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Code Issues Wiki Activity

begin initial merge of 2.2 features

Browse source 
mw2.2-merged stuff:
* implemented profiles 0-2 (called 'setting' in mwiigui)
* merged in MSP changes including profile switch
* cleaned up rc / aux switch stuff in mw.c based on 2.2 rewrite
* main loop switch for baro/sonar shit adjusted
todo: basically the rest of 2.2 changes (i think some minor imu/gps/baro updates)
baseflight-specific stuff:
* made boxitems transmission dynamic, based on enabled features. no more GPS / camstab trash if it's not enabled
* cleaned up gyro drivers to return scale factor to imu code
* set gyro_lpf now controls every supported gyro - not all take same values, see driver files for allowed ranges, in case of invalid lpf, defaults to something reasonable (around 30-40hz)

maybe couple other things I forgot. this is all 100% experimental, untested, and not even flown. thats why there's  no hex.
merge is still ongoing.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@294 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-03-14 14:03:30 +00:00
parent bba9bc291f
commit 491b3627f6
20 changed files with 1009 additions and 559 deletions
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52
src/mixer.c
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@ -7,6 +7,7 @@ int16_t motor[MAX_MOTORS];
int16_t servo[8] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
static motorMixer_t currentMixer[MAX_MOTORS];
static servoParam_t currentServo[MAX_SERVOS];
static const motorMixer_t mixerTri[] = {
{ 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR
@ -131,31 +132,38 @@ const mixer_t mixers[] = {
{ 0, 0, NULL }, // MULTITYPE_CUSTOM
};
static const servoParam_t servoInit = {
SERVO_NORMAL, // direction
1500, // middle
1020, // min
2000, // max
};
void mixerInit(void)
{
int i;
// enable servos for mixes that require them. note, this shifts motor counts.
useServo = mixers[cfg.mixerConfiguration].useServo;
useServo = mixers[mcfg.mixerConfiguration].useServo;
// if we want camstab/trig, that also enables servos, even if mixer doesn't
if (feature(FEATURE_SERVO_TILT))
useServo = 1;
if (cfg.mixerConfiguration == MULTITYPE_CUSTOM) {
if (mcfg.mixerConfiguration == MULTITYPE_CUSTOM) {
// load custom mixer into currentMixer
for (i = 0; i < MAX_MOTORS; i++) {
// check if done
if (cfg.customMixer[i].throttle == 0.0f)
if (mcfg.customMixer[i].throttle == 0.0f)
break;
currentMixer[i] = cfg.customMixer[i];
currentMixer[i] = mcfg.customMixer[i];
numberMotor++;
}
} else {
numberMotor = mixers[cfg.mixerConfiguration].numberMotor;
numberMotor = mixers[mcfg.mixerConfiguration].numberMotor;
// copy motor-based mixers
if (mixers[cfg.mixerConfiguration].motor) {
if (mixers[mcfg.mixerConfiguration].motor) {
for (i = 0; i < numberMotor; i++)
currentMixer[i] = mixers[cfg.mixerConfiguration].motor[i];
currentMixer[i] = mixers[mcfg.mixerConfiguration].motor[i];
}
}
}
@ -168,12 +176,12 @@ void mixerLoadMix(int index)
index++;
// clear existing
for (i = 0; i < MAX_MOTORS; i++)
cfg.customMixer[i].throttle = 0.0f;
mcfg.customMixer[i].throttle = 0.0f;
// do we have anything here to begin with?
if (mixers[index].motor != NULL) {
for (i = 0; i < mixers[index].numberMotor; i++)
cfg.customMixer[i] = mixers[index].motor[i];
mcfg.customMixer[i] = mixers[index].motor[i];
}
}
@ -182,7 +190,7 @@ void writeServos(void)
if (!useServo)
return;
switch (cfg.mixerConfiguration) {
switch (mcfg.mixerConfiguration) {
case MULTITYPE_BI:
pwmWriteServo(0, servo[4]);
pwmWriteServo(1, servo[5]);
@ -298,7 +306,7 @@ void mixTable(void)
motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
// airplane / servo mixes
switch (cfg.mixerConfiguration) {
switch (mcfg.mixerConfiguration) {
case MULTITYPE_BI:
servo[4] = constrain(1500 + (cfg.yaw_direction * axisPID[YAW]) + axisPID[PITCH], 1020, 2000); //LEFT
servo[5] = constrain(1500 + (cfg.yaw_direction * axisPID[YAW]) - axisPID[PITCH], 1020, 2000); //RIGHT
@ -321,8 +329,8 @@ void mixTable(void)
motor[0] = rcCommand[THROTTLE];
if (f.PASSTHRU_MODE) {
// do not use sensors for correction, simple 2 channel mixing
servo[0] = cfg.pitch_direction_l * (rcData[PITCH] - cfg.midrc) + cfg.roll_direction_l * (rcData[ROLL] - cfg.midrc);
servo[1] = cfg.pitch_direction_r * (rcData[PITCH] - cfg.midrc) + cfg.roll_direction_r * (rcData[ROLL] - cfg.midrc);
servo[0] = cfg.pitch_direction_l * (rcData[PITCH] - mcfg.midrc) + cfg.roll_direction_l * (rcData[ROLL] - mcfg.midrc);
servo[1] = cfg.pitch_direction_r * (rcData[PITCH] - mcfg.midrc) + cfg.roll_direction_r * (rcData[ROLL] - mcfg.midrc);
} else {
// use sensors to correct (gyro only or gyro + acc)
servo[0] = cfg.pitch_direction_l * axisPID[PITCH] + cfg.roll_direction_l * axisPID[ROLL];
@ -338,9 +346,9 @@ void mixTable(void)
uint16_t aux[2] = { 0, 0 };
if ((cfg.gimbal_flags & GIMBAL_NORMAL) || (cfg.gimbal_flags & GIMBAL_TILTONLY))
aux[0] = rcData[AUX3] - cfg.midrc;
aux[0] = rcData[AUX3] - mcfg.midrc;
if (!(cfg.gimbal_flags & GIMBAL_DISABLEAUX34))
aux[1] = rcData[AUX4] - cfg.midrc;
aux[1] = rcData[AUX4] - mcfg.midrc;
servo[0] = cfg.gimbal_pitch_mid + aux[0];
servo[1] = cfg.gimbal_roll_mid + aux[1];
@ -372,16 +380,16 @@ void mixTable(void)
if (motor[i] > maxMotor)
maxMotor = motor[i];
for (i = 0; i < numberMotor; i++) {
if (maxMotor > cfg.maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max.
motor[i] -= maxMotor - cfg.maxthrottle;
motor[i] = constrain(motor[i], cfg.minthrottle, cfg.maxthrottle);
if ((rcData[THROTTLE]) < cfg.mincheck) {
if (maxMotor > mcfg.maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max.
motor[i] -= maxMotor - mcfg.maxthrottle;
motor[i] = constrain(motor[i], mcfg.minthrottle, mcfg.maxthrottle);
if ((rcData[THROTTLE]) < mcfg.mincheck) {
if (!feature(FEATURE_MOTOR_STOP))
motor[i] = cfg.minthrottle;
motor[i] = mcfg.minthrottle;
else
motor[i] = cfg.mincommand;
motor[i] = mcfg.mincommand;
}
if (!f.ARMED)
motor[i] = cfg.mincommand;
motor[i] = mcfg.mincommand;
}
}