mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-13 03:20:00 +03:00
Merge branch 'master' into RP2350
This commit is contained in:
blckmn
commit
83c3353a7a
116 changed files with 1833 additions and 1345 deletions
3
.gitignore
vendored
3
.gitignore
vendored
|
|
@ -57,5 +57,6 @@ ubuntu*.log
|
|||
eeprom.bin
|
||||
|
||||
# config used for building targets
|
||||
/src/config
|
||||
# changed to submodule
|
||||
#/src/config
|
||||
|
||||
|
|
|
|||
5
.gitmodules
vendored
Normal file
5
.gitmodules
vendored
Normal file
|
|
@ -0,0 +1,5 @@
|
|||
[submodule "config"]
|
||||
path = src/config
|
||||
url = https://github.com/betaflight/config.git
|
||||
branch = master
|
||||
ignore = dirty
|
||||
1
Makefile
1
Makefile
|
|
@ -299,7 +299,6 @@ CFLAGS += $(ARCH_FLAGS) \
|
|||
$(TEMPORARY_FLAGS) \
|
||||
$(DEVICE_FLAGS) \
|
||||
-D_GNU_SOURCE \
|
||||
-DUSE_STDPERIPH_DRIVER \
|
||||
-D$(TARGET) \
|
||||
$(TARGET_FLAGS) \
|
||||
-D'__FORKNAME__="$(FORKNAME)"' \
|
||||
|
|
|
|||
32
mk/config.mk
32
mk/config.mk
|
|
@ -1,6 +1,7 @@
|
|||
|
||||
CONFIGS_REPO_URL ?= https://github.com/betaflight/config
|
||||
|
||||
# handle only this directory as config submodule
|
||||
CONFIGS_SUBMODULE_DIR = src/config
|
||||
BASE_CONFIGS = $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(CONFIG_DIR)/configs/*/config.h)))))
|
||||
|
||||
ifneq ($(filter-out %_install test% %_clean clean% %-print %.hex %.h hex checks help configs $(BASE_TARGETS) $(BASE_CONFIGS),$(MAKECMDGOALS)),)
|
||||
|
|
@ -15,10 +16,17 @@ ifneq ($(TARGET),)
|
|||
$(error TARGET or CONFIG should be specified. Not both.)
|
||||
endif
|
||||
|
||||
CONFIG_FILE = $(CONFIG_DIR)/configs/$(CONFIG)/config.h
|
||||
CONFIG_HEADER_FILE = $(CONFIG_DIR)/configs/$(CONFIG)/config.h
|
||||
CONFIG_SOURCE_FILE = $(CONFIG_DIR)/configs/$(CONFIG)/config.c
|
||||
INCLUDE_DIRS += $(CONFIG_DIR)/configs/$(CONFIG)
|
||||
|
||||
ifneq ($(wildcard $(CONFIG_FILE)),)
|
||||
ifneq ($(wildcard $(CONFIG_HEADER_FILE)),)
|
||||
|
||||
CONFIG_SRC :=
|
||||
ifneq ($(wildcard $(CONFIG_SOURCE_FILE)),)
|
||||
CONFIG_SRC += $(CONFIG_SOURCE_FILE)
|
||||
TARGET_FLAGS += -DUSE_CONFIG_SOURCE
|
||||
endif
|
||||
|
||||
CONFIG_REVISION := norevision
|
||||
ifeq ($(shell git -C $(CONFIG_DIR) diff --shortstat),)
|
||||
|
|
@ -26,36 +34,40 @@ CONFIG_REVISION := $(shell git -C $(CONFIG_DIR) log -1 --format="%h")
|
|||
CONFIG_REVISION_DEFINE := -D'__CONFIG_REVISION__="$(CONFIG_REVISION)"'
|
||||
endif
|
||||
|
||||
TARGET := $(shell grep " FC_TARGET_MCU" $(CONFIG_FILE) | awk '{print $$3}' )
|
||||
HSE_VALUE_MHZ := $(shell grep " SYSTEM_HSE_MHZ" $(CONFIG_FILE) | awk '{print $$3}' )
|
||||
TARGET := $(shell grep " FC_TARGET_MCU" $(CONFIG_HEADER_FILE) | awk '{print $$3}' )
|
||||
HSE_VALUE_MHZ := $(shell grep " SYSTEM_HSE_MHZ" $(CONFIG_HEADER_FILE) | awk '{print $$3}' )
|
||||
ifneq ($(HSE_VALUE_MHZ),)
|
||||
HSE_VALUE := $(shell echo $$(( $(HSE_VALUE_MHZ) * 1000000 )) )
|
||||
endif
|
||||
|
||||
GYRO_DEFINE := $(shell grep " USE_GYRO_" $(CONFIG_FILE) | awk '{print $$2}' )
|
||||
GYRO_DEFINE := $(shell grep " USE_GYRO_" $(CONFIG_HEADER_FILE) | awk '{print $$2}' )
|
||||
|
||||
ifeq ($(TARGET),)
|
||||
$(error No TARGET identified. Is the $(CONFIG_FILE) valid for $(CONFIG)?)
|
||||
$(error No TARGET identified. Is the $(CONFIG_HEADER_FILE) valid for $(CONFIG)?)
|
||||
endif
|
||||
|
||||
EXST_ADJUST_VMA := $(shell grep " FC_VMA_ADDRESS" $(CONFIG_FILE) | awk '{print $$3}' )
|
||||
EXST_ADJUST_VMA := $(shell grep " FC_VMA_ADDRESS" $(CONFIG_HEADER_FILE) | awk '{print $$3}' )
|
||||
ifneq ($(EXST_ADJUST_VMA),)
|
||||
EXST = yes
|
||||
endif
|
||||
|
||||
else #exists
|
||||
$(error `$(CONFIG_FILE)` not found. Have you hydrated configuration using: 'make configs'?)
|
||||
endif #config_file exists
|
||||
$(error `$(CONFIG_HEADER_FILE)` not found. Have you hydrated configuration using: 'make configs'?)
|
||||
endif #CONFIG_HEADER_FILE exists
|
||||
endif #config
|
||||
|
||||
.PHONY: configs
|
||||
configs:
|
||||
ifeq ($(shell realpath $(CONFIG_DIR)),$(shell realpath $(CONFIGS_SUBMODULE_DIR)))
|
||||
git submodule update --init --remote -- $(CONFIGS_SUBMODULE_DIR)
|
||||
else
|
||||
ifeq ($(wildcard $(CONFIG_DIR)),)
|
||||
@echo "Hydrating clone for configs: $(CONFIG_DIR)"
|
||||
$(V0) git clone $(CONFIGS_REPO_URL) $(CONFIG_DIR)
|
||||
else
|
||||
$(V0) git -C $(CONFIG_DIR) pull origin
|
||||
endif
|
||||
endif
|
||||
|
||||
$(BASE_CONFIGS):
|
||||
@echo "Building target config $@"
|
||||
|
|
|
|||
17
mk/source.mk
17
mk/source.mk
|
|
@ -56,8 +56,8 @@ COMMON_SRC = \
|
|||
build/debug_pin.c \
|
||||
build/version.c \
|
||||
main.c \
|
||||
$(PG_SRC) \
|
||||
common/bitarray.c \
|
||||
common/chirp.c \
|
||||
common/colorconversion.c \
|
||||
common/crc.c \
|
||||
common/encoding.c \
|
||||
|
|
@ -369,8 +369,7 @@ SDCARD_SRC += \
|
|||
io/asyncfatfs/asyncfatfs.c \
|
||||
io/asyncfatfs/fat_standard.c
|
||||
|
||||
INCLUDE_DIRS := $(INCLUDE_DIRS) \
|
||||
$(FATFS_DIR)
|
||||
INCLUDE_DIRS += $(FATFS_DIR)
|
||||
VPATH := $(VPATH):$(FATFS_DIR)
|
||||
|
||||
# Gyro driver files that only contain initialization and configuration code - not runtime code
|
||||
|
|
@ -411,22 +410,20 @@ SPEED_OPTIMISED_SRC += \
|
|||
|
||||
endif
|
||||
|
||||
COMMON_DEVICE_SRC = \
|
||||
$(CMSIS_SRC) \
|
||||
$(DEVICE_STDPERIPH_SRC)
|
||||
COMMON_DEVICE_SRC = $(CMSIS_SRC) $(DEVICE_STDPERIPH_SRC)
|
||||
|
||||
COMMON_SRC := $(COMMON_SRC) $(COMMON_DEVICE_SRC) $(RX_SRC)
|
||||
COMMON_SRC += $(CONFIG_SRC) $(PG_SRC) $(COMMON_DEVICE_SRC) $(RX_SRC)
|
||||
|
||||
ifeq ($(EXST),yes)
|
||||
TARGET_FLAGS := -DUSE_EXST $(TARGET_FLAGS)
|
||||
TARGET_FLAGS += -DUSE_EXST
|
||||
endif
|
||||
|
||||
ifeq ($(RAM_BASED),yes)
|
||||
TARGET_FLAGS := -DUSE_EXST -DCONFIG_IN_RAM -DRAMBASED $(TARGET_FLAGS)
|
||||
TARGET_FLAGS += -DUSE_EXST -DCONFIG_IN_RAM -DRAMBASED
|
||||
endif
|
||||
|
||||
ifeq ($(SIMULATOR_BUILD),yes)
|
||||
TARGET_FLAGS := -DSIMULATOR_BUILD $(TARGET_FLAGS)
|
||||
TARGET_FLAGS += -DSIMULATOR_BUILD
|
||||
endif
|
||||
|
||||
SPEED_OPTIMISED_SRC += \
|
||||
|
|
|
|||
1
src/config
Submodule
1
src/config
Submodule
|
|
@ -0,0 +1 @@
|
|||
Subproject commit 3f3dd34c7368e5ec6c2eb5634ac638d706b1d4a8
|
||||
|
|
@ -1642,6 +1642,17 @@ static bool blackboxWriteSysinfo(void)
|
|||
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_S_YAW, "%d", currentPidProfile->pid[PID_YAW].S);
|
||||
#endif // USE_WING
|
||||
|
||||
#ifdef USE_CHIRP
|
||||
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_LAG_FREQ_HZ, "%d", currentPidProfile->chirp_lag_freq_hz);
|
||||
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_LEAD_FREQ_HZ, "%d", currentPidProfile->chirp_lead_freq_hz);
|
||||
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_AMPLITUDE_ROLL, "%d", currentPidProfile->chirp_amplitude_roll);
|
||||
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_AMPLITUDE_PITCH, "%d", currentPidProfile->chirp_amplitude_pitch);
|
||||
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_AMPLITUDE_YAW, "%d", currentPidProfile->chirp_amplitude_yaw);
|
||||
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_FREQUENCY_START_DECI_HZ, "%d", currentPidProfile->chirp_frequency_start_deci_hz);
|
||||
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_FREQUENCY_END_DECI_HZ, "%d", currentPidProfile->chirp_frequency_end_deci_hz);
|
||||
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_TIME_SECONDS, "%d", currentPidProfile->chirp_time_seconds);
|
||||
#endif // USE_CHIRP
|
||||
|
||||
// End of Betaflight controller parameters
|
||||
|
||||
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DEADBAND, "%d", rcControlsConfig()->deadband);
|
||||
|
|
|
|||
|
|
@ -31,54 +31,12 @@
|
|||
|
||||
mcuTypeId_e getMcuTypeId(void)
|
||||
{
|
||||
#if defined(SIMULATOR_BUILD)
|
||||
return MCU_TYPE_SIMULATOR;
|
||||
#elif defined(STM32F40_41xxx)
|
||||
return MCU_TYPE_F40X;
|
||||
#elif defined(STM32F411xE)
|
||||
return MCU_TYPE_F411;
|
||||
#elif defined(STM32F446xx)
|
||||
return MCU_TYPE_F446;
|
||||
#elif defined(STM32F722xx)
|
||||
return MCU_TYPE_F722;
|
||||
#elif defined(STM32F745xx)
|
||||
return MCU_TYPE_F745;
|
||||
#elif defined(STM32F746xx)
|
||||
return MCU_TYPE_F746;
|
||||
#elif defined(STM32F765xx)
|
||||
return MCU_TYPE_F765;
|
||||
#elif defined(STM32H750xx)
|
||||
return MCU_TYPE_H750;
|
||||
#elif defined(STM32H730xx)
|
||||
return MCU_TYPE_H730;
|
||||
#elif defined(STM32H743xx)
|
||||
switch (HAL_GetREVID()) {
|
||||
case REV_ID_Y:
|
||||
return MCU_TYPE_H743_REV_Y;
|
||||
case REV_ID_X:
|
||||
return MCU_TYPE_H743_REV_X;
|
||||
case REV_ID_V:
|
||||
return MCU_TYPE_H743_REV_V;
|
||||
default:
|
||||
return MCU_TYPE_H743_REV_UNKNOWN;
|
||||
}
|
||||
#elif defined(STM32H7A3xx) || defined(STM32H7A3xxQ)
|
||||
return MCU_TYPE_H7A3;
|
||||
#elif defined(STM32H723xx) || defined(STM32H725xx)
|
||||
return MCU_TYPE_H723_725;
|
||||
#elif defined(STM32G474xx)
|
||||
return MCU_TYPE_G474;
|
||||
#elif defined(AT32F435G)
|
||||
return MCU_TYPE_AT32F435G;
|
||||
#elif defined(AT32F435M)
|
||||
return MCU_TYPE_AT32F435M;
|
||||
#elif defined(APM32F405)
|
||||
return MCU_TYPE_APM32F405;
|
||||
#elif defined(APM32F407)
|
||||
return MCU_TYPE_APM32F407;
|
||||
#elif defined(RP2350B)
|
||||
return MCU_TYPE_RP2350B;
|
||||
#else
|
||||
return MCU_TYPE_UNKNOWN;
|
||||
#endif
|
||||
const mcuTypeInfo_t *mcuTypeInfo = getMcuTypeInfo();
|
||||
return mcuTypeInfo ? mcuTypeInfo->id : MCU_TYPE_UNKNOWN;
|
||||
}
|
||||
|
||||
const char *getMcuTypeName(void)
|
||||
{
|
||||
const mcuTypeInfo_t *mcuTypeInfo = getMcuTypeInfo();
|
||||
return mcuTypeInfo ? mcuTypeInfo->name : "Unknown";
|
||||
}
|
||||
|
|
|
|||
|
|
@ -68,4 +68,11 @@ typedef enum {
|
|||
MCU_TYPE_UNKNOWN = 255,
|
||||
} mcuTypeId_e;
|
||||
|
||||
typedef struct mcuTypeInfo_s {
|
||||
mcuTypeId_e id;
|
||||
const char *name;
|
||||
} mcuTypeInfo_t;
|
||||
|
||||
const mcuTypeInfo_t *getMcuTypeInfo(void);
|
||||
mcuTypeId_e getMcuTypeId(void);
|
||||
const char *getMcuTypeName(void);
|
||||
|
|
|
|||
|
|
@ -124,4 +124,5 @@ const char * const debugModeNames[DEBUG_COUNT] = {
|
|||
[DEBUG_GIMBAL] = "GIMBAL",
|
||||
[DEBUG_WING_SETPOINT] = "WING_SETPOINT",
|
||||
[DEBUG_AUTOPILOT_POSITION] = "AUTOPILOT_POSITION",
|
||||
[DEBUG_CHIRP] = "CHIRP",
|
||||
};
|
||||
|
|
|
|||
|
|
@ -126,6 +126,7 @@ typedef enum {
|
|||
DEBUG_GIMBAL,
|
||||
DEBUG_WING_SETPOINT,
|
||||
DEBUG_AUTOPILOT_POSITION,
|
||||
DEBUG_CHIRP,
|
||||
DEBUG_COUNT
|
||||
} debugType_e;
|
||||
|
||||
|
|
|
|||
|
|
@ -279,32 +279,6 @@ static const char * const *sensorHardwareNames[] = {
|
|||
};
|
||||
#endif // USE_SENSOR_NAMES
|
||||
|
||||
// Needs to be aligned with mcuTypeId_e
|
||||
static const char *mcuTypeNames[MCU_TYPE_COUNT] = {
|
||||
"SIMULATOR",
|
||||
"F40X",
|
||||
"F411",
|
||||
"F446",
|
||||
"F722",
|
||||
"F745",
|
||||
"F746",
|
||||
"F765",
|
||||
"H750",
|
||||
"H743 (Rev Unknown)",
|
||||
"H743 (Rev.Y)",
|
||||
"H743 (Rev.X)",
|
||||
"H743 (Rev.V)",
|
||||
"H7A3",
|
||||
"H723/H725",
|
||||
"G474",
|
||||
"H730",
|
||||
"AT32F435G",
|
||||
"APM32F405",
|
||||
"APM32F407",
|
||||
"AT32F435M",
|
||||
"RP2350B",
|
||||
};
|
||||
|
||||
static const char *configurationStates[] = {
|
||||
[CONFIGURATION_STATE_UNCONFIGURED] = "UNCONFIGURED",
|
||||
[CONFIGURATION_STATE_CONFIGURED] = "CONFIGURED"
|
||||
|
|
@ -4692,15 +4666,6 @@ STATIC_UNIT_TESTED void cliSet(const char *cmdName, char *cmdline)
|
|||
}
|
||||
}
|
||||
|
||||
static const char *getMcuTypeById(mcuTypeId_e id)
|
||||
{
|
||||
if (id < ARRAYLEN(mcuTypeNames)) {
|
||||
return mcuTypeNames[id];
|
||||
} else {
|
||||
return "UNKNOWN";
|
||||
}
|
||||
}
|
||||
|
||||
static void cliStatus(const char *cmdName, char *cmdline)
|
||||
{
|
||||
UNUSED(cmdName);
|
||||
|
|
@ -4708,7 +4673,7 @@ static void cliStatus(const char *cmdName, char *cmdline)
|
|||
|
||||
// MCU type, clock, vrefint, core temperature
|
||||
|
||||
cliPrintf("MCU %s Clock=%dMHz", getMcuTypeById(getMcuTypeId()), (SystemCoreClock / 1000000));
|
||||
cliPrintf("MCU %s Clock=%dMHz", getMcuTypeName(), (SystemCoreClock / 1000000));
|
||||
|
||||
#if defined(STM32F4) || defined(STM32G4) || defined(APM32F4)
|
||||
// Only F4 and G4 is capable of switching between HSE/HSI (for now)
|
||||
|
|
|
|||
|
|
@ -160,6 +160,7 @@ const char * const lookupTableAccHardware[] = {
|
|||
"BMI270",
|
||||
"LSM6DSO",
|
||||
"LSM6DSV16X",
|
||||
"IIM42653",
|
||||
"VIRTUAL"
|
||||
};
|
||||
|
||||
|
|
@ -183,6 +184,7 @@ const char * const lookupTableGyroHardware[] = {
|
|||
"BMI270",
|
||||
"LSM6DSO",
|
||||
"LSM6DSV16X",
|
||||
"IIM42653",
|
||||
"VIRTUAL"
|
||||
};
|
||||
|
||||
|
|
@ -242,7 +244,7 @@ static const char * const lookupTableGyro[] = {
|
|||
|
||||
#ifdef USE_GPS
|
||||
static const char * const lookupTableGpsProvider[] = {
|
||||
"NMEA", "UBLOX", "MSP"
|
||||
"NMEA", "UBLOX", "MSP", "VIRTUAL"
|
||||
};
|
||||
|
||||
static const char * const lookupTableGpsSbasMode[] = {
|
||||
|
|
@ -1261,6 +1263,17 @@ const clivalue_t valueTable[] = {
|
|||
{ PARAM_NAME_HORIZON_IGNORE_STICKS, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_ignore_sticks) },
|
||||
{ PARAM_NAME_HORIZON_DELAY_MS, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 5000 }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_delay_ms) },
|
||||
|
||||
#ifdef USE_CHIRP
|
||||
{ PARAM_NAME_CHIRP_LAG_FREQ_HZ, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_lag_freq_hz) },
|
||||
{ PARAM_NAME_CHIRP_LEAD_FREQ_HZ, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_lead_freq_hz) },
|
||||
{ PARAM_NAME_CHIRP_AMPLITUDE_ROLL, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_amplitude_roll) },
|
||||
{ PARAM_NAME_CHIRP_AMPLITUDE_PITCH, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_amplitude_pitch) },
|
||||
{ PARAM_NAME_CHIRP_AMPLITUDE_YAW, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_amplitude_yaw) },
|
||||
{ PARAM_NAME_CHIRP_FREQUENCY_START_DECI_HZ, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_frequency_start_deci_hz) },
|
||||
{ PARAM_NAME_CHIRP_FREQUENCY_END_DECI_HZ, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 10000 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_frequency_end_deci_hz) },
|
||||
{ PARAM_NAME_CHIRP_TIME_SECONDS, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_time_seconds) },
|
||||
#endif
|
||||
|
||||
#if defined(USE_ABSOLUTE_CONTROL)
|
||||
{ PARAM_NAME_ABS_CONTROL_GAIN, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 20 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_gain) },
|
||||
{ "abs_control_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_limit) },
|
||||
|
|
|
|||
94
src/main/common/chirp.c
Normal file
94
src/main/common/chirp.c
Normal file
|
|
@ -0,0 +1,94 @@
|
|||
/*
|
||||
* This file is part of Betaflight.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "maths.h"
|
||||
|
||||
#include "chirp.h"
|
||||
|
||||
// initialize the chirp signal generator
|
||||
// f0: start frequency in Hz
|
||||
// f1: end frequency in Hz
|
||||
// t1: signal length in seconds
|
||||
// looptimeUs: loop time in microseconds
|
||||
void chirpInit(chirp_t *chirp, const float f0, const float f1, const float t1, const uint32_t looptimeUs)
|
||||
{
|
||||
chirp->f0 = f0;
|
||||
chirp->Ts = looptimeUs * 1e-6f;
|
||||
chirp->N = (uint32_t)(t1 / chirp->Ts);
|
||||
chirp->beta = pow_approx(f1 / f0, 1.0f / t1);
|
||||
chirp->k0 = 2.0f * M_PIf / log_approx(chirp->beta);
|
||||
chirp->k1 = chirp->k0 * f0;
|
||||
chirpReset(chirp);
|
||||
}
|
||||
|
||||
// reset the chirp signal generator fully
|
||||
void chirpReset(chirp_t *chirp)
|
||||
{
|
||||
chirp->count = 0;
|
||||
chirp->isFinished = false;
|
||||
chirpResetSignals(chirp);
|
||||
}
|
||||
|
||||
// reset the chirp signal generator signals
|
||||
void chirpResetSignals(chirp_t *chirp)
|
||||
{
|
||||
chirp->exc = 0.0f;
|
||||
chirp->fchirp = 0.0f;
|
||||
chirp->sinarg = 0.0f;
|
||||
}
|
||||
|
||||
// update the chirp signal generator
|
||||
bool chirpUpdate(chirp_t *chirp)
|
||||
{
|
||||
if (chirp->isFinished) {
|
||||
|
||||
return false;
|
||||
|
||||
} else if (chirp->count == chirp->N) {
|
||||
|
||||
chirp->isFinished = true;
|
||||
chirpResetSignals(chirp);
|
||||
return false;
|
||||
|
||||
} else {
|
||||
|
||||
chirp->fchirp = chirp->f0 * pow_approx(chirp->beta, (float)(chirp->count) * chirp->Ts);
|
||||
chirp->sinarg = chirp->k0 * chirp->fchirp - chirp->k1;
|
||||
|
||||
// wrap sinarg to 0...2*pi
|
||||
chirp->sinarg = fmodf(chirp->sinarg, 2.0f * M_PIf);
|
||||
|
||||
// use cosine so that the angle will oscillate around 0 (integral of gyro)
|
||||
chirp->exc = cos_approx(chirp->sinarg);
|
||||
|
||||
// frequencies below 1 Hz will lead to the same angle magnitude as at 1 Hz (integral of gyro)
|
||||
if (chirp->fchirp < 1.0f) {
|
||||
chirp->exc = chirp->fchirp * chirp->exc;
|
||||
}
|
||||
chirp->count++;
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
37
src/main/common/chirp.h
Normal file
37
src/main/common/chirp.h
Normal file
|
|
@ -0,0 +1,37 @@
|
|||
/*
|
||||
* This file is part of Betaflight.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
typedef struct chirp_s {
|
||||
float f0, Ts, beta, k0, k1;
|
||||
uint32_t count, N;
|
||||
float exc, fchirp, sinarg;
|
||||
bool isFinished;
|
||||
} chirp_t;
|
||||
|
||||
void chirpInit(chirp_t *chirp, const float f0, const float f1, const float t1, const uint32_t looptimeUs);
|
||||
void chirpReset(chirp_t *chirp);
|
||||
void chirpResetSignals(chirp_t *chirp);
|
||||
bool chirpUpdate(chirp_t *chirp);
|
||||
|
|
@ -55,20 +55,25 @@ typedef union sensorAlignment_u {
|
|||
};
|
||||
} sensorAlignment_t;
|
||||
|
||||
#define SENSOR_ALIGNMENT(ROLL, PITCH, YAW) ((sensorAlignment_t){\
|
||||
#define SENSOR_ALIGNMENT(ROLL, PITCH, YAW) ((const sensorAlignment_t) { \
|
||||
.roll = DEGREES_TO_DECIDEGREES(ROLL), \
|
||||
.pitch = DEGREES_TO_DECIDEGREES(PITCH), \
|
||||
.yaw = DEGREES_TO_DECIDEGREES(YAW), \
|
||||
})
|
||||
|
||||
#define CUSTOM_ALIGN_CW0_DEG SENSOR_ALIGNMENT( 0, 0, 0)
|
||||
#define CUSTOM_ALIGN_CW90_DEG SENSOR_ALIGNMENT( 0, 0, 90)
|
||||
#define CUSTOM_ALIGN_CW180_DEG SENSOR_ALIGNMENT( 0, 0, 180)
|
||||
#define CUSTOM_ALIGN_CW270_DEG SENSOR_ALIGNMENT( 0, 0, 270)
|
||||
#define CUSTOM_ALIGN_CW0_DEG_FLIP SENSOR_ALIGNMENT( 0, 180, 0)
|
||||
#define CUSTOM_ALIGN_CW90_DEG_FLIP SENSOR_ALIGNMENT( 0, 180, 90)
|
||||
#define CUSTOM_ALIGN_CW180_DEG_FLIP SENSOR_ALIGNMENT( 0, 180, 180)
|
||||
#define CUSTOM_ALIGN_CW270_DEG_FLIP SENSOR_ALIGNMENT( 0, 180, 270)
|
||||
#define CUSTOM_ALIGN_CW(deg) SENSOR_ALIGNMENT( 0, 0, (deg) )
|
||||
#define CUSTOM_ALIGN_CW_FLIP(deg) SENSOR_ALIGNMENT( 0, 180, (deg) )
|
||||
|
||||
#define CUSTOM_ALIGN_CW0_DEG CUSTOM_ALIGN_CW( 0 )
|
||||
#define CUSTOM_ALIGN_CW45_DEG CUSTOM_ALIGN_CW( 45 )
|
||||
#define CUSTOM_ALIGN_CW90_DEG CUSTOM_ALIGN_CW( 90 )
|
||||
#define CUSTOM_ALIGN_CW180_DEG CUSTOM_ALIGN_CW( 180 )
|
||||
#define CUSTOM_ALIGN_CW270_DEG CUSTOM_ALIGN_CW( 270 )
|
||||
#define CUSTOM_ALIGN_CW0_DEG_FLIP CUSTOM_ALIGN_CW_FLIP( 0 )
|
||||
#define CUSTOM_ALIGN_CW45_DEG_FLIP CUSTOM_ALIGN_CW_FLIP( 45 )
|
||||
#define CUSTOM_ALIGN_CW90_DEG_FLIP CUSTOM_ALIGN_CW_FLIP( 90 )
|
||||
#define CUSTOM_ALIGN_CW180_DEG_FLIP CUSTOM_ALIGN_CW_FLIP( 180 )
|
||||
#define CUSTOM_ALIGN_CW270_DEG_FLIP CUSTOM_ALIGN_CW_FLIP( 270 )
|
||||
|
||||
void buildRotationMatrixFromAngles(matrix33_t *rm, const sensorAlignment_t *rpy);
|
||||
void buildAlignmentFromStandardAlignment(sensorAlignment_t *rpy, sensor_align_e stdAlignment);
|
||||
|
|
|
|||
|
|
@ -45,4 +45,13 @@
|
|||
// [1:0] count of 90 degree rotations from 0
|
||||
// [3:2] indicates 90 degree rotations on pitch
|
||||
// [5:4] indicates 90 degree rotations on roll
|
||||
#define ALIGNMENT_TO_BITMASK(alignment) ((alignment - CW0_DEG) & 0x3) | (((alignment - CW0_DEG) & 0x4) << 1)
|
||||
#define ALIGNMENT_TO_BITMASK(alignment) (((alignment - CW0_DEG) & 0x3) | (((alignment - CW0_DEG) & 0x4) << 1))
|
||||
|
||||
// build sensorAlignment_t from sensor_align_e as compile-time constant
|
||||
#define SENSOR_ALIGNMENT_FROM_STD(std_) \
|
||||
( ((std_) >= CW0_DEG && (std_) <= CW270_DEG_FLIP) \
|
||||
? SENSOR_ALIGNMENT(ALIGNMENT_ROLL_ROTATIONS(ALIGNMENT_TO_BITMASK(std_)) * 90, \
|
||||
ALIGNMENT_PITCH_ROTATIONS(ALIGNMENT_TO_BITMASK(std_)) * 90, \
|
||||
ALIGNMENT_YAW_ROTATIONS(ALIGNMENT_TO_BITMASK(std_)) * 90) \
|
||||
: SENSOR_ALIGNMENT(0, 0, 0) ) \
|
||||
/**/
|
||||
|
|
|
|||
|
|
@ -24,6 +24,7 @@
|
|||
#include "platform.h"
|
||||
|
||||
#include "streambuf.h"
|
||||
#include "common/maths.h"
|
||||
|
||||
sbuf_t *sbufInit(sbuf_t *sbuf, uint8_t *ptr, uint8_t *end)
|
||||
{
|
||||
|
|
@ -82,6 +83,13 @@ void sbufWriteString(sbuf_t *dst, const char *string)
|
|||
sbufWriteData(dst, string, strlen(string));
|
||||
}
|
||||
|
||||
void sbufWritePString(sbuf_t *dst, const char *string)
|
||||
{
|
||||
const int length = MIN((int)strlen(string), 255);
|
||||
sbufWriteU8(dst, length);
|
||||
sbufWriteData(dst, string, length);
|
||||
}
|
||||
|
||||
void sbufWriteStringWithZeroTerminator(sbuf_t *dst, const char *string)
|
||||
{
|
||||
sbufWriteData(dst, string, strlen(string) + 1);
|
||||
|
|
|
|||
|
|
@ -39,6 +39,7 @@ void sbufWriteU32BigEndian(sbuf_t *dst, uint32_t val);
|
|||
void sbufFill(sbuf_t *dst, uint8_t data, int len);
|
||||
void sbufWriteData(sbuf_t *dst, const void *data, int len);
|
||||
void sbufWriteString(sbuf_t *dst, const char *string);
|
||||
void sbufWritePString(sbuf_t *dst, const char *string);
|
||||
void sbufWriteStringWithZeroTerminator(sbuf_t *dst, const char *string);
|
||||
|
||||
uint8_t sbufReadU8(sbuf_t *src);
|
||||
|
|
|
|||
|
|
@ -77,6 +77,7 @@ bool canSoftwareSerialBeUsed(void);
|
|||
void resetConfig(void);
|
||||
void targetConfiguration(void);
|
||||
void targetValidateConfiguration(void);
|
||||
void configTargetPreInit(void);
|
||||
|
||||
bool isSystemConfigured(void);
|
||||
void setRebootRequired(void);
|
||||
|
|
|
|||
|
|
@ -61,6 +61,7 @@ typedef enum {
|
|||
GYRO_BMI270,
|
||||
GYRO_LSM6DSO,
|
||||
GYRO_LSM6DSV16X,
|
||||
GYRO_IIM42653,
|
||||
GYRO_VIRTUAL
|
||||
} gyroHardware_e;
|
||||
|
||||
|
|
|
|||
|
|
@ -365,7 +365,7 @@ static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
|
|||
#ifdef USE_ACCGYRO_BMI270
|
||||
bmi270Detect,
|
||||
#endif
|
||||
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
|
||||
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
|
||||
icm426xxSpiDetect,
|
||||
#endif
|
||||
#ifdef USE_GYRO_SPI_ICM20649
|
||||
|
|
|
|||
|
|
@ -45,6 +45,7 @@
|
|||
#define ICM20689_WHO_AM_I_CONST (0x98)
|
||||
#define ICM42605_WHO_AM_I_CONST (0x42)
|
||||
#define ICM42688P_WHO_AM_I_CONST (0x47)
|
||||
#define IIM42653_WHO_AM_I_CONST (0x56)
|
||||
#define LSM6DSV16X_WHO_AM_I_CONST (0x70)
|
||||
|
||||
// RA = Register Address
|
||||
|
|
@ -146,6 +147,7 @@ enum gyro_fsr_e {
|
|||
INV_FSR_500DPS,
|
||||
INV_FSR_1000DPS,
|
||||
INV_FSR_2000DPS,
|
||||
INV_FSR_4000DPS,
|
||||
NUM_GYRO_FSR
|
||||
};
|
||||
|
||||
|
|
@ -168,6 +170,7 @@ enum accel_fsr_e {
|
|||
INV_FSR_4G,
|
||||
INV_FSR_8G,
|
||||
INV_FSR_16G,
|
||||
INV_FSR_32G,
|
||||
NUM_ACCEL_FSR
|
||||
};
|
||||
|
||||
|
|
@ -201,6 +204,7 @@ typedef enum {
|
|||
ICM_20689_SPI,
|
||||
ICM_42605_SPI,
|
||||
ICM_42688P_SPI,
|
||||
IIM_42653_SPI,
|
||||
BMI_160_SPI,
|
||||
BMI_270_SPI,
|
||||
LSM6DSO_SPI,
|
||||
|
|
|
|||
|
|
@ -28,7 +28,7 @@
|
|||
|
||||
#include "platform.h"
|
||||
|
||||
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
|
||||
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
|
||||
|
||||
#include "common/axis.h"
|
||||
#include "common/utils.h"
|
||||
|
|
@ -269,6 +269,9 @@ uint8_t icm426xxSpiDetect(const extDevice_t *dev)
|
|||
case ICM42688P_WHO_AM_I_CONST:
|
||||
icmDetected = ICM_42688P_SPI;
|
||||
break;
|
||||
case IIM42653_WHO_AM_I_CONST:
|
||||
icmDetected = IIM_42653_SPI;
|
||||
break;
|
||||
default:
|
||||
icmDetected = MPU_NONE;
|
||||
break;
|
||||
|
|
@ -286,15 +289,22 @@ uint8_t icm426xxSpiDetect(const extDevice_t *dev)
|
|||
|
||||
void icm426xxAccInit(accDev_t *acc)
|
||||
{
|
||||
acc->acc_1G = 512 * 4;
|
||||
switch (acc->mpuDetectionResult.sensor) {
|
||||
case IIM_42653_SPI:
|
||||
acc->acc_1G = 512 * 2; // Accel scale 32g (1024 LSB/g)
|
||||
break;
|
||||
default:
|
||||
acc->acc_1G = 512 * 4; // Accel scale 16g (2048 LSB/g)
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
bool icm426xxSpiAccDetect(accDev_t *acc)
|
||||
{
|
||||
switch (acc->mpuDetectionResult.sensor) {
|
||||
case ICM_42605_SPI:
|
||||
break;
|
||||
case ICM_42688P_SPI:
|
||||
case IIM_42653_SPI:
|
||||
break;
|
||||
default:
|
||||
return false;
|
||||
|
|
@ -386,12 +396,12 @@ void icm426xxGyroInit(gyroDev_t *gyro)
|
|||
gyro->gyroRateKHz = GYRO_RATE_1_kHz;
|
||||
}
|
||||
|
||||
STATIC_ASSERT(INV_FSR_2000DPS == 3, "INV_FSR_2000DPS must be 3 to generate correct value");
|
||||
spiWriteReg(dev, ICM426XX_RA_GYRO_CONFIG0, (3 - INV_FSR_2000DPS) << 5 | (odrConfig & 0x0F));
|
||||
// This sets the gyro/accel to the maximum FSR, depending on the chip
|
||||
// ICM42605, ICM_42688P: 2000DPS and 16G.
