mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-25 17:25:20 +03:00
begin initial merge of 2.2 features
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
parent
bba9bc291f
commit
491b3627f6
20 changed files with 1009 additions and 559 deletions
150
src/mw.h
150
src/mw.h
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@ -4,7 +4,7 @@
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#define VBATFREQ 6 // to read battery voltage - nth number of loop iterations
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#define BARO_TAB_SIZE_MAX 48
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#define VERSION 211
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#define VERSION 220
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#define LAT 0
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#define LON 1
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@ -77,29 +77,51 @@ enum {
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};
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enum {
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BOXANGLE = 0,
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BOXARM = 0,
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BOXANGLE,
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BOXHORIZON,
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BOXBARO,
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BOXVARIO,
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BOXMAG,
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BOXHEADFREE,
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BOXHEADADJ,
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BOXCAMSTAB,
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BOXCAMTRIG,
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BOXARM,
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BOXGPSHOME,
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BOXGPSHOLD,
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BOXPASSTHRU,
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BOXHEADFREE,
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BOXBEEPERON,
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BOXLEDMAX,
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BOXLEDLOW,
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BOXLLIGHTS,
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BOXHEADADJ,
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BOXCALIB,
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BOXGOV,
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BOXOSD,
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CHECKBOXITEMS
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};
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#define ROL_LO (1 << (2 * ROLL))
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#define ROL_CE (3 << (2 * ROLL))
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#define ROL_HI (2 << (2 * ROLL))
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#define PIT_LO (1 << (2 * PITCH))
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#define PIT_CE (3 << (2 * PITCH))
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#define PIT_HI (2 << (2 * PITCH))
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#define YAW_LO (1 << (2 * YAW))
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#define YAW_CE (3 << (2 * YAW))
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#define YAW_HI (2 << (2 * YAW))
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#define THR_LO (1 << (2 * THROTTLE))
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#define THR_CE (3 << (2 * THROTTLE))
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#define THR_HI (2 << (2 * THROTTLE))
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#define min(a, b) ((a) < (b) ? (a) : (b))
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#define max(a, b) ((a) > (b) ? (a) : (b))
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#define abs(x) ((x) > 0 ? (x) : -(x))
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#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
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#define SERVO_NORMAL (1)
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#define SERVO_REVERSE (-1)
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// Custom mixer data per motor
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typedef struct motorMixer_t {
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float throttle;
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float roll;
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@ -107,12 +129,20 @@ typedef struct motorMixer_t {
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float yaw;
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} motorMixer_t;
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// Custom mixer configuration
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typedef struct mixer_t {
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uint8_t numberMotor;
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uint8_t useServo;
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const motorMixer_t *motor;
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} mixer_t;
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typedef struct servoParam_t {
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int8_t direction; // servo direction
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uint16_t middle; // servo middle
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uint16_t min; // servo min
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uint16_t max; // servo max
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} servoParam_t;
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enum {
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ALIGN_GYRO = 0,
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ALIGN_ACCEL = 1,
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@ -120,14 +150,6 @@ enum {
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};
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typedef struct config_t {
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uint8_t version;
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uint16_t size;
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uint8_t magic_be; // magic number, should be 0xBE
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uint8_t mixerConfiguration;
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uint32_t enabledFeatures;
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uint16_t looptime; // imu loop time in us
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uint8_t P8[PIDITEMS];
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uint8_t I8[PIDITEMS];
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uint8_t D8[PIDITEMS];
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@ -141,57 +163,30 @@ typedef struct config_t {
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uint8_t yawRate;
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uint8_t dynThrPID;
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int16_t accZero[3];
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int16_t magZero[3];
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int16_t mag_declination; // Get your magnetic decliniation from here : http://magnetic-declination.com/
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int16_t angleTrim[2]; // accelerometer trim
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// sensor-related stuff
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int8_t align[3][3]; // acc, gyro, mag alignment (ex: with sensor output of X, Y, Z, align of 1 -3 2 would return X, -Z, Y)
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uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
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uint8_t acc_lpf_factor; // Set the Low Pass Filter factor for ACC. Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter
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uint8_t acc_lpf_for_velocity; // ACC lowpass for AccZ height hold
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uint8_t accz_deadband; // ??
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uint16_t gyro_lpf; // mpuX050 LPF setting (TODO make it work on L3GD as well)
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uint16_t gyro_cmpf_factor; // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.
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uint32_t gyro_smoothing_factor; // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively
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uint8_t mpu6050_scale; // seems es/non-es variance between MPU6050 sensors, half my boards are mpu6000ES, need this to be dynamic. fucking invenshit won't release chip IDs so I can't autodetect it.
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uint8_t baro_tab_size; // size of baro filter array
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float baro_noise_lpf; // additional LPF to reduce baro noise
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float baro_cf; // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity)
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uint8_t moron_threshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
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uint16_t activate[CHECKBOXITEMS]; // activate switches
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uint8_t vbatscale; // adjust this to match battery voltage to reported value
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uint8_t vbatmaxcellvoltage; // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
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uint8_t vbatmincellvoltage; // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
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uint8_t power_adc_channel; // which channel is used for current sensor. Right now, only 2 places are supported: RC_CH2 (unused when in CPPM mode, = 1), RC_CH8 (last channel in PWM mode, = 9)
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// Radio/ESC-related configuration
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uint8_t rcmap[8]; // mapping of radio channels to internal RPYTA+ order
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uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
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uint8_t yawdeadband; // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
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uint8_t alt_hold_throttle_neutral; // defines the neutral zone of throttle stick during altitude hold, default setting is +/-20
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uint8_t spektrum_hires; // spektrum high-resolution y/n (1024/2048bit)
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uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
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uint16_t mincheck; // minimum rc end
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uint16_t maxcheck; // maximum rc end
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uint8_t retarded_arm; // allow disarsm/arm on throttle down + roll left/right
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uint8_t alt_hold_throttle_neutral; // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
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uint8_t alt_hold_fast_change; // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_throttle_neutral; when enabled, altitude changes slowly proportional to stick movement
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// Failsafe related configuration
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uint8_t failsafe_delay; // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
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uint8_t failsafe_off_delay; // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example (200)
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uint16_t failsafe_throttle; // Throttle level used for landing - specify value between 1000..2000 (pwm pulse width for slightly below hover). center throttle = 1500.
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// motor/esc/servo related stuff
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uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
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uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000
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uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
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uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
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uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
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int16_t servotrim[8]; // Adjust Servo MID Offset & Swash angles
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int8_t servoreverse[8]; // Invert servos by setting -1
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// mixer-related configuration
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int8_t yaw_direction;
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uint16_t tri_yaw_middle; // tail servo center pos. - use this for initial trim
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@ -205,6 +200,7 @@ typedef struct config_t {
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uint16_t wing_right_min;
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uint16_t wing_right_mid;
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uint16_t wing_right_max;
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int8_t pitch_direction_l; // left servo - pitch orientation
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int8_t pitch_direction_r; // right servo - pitch orientation (opposite sign to pitch_direction_l if servos are mounted mirrored)
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int8_t roll_direction_l; // left servo - roll orientation
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@ -222,22 +218,71 @@ typedef struct config_t {
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uint16_t gimbal_roll_mid; // gimbal roll servo neutral value
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// gps-related stuff
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uint8_t gps_type; // Type of GPS hardware. 0: NMEA 1: UBX 2+ ??
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uint32_t gps_baudrate; // GPS baudrate
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uint16_t gps_wp_radius; // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
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uint8_t gps_lpf; // Low pass filter cut frequency for derivative calculation (default 20Hz)
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uint8_t nav_slew_rate; // Adds a rate control to nav output, will smoothen out nav angle spikes
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uint8_t nav_controls_heading; // copter faces toward the navigation point, maghold must be enabled for it
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uint16_t nav_speed_min; // cm/sec
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uint16_t nav_speed_max; // cm/sec
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uint16_t ap_mode; // Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks, creating a deadspan for GPS
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} config_t;
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// System-wide
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typedef struct master_t {
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uint8_t version;
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uint16_t size;
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uint8_t magic_be; // magic number, should be 0xBE
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uint8_t mixerConfiguration;
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uint32_t enabledFeatures;
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uint16_t looptime; // imu loop time in us
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motorMixer_t customMixer[MAX_MOTORS]; // custom mixtable
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// motor/esc/servo related stuff
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uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
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uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000
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uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
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uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
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uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
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// global sensor-related stuff
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int8_t align[3][3]; // acc, gyro, mag alignment (ex: with sensor output of X, Y, Z, align of 1 -3 2 would return X, -Z, Y)
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uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
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uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
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uint16_t gyro_cmpf_factor; // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.
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uint32_t gyro_smoothing_factor; // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively
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uint8_t moron_threshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
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uint8_t mpu6050_scale; // es/non-es variance between MPU6050 sensors, half my boards are mpu6000ES, need this to be dynamic. automatically set by mpu6050 driver.
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int16_t accZero[3];
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int16_t magZero[3];
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// Battery/ADC stuff
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uint8_t vbatscale; // adjust this to match battery voltage to reported value
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uint8_t vbatmaxcellvoltage; // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
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uint8_t vbatmincellvoltage; // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
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uint8_t power_adc_channel; // which channel is used for current sensor. Right now, only 2 places are supported: RC_CH2 (unused when in CPPM mode, = 1), RC_CH8 (last channel in PWM mode, = 9)
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// Radio/ESC-related configuration
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uint8_t rcmap[8]; // mapping of radio channels to internal RPYTA+ order
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uint8_t spektrum_hires; // spektrum high-resolution y/n (1024/2048bit)
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uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
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uint16_t mincheck; // minimum rc end
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uint16_t maxcheck; // maximum rc end
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uint8_t retarded_arm; // allow disarsm/arm on throttle down + roll left/right
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// gps-related stuff
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uint8_t gps_type; // Type of GPS hardware. 0: NMEA 1: UBX 2+ ??
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uint32_t gps_baudrate; // GPS baudrate
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// serial(uart1) baudrate
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uint32_t serial_baudrate;
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motorMixer_t customMixer[MAX_MOTORS]; // custom mixtable
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config_t profile[3]; // 3 separate profiles
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uint8_t current_profile; // currently loaded profile
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uint8_t magic_ef; // magic number, should be 0xEF
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uint8_t chk; // XOR checksum
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} config_t;
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} master_t;
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typedef struct flags_t {
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uint8_t OK_TO_ARM;
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@ -255,6 +300,7 @@ typedef struct flags_t {
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uint8_t GPS_FIX_HOME;
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uint8_t SMALL_ANGLES_25;
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uint8_t CALIBRATE_MAG;
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uint8_t VARIO_MODE;
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} flags_t;
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extern int16_t gyroZero[3];
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extern uint32_t previousTime;
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extern uint16_t cycleTime;
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extern uint16_t calibratingA;
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extern uint16_t calibratingB;
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extern uint16_t calibratingG;
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extern int16_t heading;
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extern int16_t annex650_overrun_count;
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extern int32_t AltHold;
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extern int16_t errorAltitudeI;
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extern int16_t BaroPID;
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extern int16_t vario;
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extern int16_t headFreeModeHold;
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extern int16_t zVelocity;
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extern int16_t heading, magHold;
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extern int16_t motor[MAX_MOTORS];
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extern int16_t servo[8];
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extern int16_t rcData[8];
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extern uint16_t rssi; // range: [0;1023]
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extern uint8_t vbat;
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extern int16_t telemTemperature1; // gyro sensor temperature
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extern int16_t lookupPitchRollRC[6]; // lookup table for expo & RC rate PITCH+ROLL
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extern int8_t nav_mode; // Navigation mode
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extern int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother
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extern master_t mcfg;
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extern config_t cfg;
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extern flags_t f;
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extern sensor_t acc;
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@ -324,17 +374,17 @@ void imuInit(void);
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void annexCode(void);
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void computeIMU(void);
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void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat);
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void getEstimatedAltitude(void);
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int getEstimatedAltitude(void);
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// Sensors
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void sensorsAutodetect(void);
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void batteryInit(void);
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uint16_t batteryAdcToVoltage(uint16_t src);
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void ACC_getADC(void);
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void Baro_update(void);
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int Baro_update(void);
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void Gyro_getADC(void);
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void Mag_init(void);
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void Mag_getADC(void);
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int Mag_getADC(void);
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void Sonar_init(void);
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void Sonar_update(void);
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@ -353,7 +403,7 @@ void serialCom(void);
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// Config
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void parseRcChannels(const char *input);
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void readEEPROM(void);
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void writeParams(uint8_t b);
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void writeEEPROM(uint8_t b, uint8_t updateProfile);
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void checkFirstTime(bool reset);
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bool sensors(uint32_t mask);
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void sensorsSet(uint32_t mask);
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Add table
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Reference in a new issue