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https://github.com/betaflight/betaflight.git
synced 2025-07-25 17:25:20 +03:00
Removed 'slots' from the adjustment range configuration.
This commit is contained in:
mikeller
parent
c28e7cf8e3
commit
75b1c0d4ce
7 changed files with 154 additions and 163 deletions
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@ -63,7 +63,7 @@
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#define ADJUSTMENT_RANGE_COUNT_INVALID -1
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PG_REGISTER_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges, PG_ADJUSTMENT_RANGE_CONFIG, 1);
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PG_REGISTER_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges, PG_ADJUSTMENT_RANGE_CONFIG, 2);
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uint8_t pidAudioPositionToModeMap[7] = {
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// on a pot with a center detent, it's easy to have center area for off/default, then three positions to the left and three to the right.
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@ -80,10 +80,11 @@ uint8_t pidAudioPositionToModeMap[7] = {
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// Note: Last 3 positions are currently pending implementations and use PID_AUDIO_OFF for now.
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};
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static int activeAdjustmentCount = ADJUSTMENT_RANGE_COUNT_INVALID;
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static uint8_t activeAdjustmentArray[MAX_ADJUSTMENT_RANGE_COUNT];
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static int activeAbsoluteAdjustmentCount;
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static uint8_t activeAbsoluteAdjustmentArray[MAX_ADJUSTMENT_RANGE_COUNT];
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STATIC_UNIT_TESTED int stepwiseAdjustmentCount = ADJUSTMENT_RANGE_COUNT_INVALID;
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STATIC_UNIT_TESTED timedAdjustmentState_t stepwiseAdjustments[MAX_ADJUSTMENT_RANGE_COUNT];
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STATIC_UNIT_TESTED int continuosAdjustmentCount;
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STATIC_UNIT_TESTED continuosAdjustmentState_t continuosAdjustments[MAX_ADJUSTMENT_RANGE_COUNT];
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static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue)
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{
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@ -101,13 +102,6 @@ static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFu
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#endif
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}
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STATIC_UNIT_TESTED uint8_t adjustmentStateMask = 0;
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#define MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex) adjustmentStateMask |= (1 << adjustmentIndex)
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#define MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex) adjustmentStateMask &= ~(1 << adjustmentIndex)
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#define IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex) (adjustmentStateMask & (1 << adjustmentIndex))
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// sync with adjustmentFunction_e
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static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = {
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{
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@ -274,25 +268,6 @@ static int adjustmentRangeNameIndex = 0;
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static int adjustmentRangeValue = -1;
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#endif
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#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
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STATIC_UNIT_TESTED adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
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STATIC_UNIT_TESTED void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig)
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{
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adjustmentState_t *adjustmentState = &adjustmentStates[index];
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if (adjustmentState->config == adjustmentConfig) {
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// already configured
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return;
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}
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adjustmentState->auxChannelIndex = auxSwitchChannelIndex;
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adjustmentState->config = adjustmentConfig;
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adjustmentState->timeoutAt = 0;
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MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
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}
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static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta)
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{
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@ -682,154 +657,184 @@ static uint8_t applySelectAdjustment(adjustmentFunction_e adjustmentFunction, ui
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return position;
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}
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#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
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static void calcActiveAdjustmentRanges(void)
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{
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adjustmentRange_t defaultAdjustmentRange;
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memset(&defaultAdjustmentRange, 0, sizeof(defaultAdjustmentRange));
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activeAdjustmentCount = 0;
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activeAbsoluteAdjustmentCount = 0;
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stepwiseAdjustmentCount = 0;
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continuosAdjustmentCount = 0;
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for (int i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
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const adjustmentRange_t * const adjustmentRange = adjustmentRanges(i);
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if (memcmp(adjustmentRange, &defaultAdjustmentRange, sizeof(defaultAdjustmentRange)) != 0) {
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if (adjustmentRange->adjustmentCenter == 0) {
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activeAdjustmentArray[activeAdjustmentCount++] = i;
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const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentConfig - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
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if (adjustmentRange->adjustmentCenter == 0 && adjustmentConfig->mode != ADJUSTMENT_MODE_SELECT) {
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timedAdjustmentState_t *adjustmentState = &stepwiseAdjustments[stepwiseAdjustmentCount++];
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adjustmentState->adjustmentRangeIndex = i;
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adjustmentState->timeoutAt = 0;
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adjustmentState->ready = true;
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} else {
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activeAbsoluteAdjustmentArray[activeAbsoluteAdjustmentCount++] = i;
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continuosAdjustmentState_t *adjustmentState = &continuosAdjustments[continuosAdjustmentCount++];
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adjustmentState->adjustmentRangeIndex = i;
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adjustmentState->lastRcData = 0;
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}
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}
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}
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}
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static void updateAdjustmentStates(void)
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#define VALUE_DISPLAY_LATENCY_MS 2000
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#if defined(USE_OSD) && defined(USE_OSD_ADJUSTMENTS)
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static void updateOsdAdjustmentData(int newValue, adjustmentFunction_e adjustmentFunction)
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{
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for (int index = 0; index < activeAdjustmentCount; index++) {
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const adjustmentRange_t * const adjustmentRange = adjustmentRanges(activeAdjustmentArray[index]);
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// Only use slots if center value has not been specified, otherwise apply values directly (scaled) from aux channel
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if (isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range) &&
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(adjustmentRange->adjustmentCenter == 0)) {
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const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentConfig - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
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configureAdjustment(adjustmentRange->adjustmentIndex, adjustmentRange->auxSwitchChannelIndex, adjustmentConfig);
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}
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static timeMs_t lastValueChangeMs;
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timeMs_t currentTimeMs = millis();
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if (newValue != -1
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&& adjustmentFunction != ADJUSTMENT_RATE_PROFILE // Rate profile already has an OSD element
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#ifdef USE_OSD_PROFILES
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&& adjustmentFunction != ADJUSTMENT_OSD_PROFILE
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#endif
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) {
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adjustmentRangeNameIndex = adjustmentFunction;
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adjustmentRangeValue = newValue;
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lastValueChangeMs = currentTimeMs;
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}
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if (cmp32(currentTimeMs, lastValueChangeMs + VALUE_DISPLAY_LATENCY_MS) >= 0) {
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adjustmentRangeNameIndex = 0;
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}
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}
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#endif
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#define RESET_FREQUENCY_2HZ (1000 / 2)
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void processRcAdjustments(controlRateConfig_t *controlRateConfig)
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static void processStepwiseAdjustments(controlRateConfig_t *controlRateConfig, const bool canUseRxData)
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{
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const uint32_t now = millis();
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const timeMs_t now = millis();
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int newValue = -1;
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for (int index = 0; index < stepwiseAdjustmentCount; index++) {
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timedAdjustmentState_t *adjustmentState = &stepwiseAdjustments[index];
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const adjustmentRange_t *const adjustmentRange = adjustmentRanges(adjustmentState->adjustmentRangeIndex);
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const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentConfig - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
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const adjustmentFunction_e adjustmentFunction = adjustmentConfig->adjustmentFunction;
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const bool canUseRxData = rxIsReceivingSignal();
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if (!isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range) ||
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adjustmentFunction == ADJUSTMENT_NONE) {
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adjustmentState->timeoutAt = 0;
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// Recalculate the new active adjustments if required
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if (activeAdjustmentCount == ADJUSTMENT_RANGE_COUNT_INVALID) {
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calcActiveAdjustmentRanges();
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}
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updateAdjustmentStates();
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// Process Increment/Decrement adjustments
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for (int adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
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adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
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if (!adjustmentState->config) {
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continue;
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}
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const adjustmentFunction_e adjustmentFunction = adjustmentState->config->adjustmentFunction;
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if (adjustmentFunction == ADJUSTMENT_NONE) {
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continue;
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}
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if (cmp32(now, adjustmentState->timeoutAt) >= 0) {
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adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
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MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
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#if defined(USE_OSD) && defined(USE_OSD_ADJUSTMENTS)
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adjustmentRangeValue = -1;
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#endif
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adjustmentState->ready = true;
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}
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if (!canUseRxData) {
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continue;
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}
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const uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
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const uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentRange->auxSwitchChannelIndex;
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if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
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if (adjustmentConfig->mode == ADJUSTMENT_MODE_STEP) {
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int delta;
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if (rcData[channelIndex] > rxConfig()->midrc + 200) {
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delta = adjustmentState->config->data.step;
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delta = adjustmentConfig->data.step;
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} else if (rcData[channelIndex] < rxConfig()->midrc - 200) {
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delta = -adjustmentState->config->data.step;
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delta = -adjustmentConfig->data.step;
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} else {
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// returning the switch to the middle immediately resets the ready state
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MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
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adjustmentState->ready = true;
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adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
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continue;
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}
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if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
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if (!adjustmentState->ready) {
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continue;
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}
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newValue = applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
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int newValue = applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
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pidInitConfig(currentPidProfile);
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} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
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int switchPositions = adjustmentState->config->data.switchPositions;
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adjustmentState->ready = false;
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#if defined(USE_OSD) && defined(USE_OSD_ADJUSTMENTS)
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updateOsdAdjustmentData(newValue, adjustmentConfig->adjustmentFunction);
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#else
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UNUSED(newValue);
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#endif
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}
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}
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}
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static void processContinuosAdjustments(controlRateConfig_t *controlRateConfig)
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{
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for (int i = 0; i < continuosAdjustmentCount; i++) {
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continuosAdjustmentState_t *adjustmentState = &continuosAdjustments[i];
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const adjustmentRange_t * const adjustmentRange = adjustmentRanges(adjustmentState->adjustmentRangeIndex);
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const uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentRange->auxSwitchChannelIndex;
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const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentConfig - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
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const adjustmentFunction_e adjustmentFunction = adjustmentConfig->adjustmentFunction;
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if (!isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range) ||
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adjustmentFunction == ADJUSTMENT_NONE ||
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rcData[channelIndex] == adjustmentState->lastRcData) {
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continue;
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}
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adjustmentState->lastRcData = rcData[channelIndex];
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int newValue = -1;
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if (adjustmentConfig->mode == ADJUSTMENT_MODE_SELECT) {
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int switchPositions = adjustmentConfig->data.switchPositions;
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if (adjustmentFunction == ADJUSTMENT_RATE_PROFILE && systemConfig()->rateProfile6PosSwitch) {
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switchPositions = 6;
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}
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const uint16_t rangeWidth = (2100 - 900) / switchPositions;
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const uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
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newValue = applySelectAdjustment(adjustmentFunction, position);
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} else {
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// If setting is defined for step adjustment and center value has been specified, apply values directly (scaled) from aux channel
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if (adjustmentRange->adjustmentCenter &&
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(adjustmentConfig->mode == ADJUSTMENT_MODE_STEP)) {
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int value = (((rcData[channelIndex] - PWM_RANGE_MIDDLE) * adjustmentRange->adjustmentScale) / (PWM_RANGE_MIDDLE - PWM_RANGE_MIN)) + adjustmentRange->adjustmentCenter;
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newValue = applyAbsoluteAdjustment(controlRateConfig, adjustmentFunction, value);
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pidInitConfig(currentPidProfile);
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}
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}
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#if defined(USE_OSD) && defined(USE_OSD_ADJUSTMENTS)
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if (newValue != -1
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&& adjustmentState->config->adjustmentFunction != ADJUSTMENT_RATE_PROFILE // Rate profile already has an OSD element
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#ifdef USE_OSD_PROFILES
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&& adjustmentState->config->adjustmentFunction != ADJUSTMENT_OSD_PROFILE
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#endif
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#ifdef USE_LED_STRIP
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&& adjustmentState->config->adjustmentFunction != ADJUSTMENT_LED_PROFILE
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#endif
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) {
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adjustmentRangeNameIndex = adjustmentFunction;
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adjustmentRangeValue = newValue;
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}
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updateOsdAdjustmentData(newValue, adjustmentConfig->adjustmentFunction);
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#else
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UNUSED(newValue);
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#endif
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MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
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}
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// Process Absolute adjustments
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for (int i = 0; i < activeAbsoluteAdjustmentCount; i++) {
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static int16_t lastRcData[MAX_ADJUSTMENT_RANGE_COUNT] = { 0 };
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int index = activeAbsoluteAdjustmentArray[i];
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const adjustmentRange_t * const adjustmentRange = adjustmentRanges(index);
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const uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentRange->auxSwitchChannelIndex;
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const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentConfig - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
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// If setting is defined for step adjustment and center value has been specified, apply values directly (scaled) from aux channel
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if ((rcData[channelIndex] != lastRcData[index]) &&
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adjustmentRange->adjustmentCenter &&
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(adjustmentConfig->mode == ADJUSTMENT_MODE_STEP) &&
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isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {
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int value = (((rcData[channelIndex] - PWM_RANGE_MIDDLE) * adjustmentRange->adjustmentScale) / (PWM_RANGE_MIDDLE - PWM_RANGE_MIN)) + adjustmentRange->adjustmentCenter;
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lastRcData[index] = rcData[channelIndex];
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applyAbsoluteAdjustment(controlRateConfig, adjustmentConfig->adjustmentFunction, value);
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pidInitConfig(currentPidProfile);
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}
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}
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}
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void resetAdjustmentStates(void)
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void processRcAdjustments(controlRateConfig_t *controlRateConfig)
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{
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memset(adjustmentStates, 0, sizeof(adjustmentStates));
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const bool canUseRxData = rxIsReceivingSignal();
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// Recalculate the new active adjustments if required
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if (stepwiseAdjustmentCount == ADJUSTMENT_RANGE_COUNT_INVALID) {
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calcActiveAdjustmentRanges();
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}
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processStepwiseAdjustments(controlRateConfig, canUseRxData);
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if (canUseRxData) {
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processContinuosAdjustments(controlRateConfig);
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}
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#if defined(USE_OSD) && defined(USE_OSD_ADJUSTMENTS)
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// Hide the element if there is no change
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updateOsdAdjustmentData(-1, 0);
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#endif
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}
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#if defined(USE_OSD) && defined(USE_OSD_ADJUSTMENTS)
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@ -850,5 +855,5 @@ int getAdjustmentsRangeValue(void)
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void activeAdjustmentRangeReset(void)
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{
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activeAdjustmentCount = ADJUSTMENT_RANGE_COUNT_INVALID;
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stepwiseAdjustmentCount = ADJUSTMENT_RANGE_COUNT_INVALID;
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}
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