pwm.c \ + drv_spi.c \ drv_timer.c \ $(COMMON_SRC) @@ -134,7 +134,7 @@ INCLUDE_DIRS = $(SRC_DIR) \ $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \ ARCH_FLAGS = -mthumb -mcpu=cortex-m3 -BASE_CFLAGS = $(ARCH_FLAGS) \ +BASE_CFLAGS = $(ARCH_FLAGS) \ $(addprefix -D,$(OPTIONS)) \ $(addprefix -I,$(INCLUDE_DIRS)) \ -Wall \ diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 9eacc8022f..346c4d4a18 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,20 +1,20 @@ :020000040800F2 -:10000000902900205DA800089DA800081F2700086F -:10001000A1A80008A3A80008A5A8000800000000E7 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+:10E050000832071AAC0C290829591A690C29083208 +:10E06000091AA30C2908320A1A940C2908320B1A2F +:10E07000790C2908320C1AEB0C2908320D1AD00C35 +:10E0800029082A0E7012DF2A0808320F1AF51829FB +:10E090000832101AE20C290832111A720C290832BF +:10E0A000121AD80C290832131AFD0C29087214020E +:10E0B000A7FF021001E20452038B803F0401165AAD +:10E0C00003494AD931E91D12010A1C0285C20834EC +:10E0D0002C01401A408C1A40193A405B14A24A04A1 +:10E0E0008B127A33380B0203040607080902040670 +:08E0F0003B29106914C1000076 :04000005080000ED02 :00000001FF diff --git a/src/cli.c b/src/cli.c index 535d413114..0f11e3d343 100644 --- a/src/cli.c +++ b/src/cli.c @@ -124,6 +124,7 @@ const clivalue_t valueTable[] = { { "servo_pwm_rate", VAR_UINT16, &mcfg.servo_pwm_rate, 50, 498 }, { "retarded_arm", VAR_UINT8, &mcfg.retarded_arm, 0, 1 }, { "flaps_speed", VAR_UINT8, &mcfg.flaps_speed, 0, 100 }, + { "fixedwing_althold_dir", VAR_INT8, &mcfg.fixedwing_althold_dir, -1, 1 }, { "serial_baudrate", VAR_UINT32, &mcfg.serial_baudrate, 1200, 115200 }, { "softserial_baudrate", VAR_UINT32, &mcfg.softserial_baudrate, 9600, 19200 }, { "softserial_inverted", VAR_UINT8, &mcfg.softserial_inverted, 0, 1 }, @@ -131,6 +132,7 @@ const clivalue_t valueTable[] = { { "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, -1, 4 }, { "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 2 }, { "telemetry_softserial", VAR_UINT8, &mcfg.telemetry_softserial, 0, 1 }, + { "telemetry_switch", VAR_UINT8, &mcfg.telemetry_switch, 0, 1 }, { "vbatscale", VAR_UINT8, &mcfg.vbatscale, 10, 200 }, { "vbatmaxcellvoltage", VAR_UINT8, &mcfg.vbatmaxcellvoltage, 10, 50 }, { "vbatmincellvoltage", VAR_UINT8, &mcfg.vbatmincellvoltage, 10, 50 }, diff --git a/src/config.c b/src/config.c index 3be24b835e..1a865330ab 100755 --- a/src/config.c +++ b/src/config.c @@ -13,7 +13,7 @@ master_t mcfg; // master config struct with data independent from profiles config_t cfg; // profile config struct const char rcChannelLetters[] = "AERT1234"; -static const uint8_t EEPROM_CONF_VERSION = 55; +static const uint8_t EEPROM_CONF_VERSION = 56; static uint32_t enabledSensors = 0; static void resetConf(void); @@ -193,10 +193,13 @@ static void resetConf(void) mcfg.power_adc_channel = 0; mcfg.serialrx_type = 0; mcfg.telemetry_softserial = 0; + mcfg.telemetry_switch = 0; mcfg.midrc = 1500; mcfg.mincheck = 1100; mcfg.maxcheck = 1900; mcfg.retarded_arm = 0; // disable arm/disarm on roll left/right + mcfg.flaps_speed = 0; + mcfg.fixedwing_althold_dir = 1; // Motor/ESC/Servo mcfg.minthrottle = 1150; mcfg.maxthrottle = 1850; diff --git a/src/gps.c b/src/gps.c index 4df644d506..9cc5c4870d 100644 --- a/src/gps.c +++ b/src/gps.c @@ -9,6 +9,7 @@ #define GPS_TIMEOUT (2500) // How many entries in gpsInitData array below #define GPS_INIT_ENTRIES (5) +#define GPS_BAUD_DELAY (100) typedef struct gpsInitData_t { uint32_t baudrate; @@ -70,6 +71,7 @@ typedef struct gpsData_t { uint32_t lastLastMessage; // last-last valid GPS message. Used to calculate delta. uint32_t state_position; // incremental