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Code Issues Wiki Activity

Allow inflight adjustment of throttle expo.

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This commit is contained in:
Dominic Clifton 2014-10-24 22:09:06 +01:00
parent f166ca3516
commit 4a90599e3a
3 changed files with 18 additions and 5 deletions
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3
src/main/config/config.c
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@ -70,6 +70,7 @@ void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse, void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse,
escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse, escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse,
airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfig, gimbalConfig_t *gimbalConfigToUse); airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfig, gimbalConfig_t *gimbalConfigToUse);
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse);
#define FLASH_TO_RESERVE_FOR_CONFIG 0x800 #define FLASH_TO_RESERVE_FOR_CONFIG 0x800
@ -432,7 +433,7 @@ void activateConfig(void)
generatePitchRollCurve(&currentProfile->controlRateConfig); generatePitchRollCurve(&currentProfile->controlRateConfig);
generateThrottleCurve(&currentProfile->controlRateConfig, &masterConfig.escAndServoConfig); generateThrottleCurve(&currentProfile->controlRateConfig, &masterConfig.escAndServoConfig);
useRcControlsConfig(currentProfile->modeActivationConditions); useRcControlsConfig(currentProfile->modeActivationConditions, &masterConfig.escAndServoConfig);
useGyroConfig(&masterConfig.gyroConfig); useGyroConfig(&masterConfig.gyroConfig);
#ifdef TELEMETRY #ifdef TELEMETRY

15
src/main/io/rc_controls.c
View file

@ -46,6 +46,8 @@
#include "io/rc_controls.h" #include "io/rc_controls.h"
#include "io/rc_curves.h" #include "io/rc_curves.h"
static escAndServoConfig_t *escAndServoConfig;
static bool isUsingSticksToArm = true; static bool isUsingSticksToArm = true;
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
@ -272,6 +274,10 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.adjustmentFunction = ADJUSTMENT_RC_EXPO, .adjustmentFunction = ADJUSTMENT_RC_EXPO,
.step = 1 .step = 1
}, },
{
.adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO,
.step = 1
},
{ {
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE, .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
.step = 1 .step = 1
@ -329,6 +335,11 @@ void applyAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentF
controlRateConfig->rcExpo8 = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c controlRateConfig->rcExpo8 = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
generatePitchRollCurve(controlRateConfig); generatePitchRollCurve(controlRateConfig);
break; break;
case ADJUSTMENT_THROTTLE_EXPO:
newValue = (int)controlRateConfig->thrExpo8 + delta;
controlRateConfig->thrExpo8 = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
generateThrottleCurve(controlRateConfig, escAndServoConfig);
break;
case ADJUSTMENT_PITCH_ROLL_RATE: case ADJUSTMENT_PITCH_ROLL_RATE:
newValue = (int)controlRateConfig->rollPitchRate + delta; newValue = (int)controlRateConfig->rollPitchRate + delta;
controlRateConfig->rollPitchRate = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c controlRateConfig->rollPitchRate = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
@ -405,10 +416,12 @@ void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
} }
} }
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions) void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse)
{ {
uint8_t index; uint8_t index;
escAndServoConfig = escAndServoConfigToUse;
for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) { for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index]; modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
if (modeActivationCondition->modeId == BOXARM && IS_RANGE_USABLE(&modeActivationCondition->range)) { if (modeActivationCondition->modeId == BOXARM && IS_RANGE_USABLE(&modeActivationCondition->range)) {

5
src/main/io/rc_controls.h
View file

@ -137,11 +137,12 @@ typedef enum {
ADJUSTMENT_NONE = 0, ADJUSTMENT_NONE = 0,
ADJUSTMENT_RC_RATE, ADJUSTMENT_RC_RATE,
ADJUSTMENT_RC_EXPO, ADJUSTMENT_RC_EXPO,
ADJUSTMENT_THROTTLE_EXPO,
ADJUSTMENT_PITCH_ROLL_RATE, ADJUSTMENT_PITCH_ROLL_RATE,
ADJUSTMENT_YAW_RATE, ADJUSTMENT_YAW_RATE,
} adjustmentFunction_e; } adjustmentFunction_e;
#define ADJUSTMENT_FUNCTION_COUNT 5 #define ADJUSTMENT_FUNCTION_COUNT 6
typedef struct adjustmentConfig_s { typedef struct adjustmentConfig_s {
uint8_t adjustmentFunction; uint8_t adjustmentFunction;
@ -170,5 +171,3 @@ void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmen
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges); void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig); void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions);