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Code Issues Wiki Activity

licence updates, refactoring from review comments

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This commit is contained in:
ctzsnooze 2024-10-18 11:31:10 +11:00
parent dfac599097
commit 8289aac8ab
12 changed files with 89 additions and 93 deletions
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2
mk/source.mk
View file

@ -163,7 +163,6 @@ COMMON_SRC = \
fc/rc_modes.c \
flight/alt_hold.c \
flight/autopilot.c \
flight/pos_hold.c \
flight/dyn_notch_filter.c \
flight/failsafe.c \
flight/gps_rescue.c \
@ -174,6 +173,7 @@ COMMON_SRC = \
flight/pid.c \
flight/pid_init.c \
flight/position.c \
flight/pos_hold.c \
flight/rpm_filter.c \
flight/servos.c \
flight/servos_tricopter.c \

13
src/main/common/maths.c
View file

@ -50,19 +50,6 @@
#define sinPolyCoef9 2.600054768e-6f // Double: 2.600054767890361277123254766503271638682e-6
#endif
// original sin_approx code for MCUs without FPU, expecting argument close to -2pi..2pi range
// float sin_approx(float x)
// {
// int32_t xint = x;
// if (xint < -32 || xint > 32) return 0.0f; // Stop here on error input (5 * 360 Deg)
// while (x > M_PIf) x -= (2.0f * M_PIf); // always wrap input angle to -PI..PI
// while (x < -M_PIf) x += (2.0f * M_PIf);
// if (x > (0.5f * M_PIf)) x = (0.5f * M_PIf) - (x - (0.5f * M_PIf)); // We just pick -90..+90 Degree
// else if (x < -(0.5f * M_PIf)) x = -(0.5f * M_PIf) - ((0.5f * M_PIf) + x);
// float x2 = x * x;
// return x + x * x2 * (sinPolyCoef3 + x2 * (sinPolyCoef5 + x2 * (sinPolyCoef7 + x2 * sinPolyCoef9)));
// }
float sin_approx(float x)
{
// Normalize input to the range -PI to PI

16
src/main/fc/core.c
View file

@ -1036,10 +1036,10 @@ void processRxModes(timeUs_t currentTimeUs)
#ifdef USE_ALT_HOLD_MODE
// only if armed; can coexist with position hold
if (ARMING_FLAG(ARMED)
// and either the alt_hold switch is activated, or are in failsafe
&& (IS_RC_MODE_ACTIVE(BOXALTHOLD) || failsafeIsActive())
// but not in GPS_RESCUE_MODE, ie if failsafe is active, must be in Landing Mode
// and not in GPS_RESCUE_MODE, to give it priority over Altitude Hold
&& !FLIGHT_MODE(GPS_RESCUE_MODE)
// and either the alt_hold switch is activated, or are in failsafe landing mode
&& (IS_RC_MODE_ACTIVE(BOXALTHOLD) || failsafeIsActive())
// and we have Acc for self-levelling
&& sensors(SENSOR_ACC)
// and we have altitude data
@ -1057,15 +1057,15 @@ void processRxModes(timeUs_t currentTimeUs)
#ifdef USE_POS_HOLD_MODE
// only if armed; can coexist with altitude hold
if (ARMING_FLAG(ARMED)
// and the position hold switch is activate
&& IS_RC_MODE_ACTIVE(BOXPOSHOLD)
// but not in GPS_RESCUE_MODE, ie if failsafe is active, must be in Landing Mode
// and not in GPS_RESCUE_MODE, to give it priority over Position Hold
&& !FLIGHT_MODE(GPS_RESCUE_MODE)
// and either the alt_hold switch is activated, or are in failsafe landing mode
&& (IS_RC_MODE_ACTIVE(BOXPOSHOLD) || failsafeIsActive())
// and we have Acc for self-levelling
&& sensors(SENSOR_ACC)
// and we have altitude data
&& (sensors(SENSOR_MAG) || allowPosHoldWithoutMag())
// Need Mag unless a BRAVE user tries it without
&& (sensors(SENSOR_MAG) || allowPosHoldWithoutMag())
// and we have altitude data
&& isAltitudeAvailable()
// prevent activation until after takeoff
&& wasThrottleRaised()) {

2
src/main/flight/autopilot.c
View file

@ -211,7 +211,7 @@ bool positionControl(float deadband) {
posHold.previousDistanceCm = posHold.distanceCm;
}
}
const uint8_t startLogger = posHold.justStarted ? 2 : 1;;
const uint8_t startLogger = posHold.justStarted ? 2 : 1;
DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 3, startLogger);
// simple (very simple) sanity check

7
src/main/flight/imu.c
View file

@ -659,12 +659,15 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
// 0.0 - 10.0, heuristic based on GPS speed and stick state
groundspeedGain = imuCalcGroundspeedGain(dt);
}
DEBUG_SET(DEBUG_ATTITUDE, 2, lrintf(groundspeedGain * 100.0f));
const float courseOverGround = DECIDEGREES_TO_RADIANS(gpsSol.groundCourse);
const float imuCourseError = imuCalcCourseErr(courseOverGround);
cogErr = imuCalcCourseErr(courseOverGround) * groundspeedGain;
cogErr = imuCourseError * groundspeedGain;
// cogErr is greater with larger heading errors and greater speed in straight pitch forward flight
// ** ATTEMPT TO DETECT SUCCESSFUL IMU ORIENTATION TO GPS **
static float gpsHeadingTruth = 0;
// groundspeedGain can be 5.0 in clean forward flight, up to 10.0 max
// fabsf(imuCourseError) is 0 when headings are aligned, 1 when 90 degrees error or worse

2
src/main/osd/osd_warnings.c
View file

@ -251,7 +251,7 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
#ifdef USE_POS_HOLD_MODE
if (osdWarnGetState(OSD_WARNING_POSHOLD_FAILED) && showPosHoldWarning()) {
tfp_sprintf(warningText, "POS_HOLD_FAIL");
tfp_sprintf(warningText, "POS HOLD FAIL");
*displayAttr = DISPLAYPORT_SEVERITY_WARNING;
*blinking = true;
return;

23
src/main/pg/alt_hold.c
View file

@ -1,19 +1,20 @@
/*
* This file is part of Cleanflight and Betaflight.
* This file is part of Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/

23
src/main/pg/alt_hold.h
View file

@ -1,19 +1,20 @@
/*
* This file is part of Cleanflight and Betaflight.
* This file is part of Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/

23
src/main/pg/autopilot.c
View file

@ -1,19 +1,20 @@
/*
* This file is part of Cleanflight and Betaflight.
* This file is part of Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/

23
src/main/pg/autopilot.h
View file

@ -1,19 +1,20 @@
/*
* This file is part of Cleanflight and Betaflight.
* This file is part of Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/

25
src/main/pg/pos_hold.c
View file

@ -1,19 +1,20 @@
/*
* This file is part of Cleanflight and Betaflight.
* This file is part of Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
@ -29,7 +30,7 @@
#include "pos_hold.h"
PG_REGISTER_WITH_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig, PG_POSHOLD_CONFIG, 1);
PG_REGISTER_WITH_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig, PG_POSHOLD_CONFIG, 0);
PG_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig,
.pos_hold_without_mag = false, // position hold within this percentage stick deflection

23
src/main/pg/pos_hold.h
View file

@ -1,19 +1,20 @@
/*
* This file is part of Cleanflight and Betaflight.
* This file is part of Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/