|
||||
// IIM42653: 4000DPS and 32G
|
||||
spiWriteReg(dev, ICM426XX_RA_GYRO_CONFIG0, (0 << 5) | (odrConfig & 0x0F));
|
||||
delay(15);
|
||||
|
||||
STATIC_ASSERT(INV_FSR_16G == 3, "INV_FSR_16G must be 3 to generate correct value");
|
||||
spiWriteReg(dev, ICM426XX_RA_ACCEL_CONFIG0, (3 - INV_FSR_16G) << 5 | (odrConfig & 0x0F));
|
||||
spiWriteReg(dev, ICM426XX_RA_ACCEL_CONFIG0, (0 << 5) | (odrConfig & 0x0F));
|
||||
delay(15);
|
||||
}
|
||||
|
||||
|
|
@ -399,8 +409,11 @@ bool icm426xxSpiGyroDetect(gyroDev_t *gyro)
|
|||
{
|
||||
switch (gyro->mpuDetectionResult.sensor) {
|
||||
case ICM_42605_SPI:
|
||||
break;
|
||||
case ICM_42688P_SPI:
|
||||
gyro->scale = GYRO_SCALE_2000DPS;
|
||||
break;
|
||||
case IIM_42653_SPI:
|
||||
gyro->scale = GYRO_SCALE_4000DPS;
|
||||
break;
|
||||
default:
|
||||
return false;
|
||||
|
|
@ -409,8 +422,6 @@ bool icm426xxSpiGyroDetect(gyroDev_t *gyro)
|
|||
gyro->initFn = icm426xxGyroInit;
|
||||
gyro->readFn = mpuGyroReadSPI;
|
||||
|
||||
gyro->scale = GYRO_SCALE_2000DPS;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
|
@ -430,6 +441,7 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
|
|||
}
|
||||
|
||||
case ICM_42688P_SPI:
|
||||
case IIM_42653_SPI:
|
||||
default:
|
||||
switch (config) {
|
||||
case GYRO_HARDWARE_LPF_NORMAL:
|
||||
|
|
@ -448,4 +460,4 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
|
|||
}
|
||||
}
|
||||
|
||||
#endif // USE_GYRO_SPI_ICM42605 || USE_GYRO_SPI_ICM42688P
|
||||
#endif // USE_GYRO_SPI_ICM42605 || USE_GYRO_SPI_ICM42688P || USE_ACCGYRO_IIM42653
|
||||
|
|
|
|||
|
|
@ -28,158 +28,103 @@
|
|||
|
||||
#if defined(USE_MAG_LIS2MDL)
|
||||
|
||||
// LIS2MDL, IIS2MDC, LSM303AGR and LSM303AH are firmware and pin-to-pin compatible solutions
|
||||
// https://www.st.com/resource/en/design_tip/dt0131-digital-magnetometer-and-ecompass-efficient-design-tips--stmicroelectronics.pdf
|
||||
|
||||
#include "compass.h"
|
||||
#include "drivers/time.h"
|
||||
#include "common/axis.h"
|
||||
|
||||
#define LIS2MDL_MAG_I2C_ADDRESS 0x1E
|
||||
|
||||
// Macros to encode/decode multi-bit values
|
||||
#define LIS2MDL_ENCODE_BITS(val, mask, shift) ((val << shift) & mask)
|
||||
#define LIS2MDL_DECODE_BITS(val, mask, shift) ((val & mask) >> shift)
|
||||
// LIS2MDL Registers
|
||||
#define LIS2MDL_ADDR_CFG_REG_A 0x60
|
||||
#define LIS2MDL_ADDR_CFG_REG_B 0x61
|
||||
#define LIS2MDL_ADDR_CFG_REG_C 0x62
|
||||
#define LIS2MDL_ADDR_STATUS_REG 0x67
|
||||
#define LIS2MDL_ADDR_OUTX_L_REG 0x68
|
||||
#define LIS2MDL_ADDR_WHO_AM_I 0x4F
|
||||
|
||||
#define LIS2MDL_OFFSET_X_REG_L 0x45
|
||||
#define LIS2MDL_OFFSET_X_REG_H 0x46
|
||||
#define LIS2MDL_OFFSET_Y_REG_L 0x47
|
||||
#define LIS2MDL_OFFSET_Y_REG_H 0x48
|
||||
#define LIS2MDL_OFFSET_Z_REG_L 0x49
|
||||
#define LIS2MDL_OFFSET_Z_REG_H 0x4A
|
||||
|
||||
#define LIS2MDL_REG_WHO_AM_I 0x4F
|
||||
#define LIS2MDL_DEVICE_ID 0x40
|
||||
|
||||
#define LIS2MDL_CFG_REG_A 0x60
|
||||
#define LIS2MDL_CFG_REG_A_COMP_TEMP_EN 0x80
|
||||
#define LIS2MDL_CFG_REG_A_REBOOT 0x40
|
||||
#define LIS2MDL_CFG_REG_A_SOFT_RST 0x20
|
||||
#define LIS2MDL_CFG_REG_A_LP 0x10
|
||||
#define LIS2MDL_CFG_REG_A_ODR_MASK 0x0c
|
||||
#define LIS2MDL_CFG_REG_A_ODR_SHIFT 2
|
||||
#define LIS2MDL_CFG_REG_A_ODR_10 0
|
||||
#define LIS2MDL_CFG_REG_A_ODR_20 1
|
||||
#define LIS2MDL_CFG_REG_A_ODR_50 2
|
||||
#define LIS2MDL_CFG_REG_A_ODR_100 3
|
||||
#define LIS2MDL_CFG_REG_A_MD_MASK 0x03
|
||||
#define LIS2MDL_CFG_REG_A_MD_SHIFT 0
|
||||
#define LIS2MDL_CFG_REG_A_MD_CONT 0
|
||||
#define LIS2MDL_CFG_REG_A_MD_SINGLE 1
|
||||
#define LIS2MDL_CFG_REG_A_MD_IDLE 3
|
||||
|
||||
#define LIS2MDL_CFG_REG_B 0x61
|
||||
#define LIS2MDL_CFG_REG_B_OFF_CANC_ONE_SHOT 0x10
|
||||
#define LIS2MDL_CFG_REG_B_INT_ON_DATA_OFF 0x08
|
||||
#define LIS2MDL_CFG_REG_B_SET_FREQ 0x04
|
||||
#define LIS2MDL_CFG_REG_B_OFF_CANC 0x02
|
||||
#define LIS2MDL_CFG_REG_B_LPF 0x01
|
||||
|
||||
#define LIS2MDL_CFG_REG_C 0x62
|
||||
#define LIS2MDL_CFG_REG_C_INT_ON_PIN 0x40
|
||||
#define LIS2MDL_CFG_REG_C_I2C_DIS 0x20
|
||||
#define LIS2MDL_CFG_REG_C_BDU 0x10
|
||||
#define LIS2MDL_CFG_REG_C_BLE 0x08
|
||||
#define LIS2MDL_CFG_REG_C_4WSPI 0x04
|
||||
#define LIS2MDL_CFG_REG_C_SELF_TEST 0x02
|
||||
#define LIS2MDL_CFG_REG_C_DRDY_ON_PIN 0x01
|
||||
|
||||
#define LIS2MDL_INT_CTRL_REG 0x63
|
||||
#define LIS2MDL_INT_CTRL_REG_XIEN 0x80
|
||||
#define LIS2MDL_INT_CTRL_REG_YIEN 0x40
|
||||
#define LIS2MDL_INT_CTRL_REG_ZIEN 0x20
|
||||
#define LIS2MDL_INT_CTRL_REG_IEA 0x04
|
||||
#define LIS2MDL_INT_CTRL_REG_IEL 0x02
|
||||
#define LIS2MDL_INT_CTRL_REG_IEN 0x01
|
||||
|
||||
#define LIS2MDL_INT_SOURCE_REG 0x64
|
||||
#define LIS2MDL_INT_SOURCE_REG_P_TH_S_X 0x80
|
||||
#define LIS2MDL_INT_SOURCE_REG_P_TH_S_Y 0x40
|
||||
#define LIS2MDL_INT_SOURCE_REG_P_TH_S_Z 0x20
|
||||
#define LIS2MDL_INT_SOURCE_REG_N_TH_S_X 0x10
|
||||
#define LIS2MDL_INT_SOURCE_REG_N_TH_S_Y 0x08
|
||||
#define LIS2MDL_INT_SOURCE_REG_N_TH_S_Z 0x04
|
||||
#define LIS2MDL_INT_SOURCE_REG_MROI 0x02
|
||||
#define LIS2MDL_INT_SOURCE_REG_INT 0x01
|
||||
|
||||
#define LIS2MDL_INT_THS_L_REG 0x65
|
||||
#define LIS2MDL_INT_THS_H_REG 0x66
|
||||
|
||||
#define LIS2MDL_STATUS_REG 0x67
|
||||
#define LIS2MDL_STATUS_REG_ZXYOR 0x80
|
||||
#define LIS2MDL_STATUS_REG_ZOR 0x40
|
||||
#define LIS2MDL_STATUS_REG_YOR 0x20
|
||||
#define LIS2MDL_STATUS_REG_XOR 0x10
|
||||
#define LIS2MDL_STATUS_REG_ZXYDA 0x08
|
||||
#define LIS2MDL_STATUS_REG_ZDA 0x04
|
||||
#define LIS2MDL_STATUS_REG_YDA 0x02
|
||||
#define LIS2MDL_STATUS_REG_XDA 0x01
|
||||
|
||||
#define LIS2MDL_OUTX_L_REG 0x68
|
||||
#define LIS2MDL_OUTX_H_REG 0x69
|
||||
#define LIS2MDL_OUTY_L_REG 0x6A
|
||||
#define LIS2MDL_OUTY_H_REG 0x6B
|
||||
#define LIS2MDL_OUTZ_L_REG 0x6C
|
||||
#define LIS2MDL_OUTZ_H_REG 0x6D
|
||||
|
||||
#define LIS2MDL_TEMP_OUT_L_REG 0x6E
|
||||
#define LIS2MDL_TEMP_OUT_H_REG 0x6F
|
||||
|
||||
static bool lis2mdlRead(magDev_t * mag, int16_t *magData)
|
||||
{
|
||||
static uint8_t buf[6];
|
||||
static bool pendingRead = true;
|
||||
|
||||
extDevice_t *dev = &mag->dev;
|
||||
|
||||
if (pendingRead) {
|
||||
if (busReadRegisterBufferStart(dev, LIS2MDL_OUTX_L_REG, buf, sizeof(buf))) {
|
||||
pendingRead = false;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
magData[X] = (int16_t)(buf[1] << 8 | buf[0]);
|
||||
magData[Y] = (int16_t)(buf[3] << 8 | buf[2]);
|
||||
magData[Z] = (int16_t)(buf[5] << 8 | buf[4]);
|
||||
|
||||
pendingRead = true;
|
||||
|
||||
return true;
|
||||
}
|
||||
// LIS2MDL Definitions
|
||||
#define LIS2MDL_WHO_AM_I 0x40
|
||||
#define LIS2MDL_STATUS_REG_READY 0x0F
|
||||
#define CFGA_MD_CONTINUOUS (0 << 0)
|
||||
#define CFGA_ODR_100 ((1 << 3) | (1 << 2))
|
||||
#define CFGA_COMP_TEMP_EN (1 << 7)
|
||||
#define CFGB_OFF_CANC (1 << 1)
|
||||
#define CFGC_BDU (1 << 4)
|
||||
|
||||
static bool lis2mdlInit(magDev_t *mag)
|
||||
{
|
||||
bool ack = true;
|
||||
extDevice_t *dev = &mag->dev;
|
||||
|
||||
busDeviceRegister(dev);
|
||||
|
||||
busWriteRegister(dev, LIS2MDL_CFG_REG_A,
|
||||
LIS2MDL_CFG_REG_A_COMP_TEMP_EN |
|
||||
LIS2MDL_ENCODE_BITS(LIS2MDL_CFG_REG_A_ODR_100, LIS2MDL_CFG_REG_A_ODR_MASK, LIS2MDL_CFG_REG_A_ODR_SHIFT) |
|
||||
LIS2MDL_ENCODE_BITS(LIS2MDL_CFG_REG_A_MD_CONT, LIS2MDL_CFG_REG_A_MD_MASK, LIS2MDL_CFG_REG_A_MD_SHIFT));
|
||||
ack = ack && busWriteRegister(dev, LIS2MDL_ADDR_CFG_REG_A, CFGA_MD_CONTINUOUS | CFGA_ODR_100 | CFGA_COMP_TEMP_EN);
|
||||
ack = ack && busWriteRegister(dev, LIS2MDL_ADDR_CFG_REG_B, CFGB_OFF_CANC);
|
||||
ack = ack && busWriteRegister(dev, LIS2MDL_ADDR_CFG_REG_C, CFGC_BDU);
|
||||
|
||||
delay(100);
|
||||
if (!ack) {
|
||||
return false;
|
||||
}
|
||||
|
||||
mag->magOdrHz = 100;
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool lis2mdlRead(magDev_t *mag, int16_t *magData)
|
||||
{
|
||||
uint8_t status = 0;
|
||||
uint8_t buf[6];
|
||||
|
||||
extDevice_t *dev = &mag->dev;
|
||||
|
||||
if (!busReadRegisterBuffer(dev, LIS2MDL_ADDR_STATUS_REG, &status, sizeof(status))) {
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!(status & LIS2MDL_STATUS_REG_READY)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!busReadRegisterBuffer(dev, LIS2MDL_ADDR_OUTX_L_REG, (uint8_t *)&buf, sizeof(buf))) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Sensitivity is +/- 50,000 milligauss, 16bit
|
||||
// e.g. gauss = val * (100.f / 65.535f)
|
||||
|
||||
int16_t x = (int16_t)(buf[1] << 8 | buf[0]);
|
||||
int16_t y = (int16_t)(buf[3] << 8 | buf[2]);
|
||||
int16_t z = (int16_t)(buf[5] << 8 | buf[4]);
|
||||
|
||||
// adapt LIS2MDL left-handed frame to common sensor axis orientation (match LIS3MDL)