variable for loops + uint32_t state_ts; // timestamp for last state_position increment } gpsData_t; @@ -83,6 +85,7 @@ static void gpsSetState(uint8_t state) { gpsData.state = state; gpsData.state_position = 0; + gpsData.state_ts = millis(); } void gpsInit(uint8_t baudrate) @@ -114,31 +117,34 @@ void gpsInitHardware(void) // nothing to do, just set baud rate and try receiving some stuff and see if it parses serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate); gpsSetState(GPS_RECEIVINGDATA); - return; + break; case GPS_UBLOX: - // UBX will run at mcfg.baudrate, it shouldn't be "autodetected". So here we force it to that rate + // UBX will run at mcfg.gps_baudrate, it shouldn't be "autodetected". So here we force it to that rate - // Wait until GPS transmit buffer is empty - if (!isSerialTransmitBufferEmpty(core.gpsport)) - break; + // Wait until GPS transmit buffer is empty + if (!isSerialTransmitBufferEmpty(core.gpsport)) + break; if (gpsData.state == GPS_INITIALIZING) { + uint32_t m = millis(); + if (m - gpsData.state_ts < GPS_BAUD_DELAY) + return; + if (gpsData.state_position < GPS_INIT_ENTRIES) { // try different speed to INIT serialSetBaudRate(core.gpsport, gpsInitData[gpsData.state_position].baudrate); // but print our FIXED init string for the baudrate we want to be at - serialPrint(core.gpsport, gpsInitData[mcfg.gps_baudrate].ubx); + serialPrint(core.gpsport, gpsInitData[gpsData.baudrateIndex].ubx); gpsData.state_position++; + gpsData.state_ts = m; } else { // we're now (hopefully) at the correct rate, next state will switch to it - gpsData.baudrateIndex = mcfg.gps_baudrate; gpsSetState(GPS_INITDONE); } } else { // GPS_INITDONE, set our real baud rate and push some ublox config strings - if (gpsData.state_position == 0) serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate); diff --git a/src/imu.c b/src/imu.c index e14fb32808..deddd360a3 100755 --- a/src/imu.c +++ b/src/imu.c @@ -315,7 +315,7 @@ static void getEstimatedAttitude(void) acc_calc(deltaT); // rotate acc vector into earth frame if (cfg.throttle_angle_correction) { - int cosZ = EstG.V.Z / (acc_1G * 100.0f); + int cosZ = ((int32_t)(EstG.V.Z * 100.0f)) / acc_1G; throttleAngleCorrection = cfg.throttle_angle_correction * constrain(100 - cosZ, 0, 100) / 8; } } diff --git a/src/mixer.c b/src/mixer.c index f0c0ecf2c5..254d71f161 100755 --- a/src/mixer.c +++ b/src/mixer.c @@ -43,12 +43,12 @@ static const motorMixer_t mixerY6[] = { }; static const motorMixer_t mixerHex6P[] = { - { 1.0f, -1.0f, 0.866025f, 1.0f }, // REAR_R - { 1.0f, -1.0f, -0.866025f, -1.0f }, // FRONT_R - { 1.0f, 1.0f, 0.866025f, 1.0f }, // REAR_L - { 1.0f, 1.0f, -0.866025f, -1.0f }, // FRONT_L - { 1.0f, 0.0f, -0.866025f, 1.0f }, // FRONT - { 1.0f, 0.0f, 0.866025f, -1.0f }, // REAR + { 1.0f, -0.866025f, 0.5f, 1.0f }, // REAR_R + { 1.0f, -0.866025f, -0.5f, -1.0f }, // FRONT_R + { 1.0f, 0.866025f, 0.5f, 1.0f }, // REAR_L + { 1.0f, 0.866025f, -0.5f, -1.0f }, // FRONT_L + { 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT + { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR }; static const motorMixer_t mixerY4[] = { @@ -59,12 +59,12 @@ static const motorMixer_t mixerY4[] = { }; static const motorMixer_t mixerHex6X[] = { - { 1.0f, -0.866025f, 1.0f, 1.0f }, // REAR_R - { 1.0f, -0.866025f, -1.0f, 1.0f }, // FRONT_R - { 1.0f, 0.866025f, 1.0f, -1.0f }, // REAR_L - { 1.0f, 0.866025f, -1.0f, -1.0f }, // FRONT_L - { 1.0f, -0.866025f, 0.0f, -1.0f }, // RIGHT - { 1.0f, 0.866025f, 0.0f, 1.0f }, // LEFT + { 1.0f, -0.5f, 0.866025f, 1.0f }, // REAR_R + { 1.0f, -0.5f, -0.866025f, 1.0f }, // FRONT_R + { 1.0f, 0.5f, 0.866025f, -1.0f }, // REAR_L + { 1.0f, 0.5f, -0.866025f, -1.0f }, // FRONT_L + { 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT + { 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT }; static const motorMixer_t mixerOctoX8[] = { @@ -211,6 +211,14 @@ void mixerInit(void) } } } + + // set flag that we're on something with wings + if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || + mcfg.mixerConfiguration == MULTITYPE_AIRPLANE) + f.FIXED_WING = 1; + else + f.FIXED_WING = 0; + mixerResetMotors(); } @@ -463,7 +471,11 @@ void mixTable(void) // forward AUX1-4 to servo outputs (not constrained) if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) { int offset = 0; - if (feature(FEATURE_SERVO_TILT)) + // offset servos based off number already used in mixer types + // airplane and servo_tilt together can't be used + if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING) + offset = 4; + else if (mixers[mcfg.mixerConfiguration].useServo) offset = 2; for (i = 0; i < 4; i++) pwmWriteServo(i + offset, rcData[AUX1 + i]); diff --git a/src/mw.c b/src/mw.c index 1248bff6c6..eb0cc37ea8 100755 --- a/src/mw.c +++ b/src/mw.c @@ -831,34 +831,42 @@ void loop(void) if (f.BARO_MODE) { static uint8_t isAltHoldChanged = 0; static int16_t AltHoldCorr = 0; - if (cfg.alt_hold_fast_change) { - // rapid alt changes - if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) { - errorAltitudeI = 0; - isAltHoldChanged = 1; - rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -cfg.alt_hold_throttle_neutral : cfg.alt_hold_throttle_neutral; + if (!f.FIXED_WING) { + // multirotor alt hold + if (cfg.alt_hold_fast_change) { + // rapid alt changes + if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) { + errorAltitudeI = 0; + isAltHoldChanged = 1; + rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -cfg.alt_hold_throttle_neutral : cfg.alt_hold_throttle_neutral; + } else { + if (isAltHoldChanged) { + AltHold = EstAlt; + isAltHoldChanged = 0; + } + rcCommand[THROTTLE] = initialThrottleHold + BaroPID; + } } else { - if (isAltHoldChanged) { + // slow alt changes for apfags + if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) { + // Slowly increase/decrease AltHold proportional to stick movement ( +100 throttle gives ~ +50 cm in 1 second with cycle time about 3-4ms) + AltHoldCorr += rcCommand[THROTTLE] - initialThrottleHold; + AltHold += AltHoldCorr / 2000; + AltHoldCorr %= 2000; + isAltHoldChanged = 1; + } else if (isAltHoldChanged) { AltHold = EstAlt; + AltHoldCorr = 0; isAltHoldChanged = 0; } rcCommand[THROTTLE] = initialThrottleHold + BaroPID; + rcCommand[THROTTLE] = constrain(rcCommand[THROTTLE], mcfg.minthrottle + 150, mcfg.maxthrottle); } } else { - // slow alt changes for apfags - if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) { - // Slowly increase/decrease AltHold proportional to stick movement ( +100 throttle gives ~ +50 cm in 1 second with cycle time about 3-4ms) - AltHoldCorr += rcCommand[THROTTLE] - initialThrottleHold; - AltHold += AltHoldCorr / 2000; - AltHoldCorr %= 2000; - isAltHoldChanged = 1; - } else if (isAltHoldChanged) { - AltHold = EstAlt; - AltHoldCorr = 0; - isAltHoldChanged = 0; - } - rcCommand[THROTTLE] = initialThrottleHold + BaroPID; - rcCommand[THROTTLE] = constrain(rcCommand[THROTTLE], mcfg.minthrottle + 150, mcfg.maxthrottle); + // handle fixedwing-related althold. UNTESTED! and probably wrong + // most likely need to check changes on pitch channel and 'reset' althold similar to + // how throttle does it on multirotor + rcCommand[PITCH] += BaroPID * mcfg.fixedwing_althold_dir; } } } diff --git a/src/mw.h b/src/mw.h index 835ba0e856..99b5dee75a 