|
||||
// pin 1 mark becomes +X -Y
|
||||
magData[X] = -x;
|
||||
magData[Y] = y;
|
||||
magData[Z] = z;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool lis2mdlDetect(magDev_t * mag)
|
||||
bool lis2mdlDetect(magDev_t *mag)
|
||||
{
|
||||
extDevice_t *dev = &mag->dev;
|
||||
|
||||
uint8_t sig = 0;
|
||||
|
||||
if (dev->bus->busType == BUS_TYPE_I2C && dev->busType_u.i2c.address == 0) {
|
||||
dev->busType_u.i2c.address = LIS2MDL_MAG_I2C_ADDRESS;
|
||||
}
|
||||
|
||||
bool ack = busReadRegisterBuffer(&mag->dev, LIS2MDL_REG_WHO_AM_I, &sig, 1);
|
||||
|
||||
if (!ack || sig != LIS2MDL_DEVICE_ID) {
|
||||
return false;
|
||||
}
|
||||
uint8_t whoami;
|
||||
bool ack = busReadRegisterBuffer(dev, LIS2MDL_ADDR_WHO_AM_I, &whoami, sizeof(whoami));
|
||||
|
||||
if (ack && whoami == LIS2MDL_WHO_AM_I) {
|
||||
mag->init = lis2mdlInit;
|
||||
mag->read = lis2mdlRead;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -93,6 +93,12 @@ int displayWrite(displayPort_t *instance, uint8_t x, uint8_t y, uint8_t attr, co
|
|||
{
|
||||
instance->posX = x + strlen(text);
|
||||
instance->posY = y;
|
||||
|
||||
if (strlen(text) == 0) {
|
||||
// No point sending a message to do nothing
|
||||
return 0;
|
||||
}
|
||||
|
||||
return instance->vTable->writeString(instance, x, y, attr, text);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -76,7 +76,10 @@ uint8_t serialRead(serialPort_t *instance)
|
|||
|
||||
void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate)
|
||||
{
|
||||
//vTable->serialSetBaudRate is NULL for SIMULATOR_BUILD, because the TCP port is used
|
||||
if (instance->vTable->serialSetBaudRate != NULL) {
|
||||
instance->vTable->serialSetBaudRate(instance, baudRate);
|
||||
}
|
||||
}
|
||||
|
||||
bool isSerialTransmitBufferEmpty(const serialPort_t *instance)
|
||||
|
|
|
|||
|
|
@ -490,7 +490,7 @@ UART_IRQHandler(UART, 9, UARTDEV_9) // UART9 Rx/Tx IRQ Handler
|
|||
#endif
|
||||
|
||||
#ifdef USE_UART10
|
||||
UART_IRQHandler(UART, 10, UARTDEV_10) // UART10 Rx/Tx IRQ Handler
|
||||
UART_IRQHandler(USART, 10, UARTDEV_10) // UART10 Rx/Tx IRQ Handler
|
||||
#endif
|
||||
|
||||
#ifdef USE_LPUART1
|
||||
|
|
|
|||
|
|
@ -1092,6 +1092,16 @@ void processRxModes(timeUs_t currentTimeUs)
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_CHIRP
|
||||
if (IS_RC_MODE_ACTIVE(BOXCHIRP) && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(GPS_RESCUE_MODE)) {
|
||||
if (!FLIGHT_MODE(CHIRP_MODE)) {
|
||||
ENABLE_FLIGHT_MODE(CHIRP_MODE);
|
||||
}
|
||||
} else {
|
||||
DISABLE_FLIGHT_MODE(CHIRP_MODE);
|
||||
}
|
||||
#endif
|
||||
|
||||
if (FLIGHT_MODE(ANGLE_MODE | ALT_HOLD_MODE | POS_HOLD_MODE | HORIZON_MODE)) {
|
||||
LED1_ON;
|
||||
// increase frequency of attitude task to reduce drift when in angle or horizon mode
|
||||
|
|
|
|||
|
|
@ -278,15 +278,15 @@ void init(void)
|
|||
// initialize IO (needed for all IO operations)
|
||||
IOInitGlobal();
|
||||
|
||||
#ifdef USE_HARDWARE_REVISION_DETECTION
|
||||
detectHardwareRevision();
|
||||
#endif
|
||||
|
||||
#if defined(USE_TARGET_CONFIG)
|
||||
// Call once before the config is loaded for any target specific configuration required to support loading the config
|
||||
targetConfiguration();
|
||||
#endif
|
||||
|
||||
#if defined(USE_CONFIG_TARGET_PREINIT)
|
||||
configTargetPreInit();
|
||||
#endif
|
||||
|
||||
enum {
|
||||
FLASH_INIT_ATTEMPTED = (1 << 0),
|
||||
SD_INIT_ATTEMPTED = (1 << 1),
|
||||
|
|
|
|||
|
|
@ -192,6 +192,15 @@
|
|||
#define PARAM_NAME_HORIZON_IGNORE_STICKS "horizon_ignore_sticks"
|
||||
#define PARAM_NAME_HORIZON_DELAY_MS "horizon_delay_ms"
|
||||
|
||||
#define PARAM_NAME_CHIRP_LAG_FREQ_HZ "chirp_lag_freq_hz"
|
||||
#define PARAM_NAME_CHIRP_LEAD_FREQ_HZ "chirp_lead_freq_hz"
|
||||
#define PARAM_NAME_CHIRP_AMPLITUDE_ROLL "chirp_amplitude_roll"
|
||||
#define PARAM_NAME_CHIRP_AMPLITUDE_PITCH "chirp_amplitude_pitch"
|
||||
#define PARAM_NAME_CHIRP_AMPLITUDE_YAW "chirp_amplitude_yaw"
|
||||
#define PARAM_NAME_CHIRP_FREQUENCY_START_DECI_HZ "chirp_frequency_start_deci_hz"
|
||||
#define PARAM_NAME_CHIRP_FREQUENCY_END_DECI_HZ "chirp_frequency_end_deci_hz"
|
||||
#define PARAM_NAME_CHIRP_TIME_SECONDS "chirp_time_seconds"
|
||||
|
||||
#ifdef USE_GPS
|
||||
#define PARAM_NAME_GPS_PROVIDER "gps_provider"
|
||||
#define PARAM_NAME_GPS_SBAS_MODE "gps_sbas_mode"
|
||||
|
|
|
|||
|
|
@ -35,6 +35,7 @@ typedef enum {
|
|||
BOXMAG,
|
||||
BOXALTHOLD,
|
||||
BOXHEADFREE,
|
||||
BOXCHIRP,
|
||||
BOXPASSTHRU,
|
||||
BOXFAILSAFE,
|
||||
BOXPOSHOLD,
|
||||
|
|
|
|||
|
|
@ -87,7 +87,7 @@ typedef enum {
|
|||
// GPS_HOME_MODE = (1 << 4),
|
||||
POS_HOLD_MODE = (1 << 5),
|
||||
HEADFREE_MODE = (1 << 6),
|
||||
// UNUSED_MODE = (1 << 7), // old autotune
|
||||
CHIRP_MODE = (1 << 7), // old autotune
|
||||
PASSTHRU_MODE = (1 << 8),
|
||||
// RANGEFINDER_MODE= (1 << 9),
|
||||
FAILSAFE_MODE = (1 << 10),
|
||||
|
|
@ -109,6 +109,7 @@ extern uint16_t flightModeFlags;
|
|||
[BOXALTHOLD] = LOG2(ALT_HOLD_MODE), \
|
||||
[BOXPOSHOLD] = LOG2(POS_HOLD_MODE), \
|
||||
[BOXHEADFREE] = LOG2(HEADFREE_MODE), \
|
||||
[BOXCHIRP] = LOG2(CHIRP_MODE), \
|
||||
[BOXPASSTHRU] = LOG2(PASSTHRU_MODE), \
|
||||
[BOXFAILSAFE] = LOG2(FAILSAFE_MODE), \
|
||||
[BOXGPSRESCUE] = LOG2(GPS_RESCUE_MODE), \
|
||||
|
|
|
|||
|
|
@ -603,8 +603,14 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
|
|||
UNUSED(canUseGPSHeading);
|
||||
UNUSED(imuCalcKpGain);
|
||||
UNUSED(imuCalcMagErr);
|
||||
|
||||
UNUSED(currentTimeUs);
|
||||
|
||||
#if defined(USE_GPS)
|
||||
UNUSED(imuComputeQuaternionFromRPY);
|
||||
UNUSED(imuDebug_GPS_RESCUE_HEADING);
|
||||
UNUSED(imuCalcCourseErr);
|
||||
UNUSED(imuCalcGroundspeedGain);
|
||||
#endif
|
||||
}
|
||||
#else
|
||||
|
||||
|
|
|
|||
|
|
@ -260,6 +260,14 @@ void resetPidProfile(pidProfile_t *pidProfile)
|
|||
.tpa_speed_pitch_offset = 0,
|
||||
.yaw_type = YAW_TYPE_RUDDER,
|
||||
.angle_pitch_offset = 0,
|
||||
.chirp_lag_freq_hz = 3,
|
||||
.chirp_lead_freq_hz = 30,
|
||||
.chirp_amplitude_roll = 230,
|
||||
.chirp_amplitude_pitch = 230,
|
||||
.chirp_amplitude_yaw = 180,
|
||||
.chirp_frequency_start_deci_hz = 2,
|
||||
.chirp_frequency_end_deci_hz = 6000,
|
||||
.chirp_time_seconds = 20,
|
||||
);
|
||||
}
|
||||
|
||||
|
|
@ -1200,9 +1208,49 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
|
|||
disarmOnImpact();
|
||||
}
|
||||
|
||||
#ifdef USE_CHIRP
|
||||
|
||||
static int chirpAxis = 0;
|
||||
static bool shouldChirpAxisToggle = false;
|
||||
|
||||
float chirp = 0.0f;
|
||||
float sinarg = 0.0f;
|
||||
if (FLIGHT_MODE(CHIRP_MODE)) {
|
||||
shouldChirpAxisToggle = true; // advance chirp axis on next !CHIRP_MODE
|
||||
// update chirp signal
|
||||
if (chirpUpdate(&pidRuntime.chirp)) {
|
||||
chirp = pidRuntime.chirp.exc;
|
||||
sinarg = pidRuntime.chirp.sinarg;
|
||||
}
|
||||
} else {
|
||||
if (shouldChirpAxisToggle) {
|
||||
// toggle chirp signal logic and increment to next axis for next run
|
||||
shouldChirpAxisToggle = false;
|
||||
chirpAxis = (++chirpAxis > FD_YAW) ? 0 : chirpAxis;
|
||||
// reset chirp signal generator
|
||||
chirpReset(&pidRuntime.chirp);
|
||||
}
|
||||
}
|
||||
|
||||
// input / excitation shaping
|
||||
float chirpFiltered = phaseCompApply(&pidRuntime.chirpFilter, chirp);
|
||||
|
||||
// ToDo: check if this can be reconstructed offline for rotating filter and if so, remove the debug
|
||||
// fit (0...2*pi) into int16_t (-32768 to 32767)
|
||||
DEBUG_SET(DEBUG_CHIRP, 0, lrintf(5.0e3f * sinarg));
|
||||
|
||||
#endif // USE_CHIRP
|
||||
|
||||
// ----------PID controller----------
|
||||
for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {
|
||||
|
||||
#ifdef USE_CHIRP
|
||||
float currentChirp = 0.0f;
|
||||
if(axis == chirpAxis){
|
||||
currentChirp = pidRuntime.chirpAmplitude[axis] * chirpFiltered;
|
||||
}
|
||||
#endif // USE_CHIRP
|
||||
|
||||
float currentPidSetpoint = getSetpointRate(axis);
|
||||
if (pidRuntime.maxVelocity[axis]) {
|
||||
currentPidSetpoint = accelerationLimit(axis, currentPidSetpoint);
|
||||
|
|
@ -1263,6 +1311,9 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
|
|||
|
||||
// -----calculate error rate
|
||||
const float gyroRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
|
||||
#ifdef USE_CHIRP
|
||||
currentPidSetpoint += currentChirp;
|
||||
#endif // USE_CHIRP
|
||||
float errorRate = currentPidSetpoint - gyroRate; // r - y
|
||||
#if defined(USE_ACC)
|
||||
handleCrashRecovery(
|
||||
|
|
@ -1596,3 +1647,10 @@ float pidGetPidFrequency(void)
|
|||
{
|
||||
return pidRuntime.pidFrequency;
|
||||
}
|
||||
|
||||
#ifdef USE_CHIRP
|
||||
bool pidChirpIsFinished(void)
|
||||
{
|
||||
return pidRuntime.chirp.isFinished;
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -23,6 +23,7 @@
|
|||
#include <stdbool.h>
|
||||
|
||||
#include "common/axis.h"
|
||||
#include "common/chirp.h"
|
||||
#include "common/filter.h"
|
||||
#include "common/pwl.h"
|
||||
#include "common/time.h"
|
||||
|
|
@ -322,6 +323,15 @@ typedef struct pidProfile_s {
|
|||
int16_t tpa_speed_pitch_offset; // For wings: pitch offset in degrees*10 for craft speed estimation
|
||||
uint8_t yaw_type; // For wings: type of yaw (rudder or differential thrust)
|
||||
int16_t angle_pitch_offset; // For wings: pitch offset for angle modes; in decidegrees; positive values tilting the wing down
|
||||
|
||||
uint8_t chirp_lag_freq_hz; // leadlag1Filter cutoff/pole to shape the excitation signal
|
||||
uint8_t chirp_lead_freq_hz; // leadlag1Filter cutoff/zero
|
||||
uint16_t chirp_amplitude_roll; // amplitude roll in degree/second
|
||||
uint16_t chirp_amplitude_pitch; // amplitude pitch in degree/second
|
||||
uint16_t chirp_amplitude_yaw; // amplitude yaw in degree/second
|
||||
uint16_t chirp_frequency_start_deci_hz; // start frequency in units of 0.1 hz
|
||||
uint16_t chirp_frequency_end_deci_hz; // end frequency in units of 0.1 hz
|
||||
uint8_t chirp_time_seconds; // excitation time
|
||||
} pidProfile_t;
|
||||
|
||||
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
|
||||
|
|
@ -529,6 +539,17 @@ typedef struct pidRuntime_s {
|
|||
float tpaCurvePwl_yValues[TPA_CURVE_PWL_SIZE];
|
||||
tpaCurveType_t tpaCurveType;
|
||||
#endif // USE_ADVANCED_TPA
|
||||
|
||||
#ifdef USE_CHIRP
|
||||
chirp_t chirp;
|
||||
phaseComp_t chirpFilter;
|
||||
float chirpLagFreqHz;
|
||||
float chirpLeadFreqHz;
|
||||
float chirpAmplitude[3];
|
||||
float chirpFrequencyStartHz;
|
||||
float chirpFrequencyEndHz;
|
||||
float chirpTimeSeconds;
|
||||
#endif // USE_CHIRP
|
||||
} pidRuntime_t;
|
||||
|
||||
extern pidRuntime_t pidRuntime;
|
||||
|
|
@ -585,3 +606,6 @@ float pidGetDT();
|
|||
float pidGetPidFrequency();
|
||||
|
||||
float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo);
|
||||
#ifdef USE_CHIRP
|
||||
bool pidChirpIsFinished();
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -317,6 +317,14 @@ void pidInitFilters(const pidProfile_t *pidProfile)
|
|||
pidRuntime.angleYawSetpoint = 0.0f;
|
||||
#endif
|
||||
|
||||
#ifdef USE_CHIRP
|
||||
const float alpha = pidRuntime.chirpLeadFreqHz / pidRuntime.chirpLagFreqHz;
|
||||
const float centerFreqHz = pidRuntime.chirpLagFreqHz * sqrtf(alpha);
|
||||
const float centerPhaseDeg = asinf( (1.0f - alpha) / (1.0f + alpha) ) / RAD;
|
||||
phaseCompInit(&pidRuntime.chirpFilter, centerFreqHz, centerPhaseDeg, targetPidLooptime);
|
||||
chirpInit(&pidRuntime.chirp, pidRuntime.chirpFrequencyStartHz, pidRuntime.chirpFrequencyEndHz, pidRuntime.chirpTimeSeconds, targetPidLooptime);
|
||||
#endif
|
||||
|
||||
pt2FilterInit(&pidRuntime.antiGravityLpf, pt2FilterGain(pidProfile->anti_gravity_cutoff_hz, pidRuntime.dT));
|
||||
#ifdef USE_WING
|
||||
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
|
||||
|
|
@ -411,6 +419,17 @@ void pidInitConfig(const pidProfile_t *pidProfile)
|
|||
pidRuntime.horizonDelayMs = pidProfile->horizon_delay_ms;
|
||||
#endif
|
||||
|
||||
#ifdef USE_CHIRP
|
||||
pidRuntime.chirpLagFreqHz = pidProfile->chirp_lag_freq_hz;
|
||||
pidRuntime.chirpLeadFreqHz = pidProfile->chirp_lead_freq_hz;
|
||||
pidRuntime.chirpAmplitude[FD_ROLL] = pidProfile->chirp_amplitude_roll;
|
||||
pidRuntime.chirpAmplitude[FD_PITCH] = pidProfile->chirp_amplitude_pitch;
|
||||
pidRuntime.chirpAmplitude[FD_YAW]= pidProfile->chirp_amplitude_yaw;
|
||||
pidRuntime.chirpFrequencyStartHz = pidProfile->chirp_frequency_start_deci_hz / 10.0f;
|
||||
pidRuntime.chirpFrequencyEndHz = pidProfile->chirp_frequency_end_deci_hz / 10.0f;
|
||||
pidRuntime.chirpTimeSeconds = pidProfile->chirp_time_seconds;
|
||||
#endif
|
||||
|
||||
pidRuntime.maxVelocity[FD_ROLL] = pidRuntime.maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 100 * pidRuntime.dT;
|
||||
pidRuntime.maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 100 * pidRuntime.dT;
|
||||
pidRuntime.antiGravityGain = pidProfile->anti_gravity_gain;
|
||||
|
|
|
|||
|
|
@ -121,6 +121,9 @@ FAST_CODE_NOINLINE void rpmFilterUpdate(void)
|
|||
return;
|
||||
}
|
||||
|
||||
const float dtCompensation = schedulerGetCycleTimeMultiplier();
|
||||
const float correctedLooptime = rpmFilter.looptimeUs * dtCompensation;
|
||||
|
||||
// update RPM notches
|
||||
for (int i = 0; i < notchUpdatesPerIteration; i++) {
|
||||
|
||||
|
|
@ -143,7 +146,7 @@ FAST_CODE_NOINLINE void rpmFilterUpdate(void)
|
|||
weight *= rpmFilter.weights[harmonicIndex];
|
||||
|
||||
// update notch
|
||||
biquadFilterUpdate(template, frequencyHz, rpmFilter.looptimeUs, rpmFilter.q, FILTER_NOTCH, weight);
|
||||
biquadFilterUpdate(template, frequencyHz, correctedLooptime, rpmFilter.q, FILTER_NOTCH, weight);
|
||||
|
||||
// copy notch properties to corresponding notches on PITCH and YAW
|
||||
for (int axis = 1; axis < XYZ_AXIS_COUNT; axis++) {
|
||||
|
|
|
|||
|
|
@ -45,7 +45,10 @@
|
|||
#ifdef USE_DASHBOARD
|
||||
#include "io/dashboard.h"
|
||||
#endif
|
||||
|
||||
#include "io/gps.h"
|
||||
#include "io/gps_virtual.h"
|
||||
|
||||
#include "io/serial.h"
|
||||
|
||||
#include "config/config.h"
|
||||
|
|
@ -407,7 +410,7 @@ void gpsInit(void)
|
|||
// init gpsData structure. if we're not actually enabled, don't bother doing anything else
|
||||
gpsSetState(GPS_STATE_UNKNOWN);
|
||||
|
||||
if (gpsConfig()->provider == GPS_MSP) { // no serial ports used when GPS_MSP is configured
|
||||
if (gpsConfig()->provider == GPS_MSP || gpsConfig()->provider == GPS_VIRTUAL) { // no serial ports used when GPS_MSP or GPS_VIRTUAL is configured
|
||||
gpsSetState(GPS_STATE_INITIALIZED);
|
||||
return;
|
||||
}
|
||||
|
|
@ -1337,6 +1340,38 @@ static void calculateNavInterval (void)
|
|||
gpsSol.navIntervalMs = constrain(navDeltaTimeMs, 50, 2500);
|
||||
}
|
||||
|
||||
#if defined(USE_VIRTUAL_GPS)
|
||||
static void updateVirtualGPS(void)
|
||||
{
|
||||
const uint32_t updateInterval = 100; // 100ms 10Hz update time interval
|
||||
static uint32_t nextUpdateTime = 0;
|
||||
|
||||
if (cmp32(gpsData.now, nextUpdateTime) > 0) {
|
||||
if (gpsData.state == GPS_STATE_INITIALIZED) {
|
||||
gpsSetState(GPS_STATE_RECEIVING_DATA);
|
||||
}
|
||||
|
||||
getVirtualGPS(&gpsSol);
|
||||
gpsSol.time = gpsData.now;
|
||||
|
||||
gpsData.lastNavMessage = gpsData.now;
|
||||
sensorsSet(SENSOR_GPS);
|
||||
|
||||
if (gpsSol.numSat > 3) {
|
||||
gpsSetFixState(GPS_FIX);
|
||||
} else {
|
||||
gpsSetFixState(0);
|
||||
}
|
||||
GPS_update ^= GPS_DIRECT_TICK;
|
||||
|
||||
calculateNavInterval();
|
||||
onGpsNewData();
|
||||
|
||||
nextUpdateTime = gpsData.now + updateInterval;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
void gpsUpdate(timeUs_t currentTimeUs)
|
||||
{
|
||||
static timeDelta_t gpsStateDurationFractionUs[GPS_STATE_COUNT];
|
||||
|
|
@ -1344,7 +1379,12 @@ void gpsUpdate(timeUs_t currentTimeUs)
|
|||
gpsState_e gpsCurrentState = gpsData.state;
|
||||
gpsData.now = millis();
|
||||
|
||||
if (gpsPort) {
|
||||
switch (gpsConfig()->provider) {
|
||||
case GPS_UBLOX:
|
||||
case GPS_NMEA:
|
||||
if (!gpsPort) {
|
||||
break;
|
||||
}
|
||||
DEBUG_SET(DEBUG_GPS_CONNECTION, 7, serialRxBytesWaiting(gpsPort));
|
||||
static uint8_t wait = 0;
|
||||
static bool isFast = false;
|
||||
|
|
@ -1368,7 +1408,9 @@ void gpsUpdate(timeUs_t currentTimeUs)
|
|||
isFast = false;
|
||||
rescheduleTask(TASK_SELF, TASK_PERIOD_HZ(TASK_GPS_RATE));
|
||||
}
|
||||
} else if (gpsConfig()->provider == GPS_MSP) {
|
||||
break;
|
||||
|
||||
case GPS_MSP:
|
||||
if (GPS_update & GPS_MSP_UPDATE) { // GPS data received via MSP
|
||||
if (gpsData.state == GPS_STATE_INITIALIZED) {
|
||||
gpsSetState(GPS_STATE_RECEIVING_DATA);
|
||||
|
|
@ -1391,6 +1433,12 @@ void gpsUpdate(timeUs_t currentTimeUs)
|
|||
gpsSetState(GPS_STATE_LOST_COMMUNICATION);
|
||||
}
|
||||
}
|
||||
break;
|
||||
#if defined(USE_VIRTUAL_GPS)
|
||||
case GPS_VIRTUAL:
|
||||
updateVirtualGPS();
|
||||
break;
|
||||
#endif
|
||||
}
|
||||
|
||||
switch (gpsData.state) {
|
||||
|
|
@ -1414,7 +1462,7 @@ void gpsUpdate(timeUs_t currentTimeUs)
|
|||
|
||||
case GPS_STATE_RECEIVING_DATA:
|
||||
#ifdef USE_GPS_UBLOX
|
||||
if (gpsConfig()->provider != GPS_MSP) {
|
||||
if (gpsConfig()->provider == GPS_UBLOX || gpsConfig()->provider == GPS_NMEA) { // TODO Send ublox message to nmea GPS?