100755 --- a/src/mw.h +++ b/src/mw.h @@ -101,6 +101,7 @@ enum { BOXCALIB, BOXGOV, BOXOSD, + BOXTELEMETRY, CHECKBOXITEMS }; @@ -265,6 +266,7 @@ typedef struct master_t { uint16_t maxcheck; // maximum rc end uint8_t retarded_arm; // allow disarsm/arm on throttle down + roll left/right uint8_t flaps_speed; // airplane mode flaps, 0 = no flaps, > 0 = flap speed, larger = faster + int8_t fixedwing_althold_dir; // +1 or -1 for pitch/althold gain. later check if need more than just sign uint8_t rssi_aux_channel; // Read rssi from channel. 1+ = AUX1+, 0 to disable. @@ -275,10 +277,10 @@ typedef struct master_t { uint32_t serial_baudrate; uint32_t softserial_baudrate; - uint8_t softserial_inverted; // use inverted softserial input and output signals - - uint8_t telemetry_softserial; // Serial to use for Telemetry. 0:USART1, 1:SoftSerial1 (Enable FEATURE_SOFTSERIAL first) + uint8_t softserial_inverted; // use inverted softserial input and output signals + uint8_t telemetry_softserial; // Serial to use for Telemetry. 0:USART1, 1:SoftSerial1 (Enable FEATURE_SOFTSERIAL first) + uint8_t telemetry_switch; // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed. config_t profile[3]; // 3 separate profiles uint8_t current_profile; // currently loaded profile @@ -314,6 +316,7 @@ typedef struct flags_t { uint8_t SMALL_ANGLES_25; uint8_t CALIBRATE_MAG; uint8_t VARIO_MODE; + uint8_t FIXED_WING; // set when in flying_wing or airplane mode. currently used by althold selection code } flags_t; extern int16_t gyroZero[3]; diff --git a/src/serial.c b/src/serial.c index 55553000ba..7bd00a815f 100755 --- a/src/serial.c +++ b/src/serial.c @@ -84,6 +84,7 @@ struct box_t { { BOXCALIB, "CALIB;", 17 }, { BOXGOV, "GOVERNOR;", 18 }, { BOXOSD, "OSD SW;", 19 }, + { BOXTELEMETRY, "TELEMETRY;", 20 }, { CHECKBOXITEMS, NULL, 0xFF } }; @@ -265,6 +266,8 @@ void serialInit(uint32_t baudrate) if (feature(FEATURE_INFLIGHT_ACC_CAL)) availableBoxes[idx++] = BOXCALIB; availableBoxes[idx++] = BOXOSD; + if (feature(FEATURE_TELEMETRY && mcfg.telemetry_switch)) + availableBoxes[idx++] = BOXTELEMETRY; numberBoxItems = idx; } @@ -321,7 +324,8 @@ static void evaluateCommand(void) case MSP_SET_MISC: read16(); // powerfailmeter mcfg.minthrottle = read16(); - read32(); // mcfg.maxthrottle, mcfg.mincommand + mcfg.maxthrottle = read16(); + mcfg.mincommand = read16(); cfg.failsafe_throttle = read16(); read16(); read32(); @@ -378,6 +382,7 @@ static void evaluateCommand(void) rcOptions[BOXCALIB] << BOXCALIB | rcOptions[BOXGOV] << BOXGOV | rcOptions[BOXOSD] << BOXOSD | + rcOptions[BOXTELEMETRY] << BOXTELEMETRY | f.ARMED << BOXARM; for (i = 0; i < numberBoxItems; i++) { int flag = (tmp & (1 << availableBoxes[i])); diff --git a/src/telemetry.c b/src/telemetry.c index 39c251539d..2be8629072 100644 --- a/src/telemetry.c +++ b/src/telemetry.c @@ -228,7 +228,11 @@ void initTelemetry(void) void updateTelemetryState(void) { - bool State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : f.ARMED; + bool State; + if (!mcfg.telemetry_switch) + State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : f.ARMED; + else + State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : rcOptions[BOXTELEMETRY]; if (State != telemetryEnabled) { if (mcfg.telemetry_softserial == TELEMETRY_UART) { @@ -246,7 +250,7 @@ static uint8_t cycleNum = 0; void sendTelemetry(void) { - if (mcfg.telemetry_softserial == TELEMETRY_UART && !f.ARMED) + if (mcfg.telemetry_softserial == TELEMETRY_UART && ((!f.ARMED && !mcfg.telemetry_switch) || (mcfg.telemetry_switch && !rcOptions[BOXTELEMETRY]))) return; if (serialTotalBytesWaiting(core.telemport) != 0)