|
||||
if (gpsConfig()->autoConfig == GPS_AUTOCONFIG_ON) {
|
||||
// when we are connected up, and get a 3D fix, enable the 'flight' fix model
|
||||
if (!gpsData.ubloxUsingFlightModel && STATE(GPS_FIX)) {
|
||||
|
|
|
|||
|
|
@ -177,7 +177,8 @@ typedef enum {
|
|||
typedef enum {
|
||||
GPS_NMEA = 0,
|
||||
GPS_UBLOX,
|
||||
GPS_MSP
|
||||
GPS_MSP,
|
||||
GPS_VIRTUAL,
|
||||
} gpsProvider_e;
|
||||
|
||||
typedef enum {
|
||||
|
|
|
|||
52
src/main/io/gps_virtual.c
Normal file
52
src/main/io/gps_virtual.c
Normal file
|
|
@ -0,0 +1,52 @@
|
|||
/*
|
||||
* This file is part of Betaflight.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#ifdef USE_VIRTUAL_GPS
|
||||
|
||||
#include "io/gps_virtual.h"
|
||||
|
||||
static gpsSolutionData_t gpsVirtualData;
|
||||
|
||||
void setVirtualGPS(double latitude, double longitude, double altiutude, double speed, double speed3D, double course)
|
||||
{
|
||||
gpsVirtualData.numSat = 12; // satellites_in_view
|
||||
gpsVirtualData.acc.hAcc = 500; // horizontal_pos_accuracy - convert cm to mm
|
||||
gpsVirtualData.acc.vAcc = 500; // vertical_pos_accuracy - convert cm to mm
|
||||
gpsVirtualData.acc.sAcc = 400; // horizontal_vel_accuracy - convert cm to mm
|
||||
gpsVirtualData.dop.pdop = 10; // hdop in 4.4 and earlier, pdop in 4.5 and above
|
||||
gpsVirtualData.llh.lon = (int32_t)(longitude * GPS_DEGREES_DIVIDER);
|
||||
gpsVirtualData.llh.lat = (int32_t)(latitude * GPS_DEGREES_DIVIDER);
|
||||
gpsVirtualData.llh.altCm = (int32_t)(altiutude * 100.0); // alt, cm
|
||||
gpsVirtualData.groundSpeed = (uint16_t)(speed * 100.0); // cm/sec
|
||||
gpsVirtualData.speed3d = (uint16_t)(speed3D * 100.0); // cm/sec
|
||||
gpsVirtualData.groundCourse = (uint16_t)(course * 10.0); // decidegrees
|
||||
}
|
||||
|
||||
void getVirtualGPS(gpsSolutionData_t *gpsSolData)
|
||||
{
|
||||
*gpsSolData = gpsVirtualData;
|
||||
}
|
||||
#endif
|
||||
26
src/main/io/gps_virtual.h
Normal file
26
src/main/io/gps_virtual.h
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
/*
|
||||
* This file is part of Betaflight.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "io/gps.h"
|
||||
void setVirtualGPS(double latitude, double longitude, double altiutude, double velocity, double velocity3D, double course);
|
||||
void getVirtualGPS(gpsSolutionData_t *gpsSolData);
|
||||
|
|
@ -409,8 +409,7 @@ void mspReboot(dispatchEntry_t* self)
|
|||
mspRebootFn(NULL);
|
||||
}
|
||||
|
||||
dispatchEntry_t mspRebootEntry =
|
||||
{
|
||||
dispatchEntry_t mspRebootEntry = {
|
||||
mspReboot, 0, NULL, false
|
||||
};
|
||||
|
||||
|
|
@ -433,8 +432,7 @@ void writeReadEeprom(dispatchEntry_t* self)
|
|||
#endif
|
||||
}
|
||||
|
||||
dispatchEntry_t writeReadEepromEntry =
|
||||
{
|
||||
dispatchEntry_t writeReadEepromEntry = {
|
||||
writeReadEeprom, 0, NULL, false
|
||||
};
|
||||
|
||||
|
|
@ -643,8 +641,13 @@ static bool mspCommonProcessOutCommand(int16_t cmdMSP, sbuf_t *dst, mspPostProce
|
|||
sbufWriteU8(dst, FC_VERSION_PATCH_LEVEL);
|
||||
break;
|
||||
|
||||
case MSP_BOARD_INFO:
|
||||
{
|
||||
case MSP2_MCU_INFO: {
|
||||
sbufWriteU8(dst, getMcuTypeId());
|
||||
sbufWritePString(dst, getMcuTypeName());
|
||||
break;
|
||||
}
|
||||
|
||||
case MSP_BOARD_INFO: {
|
||||
sbufWriteData(dst, systemConfig()->boardIdentifier, BOARD_IDENTIFIER_LENGTH);
|
||||
#ifdef USE_HARDWARE_REVISION_DETECTION
|
||||
sbufWriteU16(dst, hardwareRevision);
|
||||
|
|
@ -682,19 +685,14 @@ static bool mspCommonProcessOutCommand(int16_t cmdMSP, sbuf_t *dst, mspPostProce
|
|||
sbufWriteU8(dst, targetCapabilities);
|
||||
|
||||
// Target name with explicit length
|
||||
sbufWriteU8(dst, strlen(targetName));
|
||||
sbufWriteData(dst, targetName, strlen(targetName));
|
||||
sbufWritePString(dst, targetName);
|
||||
|
||||
#if defined(USE_BOARD_INFO)
|
||||
// Board name with explicit length
|
||||
char *value = getBoardName();
|
||||
sbufWriteU8(dst, strlen(value));
|
||||
sbufWriteString(dst, value);
|
||||
sbufWritePString(dst, getBoardName());
|
||||
|
||||
// Manufacturer id with explicit length
|
||||
value = getManufacturerId();
|
||||
sbufWriteU8(dst, strlen(value));
|
||||
sbufWriteString(dst, value);
|
||||
sbufWritePString(dst, getManufacturerId());
|
||||
#else
|
||||
sbufWriteU8(dst, 0);
|
||||
sbufWriteU8(dst, 0);
|
||||
|
|
@ -845,8 +843,7 @@ static bool mspCommonProcessOutCommand(int16_t cmdMSP, sbuf_t *dst, mspPostProce
|
|||
break;
|
||||
}
|
||||
|
||||
case MSP_VOLTAGE_METER_CONFIG:
|
||||
{
|
||||
case MSP_VOLTAGE_METER_CONFIG: {
|
||||
// by using a sensor type and a sub-frame length it's possible to configure any type of voltage meter,
|
||||
// e.g. an i2c/spi/can sensor or any sensor not built directly into the FC such as ESC/RX/SPort/SBus that has
|
||||
// different configuration requirements.
|
||||
|
|
@ -864,9 +861,9 @@ static bool mspCommonProcessOutCommand(int16_t cmdMSP, sbuf_t *dst, mspPostProce
|
|||
sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivmultiplier);
|
||||
}
|
||||
// if we had any other voltage sensors, this is where we would output any needed configuration
|
||||
break;
|
||||
}
|
||||
|
||||
break;
|
||||
case MSP_CURRENT_METER_CONFIG: {
|
||||
// the ADC and VIRTUAL sensors have the same configuration requirements, however this API reflects
|
||||
// that this situation may change and allows us to support configuration of any current sensor with
|
||||
|
|
@ -1085,8 +1082,7 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
|
|||
|
||||
switch (cmdMSP) {
|
||||
case MSP_STATUS_EX:
|
||||
case MSP_STATUS:
|
||||
{
|
||||
case MSP_STATUS: {
|
||||
boxBitmask_t flightModeFlags;
|
||||
const int flagBits = packFlightModeFlags(&flightModeFlags);
|
||||
|
||||
|
|
@ -1132,12 +1128,10 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
|
|||
#else
|
||||
sbufWriteU16(dst, 0);
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case MSP_RAW_IMU:
|
||||
{
|
||||
|
||||
case MSP_RAW_IMU: {
|
||||
for (int i = 0; i < 3; i++) {
|
||||
#if defined(USE_ACC)
|
||||
sbufWriteU16(dst, lrintf(acc.accADC.v[i]));
|
||||
|
|
@ -1155,8 +1149,8 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
|
|||
sbufWriteU16(dst, 0);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case MSP_NAME:
|
||||
sbufWriteString(dst, pilotConfig()->craftName);
|
||||
|
|
@ -1203,7 +1197,6 @@ case MSP_NAME:
|
|||
sbufWriteU16(dst, 0);
|
||||
#endif
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
// Added in API version 1.42
|
||||
|
|
@ -1285,30 +1278,27 @@ case MSP_NAME:
|
|||
break;
|
||||
|
||||
#ifdef USE_VTX_COMMON
|
||||
case MSP2_GET_VTX_DEVICE_STATUS:
|
||||
{
|
||||
case MSP2_GET_VTX_DEVICE_STATUS: {
|
||||
const vtxDevice_t *vtxDevice = vtxCommonDevice();
|
||||
vtxCommonSerializeDeviceStatus(vtxDevice, dst);
|
||||
}
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_OSD
|
||||
case MSP2_GET_OSD_WARNINGS:
|
||||
{
|
||||
case MSP2_GET_OSD_WARNINGS: {
|
||||
bool isBlinking;
|
||||
uint8_t displayAttr;
|
||||
char warningsBuffer[OSD_WARNINGS_MAX_SIZE + 1];
|
||||
|
||||
renderOsdWarning(warningsBuffer, &isBlinking, &displayAttr);
|
||||
const uint8_t warningsLen = strlen(warningsBuffer);
|
||||
|
||||
if (isBlinking) {
|
||||
displayAttr |= DISPLAYPORT_BLINK;
|
||||
}
|
||||
sbufWriteU8(dst, displayAttr); // see displayPortSeverity_e
|
||||
sbufWriteU8(dst, warningsLen); // length byte followed by the actual characters
|
||||
sbufWriteData(dst, warningsBuffer, warningsLen);
|
||||
sbufWritePString(dst, warningsBuffer);
|
||||
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
|
@ -1687,6 +1677,7 @@ case MSP_NAME:
|
|||
sbufWriteU8(dst, serialConfig()->portConfigs[i].blackbox_baudrateIndex);
|
||||
}
|
||||
break;
|
||||
|
||||
case MSP2_COMMON_SERIAL_CONFIG: {
|
||||
uint8_t count = 0;
|
||||
for (int i = 0; i < SERIAL_PORT_COUNT; i++) {
|
||||
|
|
@ -1876,6 +1867,7 @@ case MSP_NAME:
|
|||
#endif
|
||||
break;
|
||||
}
|
||||
|
||||
case MSP_ADVANCED_CONFIG:
|
||||
sbufWriteU8(dst, 1); // was gyroConfig()->gyro_sync_denom - removed in API 1.43
|
||||
sbufWriteU8(dst, pidConfig()->pid_process_denom);
|
||||
|
|
@ -1894,9 +1886,9 @@ case MSP_NAME:
|
|||
//Added in MSP API 1.42
|
||||
sbufWriteU8(dst, systemConfig()->debug_mode);
|
||||
sbufWriteU8(dst, DEBUG_COUNT);
|
||||
|
||||
break;
|
||||
case MSP_FILTER_CONFIG :
|
||||
|
||||
case MSP_FILTER_CONFIG:
|
||||
sbufWriteU8(dst, gyroConfig()->gyro_lpf1_static_hz);
|
||||
sbufWriteU16(dst, currentPidProfile->dterm_lpf1_static_hz);
|
||||
sbufWriteU16(dst, currentPidProfile->yaw_lowpass_hz);
|
||||
|
|
@ -1963,8 +1955,8 @@ case MSP_NAME:
|
|||
#else
|
||||
sbufWriteU8(dst, 0);
|
||||
#endif
|
||||
|
||||
break;
|
||||
|
||||
case MSP_PID_ADVANCED:
|
||||
sbufWriteU16(dst, 0);
|
||||
sbufWriteU16(dst, 0);
|
||||
|
|
@ -2147,8 +2139,7 @@ case MSP_NAME:
|
|||
break;
|
||||
|
||||
#if defined(USE_VTX_COMMON)
|
||||
case MSP_VTX_CONFIG:
|
||||
{
|
||||
case MSP_VTX_CONFIG: {
|
||||
const vtxDevice_t *vtxDevice = vtxCommonDevice();
|
||||
unsigned vtxStatus = 0;
|
||||
vtxDevType_e vtxType = VTXDEV_UNKNOWN;
|
||||
|
|
@ -2183,8 +2174,8 @@ case MSP_NAME:
|
|||
#ifdef USE_VTX_MSP
|
||||
setMspVtxDeviceStatusReady(srcDesc);
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
case MSP_TX_INFO:
|
||||
|
|
@ -2199,11 +2190,10 @@ case MSP_NAME:
|
|||
rtcDateTimeIsSet = RTC_NOT_SUPPORTED;
|
||||
#endif
|
||||
sbufWriteU8(dst, rtcDateTimeIsSet);
|
||||
|
||||
break;
|
||||
|
||||
#ifdef USE_RTC_TIME
|
||||
case MSP_RTC:
|
||||
{
|
||||
case MSP_RTC: {
|
||||
dateTime_t dt;
|
||||
if (rtcGetDateTime(&dt)) {
|
||||
sbufWriteU16(dst, dt.year);
|
||||
|
|
@ -2214,10 +2204,10 @@ case MSP_NAME:
|
|||
sbufWriteU8(dst, dt.seconds);
|
||||
sbufWriteU16(dst, dt.millis);
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
default:
|
||||
unsupportedCommand = true;
|
||||
}
|
||||
|
|
@ -2629,12 +2619,9 @@ static mspResult_e mspFcProcessOutCommandWithArg(mspDescriptor_t srcDesc, int16_
|
|||
|
||||
if (!textVar) return MSP_RESULT_ERROR;
|
||||
|
||||
const uint8_t textLength = strlen(textVar);
|
||||
|
||||
// type byte, then length byte followed by the actual characters
|
||||
sbufWriteU8(dst, textType);
|
||||
sbufWriteU8(dst, textLength);
|
||||
sbufWriteData(dst, textVar, textLength);
|
||||
sbufWritePString(dst, textVar);
|
||||
}
|
||||
break;
|
||||
#ifdef USE_LED_STRIP
|
||||
|
|
|
|||
|
|
@ -101,6 +101,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
|
|||
{ .boxId = BOXBEEPERMUTE, .boxName = "BEEPER MUTE", .permanentId = 52},
|
||||
{ .boxId = BOXREADY, .boxName = "READY", .permanentId = 53},
|
||||
{ .boxId = BOXLAPTIMERRESET, .boxName = "LAP TIMER RESET", .permanentId = 54},
|
||||
{ .boxId = BOXCHIRP, .boxName = "CHIRP", .permanentId = 55}
|
||||
};
|
||||
|
||||
// mask of enabled IDs, calculated on startup based on enabled features. boxId_e is used as bit index
|
||||
|
|
@ -365,6 +366,10 @@ void initActiveBoxIds(void)
|
|||
BME(BOXLAPTIMERRESET);
|
||||
#endif
|
||||
|
||||
#if defined(USE_CHIRP)
|
||||
BME(BOXCHIRP);
|
||||
#endif
|
||||
|
||||
#undef BME
|
||||
// check that all enabled IDs are in boxes array (check may be skipped when using findBoxById() functions)
|
||||
for (boxId_e boxId = 0; boxId < CHECKBOX_ITEM_COUNT; boxId++)
|
||||
|
|
|
|||
|
|
@ -55,15 +55,11 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
/* Protocol numbers used both by the wire format, config system, and
|
||||
field setters.
|
||||
*/
|
||||
|
||||
// Protocol numbers used both by the wire format, config system, and field setters.
|
||||
#define MSP_PROTOCOL_VERSION 0
|
||||
|
||||
#define API_VERSION_MAJOR 1 // increment when major changes are made
|
||||
#define API_VERSION_MINOR 47 // increment after a release, to set the version for all changes to go into the following release (if no changes to MSP are made between the releases, this can be reverted before the release)
|
||||
|
||||
#define API_VERSION_MAJOR 1
|
||||
#define API_VERSION_MINOR 47
|
||||
#define API_VERSION_LENGTH 2
|
||||
|
||||
#define MULTIWII_IDENTIFIER "MWII";
|
||||
|
|
@ -95,258 +91,188 @@
|
|||
#define CAP_NAVCAP ((uint32_t)1 << 4)
|
||||
#define CAP_EXTAUX ((uint32_t)1 << 5)
|
||||
|
||||
#define MSP_API_VERSION 1 //out message
|
||||
#define MSP_FC_VARIANT 2 //out message
|
||||
#define MSP_FC_VERSION 3 //out message
|
||||
#define MSP_BOARD_INFO 4 //out message
|
||||
#define MSP_BUILD_INFO 5 //out message
|
||||
#define MSP_API_VERSION 1 // out message: Get API version
|
||||
#define MSP_FC_VARIANT 2 // out message: Get flight controller variant
|
||||
#define MSP_FC_VERSION 3 // out message: Get flight controller version
|
||||
#define MSP_BOARD_INFO 4 // out message: Get board information
|
||||
#define MSP_BUILD_INFO 5 // out message: Get build information
|
||||
|
||||
#define MSP_NAME 10 //out message Returns user set board name - betaflight
|
||||
#define MSP_SET_NAME 11 //in message Sets board name - betaflight
|
||||
#define MSP_NAME 10 // out message: Returns user set board name - betaflight
|
||||
#define MSP_SET_NAME 11 // in message: Sets board name - betaflight
|
||||
|
||||
//
|
||||
// MSP commands for Cleanflight original features
|
||||
//
|
||||
#define MSP_BATTERY_CONFIG 32
|
||||
#define MSP_SET_BATTERY_CONFIG 33
|
||||
// Cleanflight original features (32-62)
|
||||
#define MSP_BATTERY_CONFIG 32 // out message: Get battery configuration
|
||||
#define MSP_SET_BATTERY_CONFIG 33 // in message: Set battery configuration
|
||||
#define MSP_MODE_RANGES 34 // out message: Returns all mode ranges
|
||||
#define MSP_SET_MODE_RANGE 35 // in message: Sets a single mode range
|
||||
#define MSP_FEATURE_CONFIG 36 // out message: Get feature configuration
|
||||
#define MSP_SET_FEATURE_CONFIG 37 // in message: Set feature configuration
|
||||
#define MSP_BOARD_ALIGNMENT_CONFIG 38 // out message: Get board alignment configuration
|
||||
#define MSP_SET_BOARD_ALIGNMENT_CONFIG 39 // in message: Set board alignment configuration
|
||||
#define MSP_CURRENT_METER_CONFIG 40 // out message: Get current meter configuration
|
||||
#define MSP_SET_CURRENT_METER_CONFIG 41 // in message: Set current meter configuration
|
||||
#define MSP_MIXER_CONFIG 42 // out message: Get mixer configuration
|
||||
#define MSP_SET_MIXER_CONFIG 43 // in message: Set mixer configuration
|
||||
#define MSP_RX_CONFIG 44 // out message: Get RX configuration
|
||||
#define MSP_SET_RX_CONFIG 45 // in message: Set RX configuration
|
||||
#define MSP_LED_COLORS 46 // out message: Get LED colors
|
||||
#define MSP_SET_LED_COLORS 47 // in message: Set LED colors
|
||||
#define MSP_LED_STRIP_CONFIG 48 // out message: Get LED strip configuration
|
||||
#define MSP_SET_LED_STRIP_CONFIG 49 // in message: Set LED strip configuration
|
||||
#define MSP_RSSI_CONFIG 50 // out message: Get RSSI configuration
|
||||
#define MSP_SET_RSSI_CONFIG 51 // in message: Set RSSI configuration
|
||||
#define MSP_ADJUSTMENT_RANGES 52 // out message: Get adjustment ranges
|
||||
#define MSP_SET_ADJUSTMENT_RANGE 53 // in message: Set adjustment range
|
||||
#define MSP_CF_SERIAL_CONFIG 54 // out message: Get Cleanflight serial configuration
|
||||
#define MSP_SET_CF_SERIAL_CONFIG 55 // in message: Set Cleanflight serial configuration
|
||||
#define MSP_VOLTAGE_METER_CONFIG 56 // out message: Get voltage meter configuration
|
||||
#define MSP_SET_VOLTAGE_METER_CONFIG 57 // in message: Set voltage meter configuration
|
||||
#define MSP_SONAR_ALTITUDE 58 // out message: Get sonar altitude [cm]
|
||||
#define MSP_PID_CONTROLLER 59 // out message: Get PID controller
|
||||
#define MSP_SET_PID_CONTROLLER 60 // in message: Set PID controller
|
||||
#define MSP_ARMING_CONFIG 61 // out message: Get arming configuration
|
||||
#define MSP_SET_ARMING_CONFIG 62 // in message: Set arming configuration
|
||||
|
||||
#define MSP_MODE_RANGES 34 //out message Returns all mode ranges
|
||||
#define MSP_SET_MODE_RANGE 35 //in message Sets a single mode range
|
||||
// Baseflight MSP commands (64-89)
|
||||
#define MSP_RX_MAP 64 // out message: Get RX map (also returns number of channels total)
|
||||
#define MSP_SET_RX_MAP 65 // in message: Set RX map, numchannels to set comes from MSP_RX_MAP
|
||||
#define MSP_REBOOT 68 // in message: Reboot settings
|
||||
#define MSP_DATAFLASH_SUMMARY 70 // out message: Get description of dataflash chip
|
||||
#define MSP_DATAFLASH_READ 71 // out message: Get content of dataflash chip
|
||||
#define MSP_DATAFLASH_ERASE 72 // in message: Erase dataflash chip
|
||||
#define MSP_FAILSAFE_CONFIG 75 // out message: Get failsafe settings
|
||||
#define MSP_SET_FAILSAFE_CONFIG 76 // in message: Set failsafe settings
|
||||
#define MSP_RXFAIL_CONFIG 77 // out message: Get RX failsafe settings
|
||||
#define MSP_SET_RXFAIL_CONFIG 78 // in message: Set RX failsafe settings
|
||||
#define MSP_SDCARD_SUMMARY 79 // out message: Get SD card state
|
||||
#define MSP_BLACKBOX_CONFIG 80 // out message: Get blackbox settings
|
||||
#define MSP_SET_BLACKBOX_CONFIG 81 // in message: Set blackbox settings
|
||||
#define MSP_TRANSPONDER_CONFIG 82 // out message: Get transponder settings
|
||||
#define MSP_SET_TRANSPONDER_CONFIG 83 // in message: Set transponder settings
|
||||
#define MSP_OSD_CONFIG 84 // out message: Get OSD settings
|
||||
#define MSP_SET_OSD_CONFIG 85 // in message: Set OSD settings
|
||||
#define MSP_OSD_CHAR_READ 86 // out message: Get OSD characters
|
||||
#define MSP_OSD_CHAR_WRITE 87 // in message: Set OSD characters
|
||||
#define MSP_VTX_CONFIG 88 // out message: Get VTX settings
|
||||
#define MSP_SET_VTX_CONFIG 89 // in message: Set VTX settings
|
||||
|
||||
#define MSP_FEATURE_CONFIG 36
|
||||
#define MSP_SET_FEATURE_CONFIG 37
|
||||
// Betaflight Additional Commands (90-99)
|
||||
#define MSP_ADVANCED_CONFIG 90 // out message: Get advanced configuration
|
||||
#define MSP_SET_ADVANCED_CONFIG 91 // in message: Set advanced configuration
|
||||
#define MSP_FILTER_CONFIG 92 // out message: Get filter configuration
|
||||
#define MSP_SET_FILTER_CONFIG 93 // in message: Set filter configuration
|
||||
#define MSP_PID_ADVANCED 94 // out message: Get advanced PID settings
|
||||
#define MSP_SET_PID_ADVANCED 95 // in message: Set advanced PID settings
|
||||
#define MSP_SENSOR_CONFIG 96 // out message: Get sensor configuration
|
||||
#define MSP_SET_SENSOR_CONFIG 97 // in message: Set sensor configuration
|
||||
#define MSP_CAMERA_CONTROL 98 // in/out message: Camera control
|
||||
#define MSP_SET_ARMING_DISABLED 99 // in message: Enable/disable arming
|
||||
|
||||
#define MSP_BOARD_ALIGNMENT_CONFIG 38
|
||||
#define MSP_SET_BOARD_ALIGNMENT_CONFIG 39
|
||||
// Multiwii original MSP commands (101-139)
|
||||
#define MSP_STATUS 101 // out message: Cycletime & errors_count & sensor present & box activation & current setting number
|
||||
#define MSP_RAW_IMU 102 // out message: 9 DOF
|
||||
#define MSP_SERVO 103 // out message: Servos
|
||||
#define MSP_MOTOR 104 // out message: Motors
|
||||
#define MSP_RC 105 // out message: RC channels and more
|
||||
#define MSP_RAW_GPS 106 // out message: Fix, numsat, lat, lon, alt, speed, ground course
|
||||
#define MSP_COMP_GPS 107 // out message: Distance home, direction home
|
||||
#define MSP_ATTITUDE 108 // out message: 2 angles 1 heading
|
||||
#define MSP_ALTITUDE 109 // out message: Altitude, variometer
|
||||
#define MSP_ANALOG 110 // out message: Vbat, powermetersum, rssi if available on RX
|
||||
#define MSP_RC_TUNING 111 // out message: RC rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
|
||||
#define MSP_PID 112 // out message: P I D coeff (9 are used currently)
|
||||
#define MSP_BOXNAMES 116 // out message: The aux switch names
|
||||
#define MSP_PIDNAMES 117 // out message: The PID names
|
||||
#define MSP_WP 118 // out message: Get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
|
||||
#define MSP_BOXIDS 119 // out message: Get the permanent IDs associated to BOXes
|
||||
#define MSP_SERVO_CONFIGURATIONS 120 // out message: All servo configurations
|
||||
#define MSP_NAV_STATUS 121 // out message: Returns navigation status
|
||||
#define MSP_NAV_CONFIG 122 // out message: Returns navigation parameters
|
||||
#define MSP_MOTOR_3D_CONFIG 124 // out message: Settings needed for reversible ESCs
|
||||
#define MSP_RC_DEADBAND 125 // out message: Deadbands for yaw alt pitch roll
|
||||
#define MSP_SENSOR_ALIGNMENT 126 // out message: Orientation of acc,gyro,mag
|
||||
#define MSP_LED_STRIP_MODECOLOR 127 // out message: Get LED strip mode_color settings
|
||||
#define MSP_VOLTAGE_METERS 128 // out message: Voltage (per meter)
|
||||
#define MSP_CURRENT_METERS 129 // out message: Amperage (per meter)
|
||||
#define MSP_BATTERY_STATE 130 // out message: Connected/Disconnected, Voltage, Current Used
|
||||
#define MSP_MOTOR_CONFIG 131 // out message: Motor configuration (min/max throttle, etc)
|
||||
#define MSP_GPS_CONFIG 132 // out message: GPS configuration
|
||||
#define MSP_COMPASS_CONFIG 133 // out message: Compass configuration
|
||||
#define MSP_ESC_SENSOR_DATA 134 // out message: Extra ESC data from 32-Bit ESCs (Temperature, RPM)
|
||||
#define MSP_GPS_RESCUE 135 // out message: GPS Rescue angle, returnAltitude, descentDistance, groundSpeed, sanityChecks and minSats
|
||||
#define MSP_GPS_RESCUE_PIDS 136 // out message: GPS Rescue throttleP and velocity PIDS + yaw P
|
||||
#define MSP_VTXTABLE_BAND 137 // out message: VTX table band/channel data
|
||||
#define MSP_VTXTABLE_POWERLEVEL 138 // out message: VTX table powerLevel data
|
||||
#define MSP_MOTOR_TELEMETRY 139 // out message: Per-motor telemetry data (RPM, packet stats, ESC temp, etc.)
|
||||
|
||||
#define MSP_CURRENT_METER_CONFIG 40
|
||||
#define MSP_SET_CURRENT_METER_CONFIG 41
|
||||
// Simplified tuning commands (140-145)
|
||||
#define MSP_SIMPLIFIED_TUNING 140 // out message: Get simplified tuning values and enabled state
|
||||
#define MSP_SET_SIMPLIFIED_TUNING 141 // in message: Set simplified tuning positions and apply calculated tuning
|
||||
#define MSP_CALCULATE_SIMPLIFIED_PID 142 // out message: Calculate PID values based on sliders without saving
|
||||
#define MSP_CALCULATE_SIMPLIFIED_GYRO 143 // out message: Calculate gyro filter values based on sliders without saving
|
||||
#define MSP_CALCULATE_SIMPLIFIED_DTERM 144 // out message: Calculate D term filter values based on sliders without saving
|
||||
#define MSP_VALIDATE_SIMPLIFIED_TUNING 145 // out message: Returns array of true/false showing which simplified tuning groups match values
|
||||
|
||||
#define MSP_MIXER_CONFIG 42
|
||||
#define MSP_SET_MIXER_CONFIG 43
|
||||
// Additional non-MultiWii commands (150-166)
|
||||
#define MSP_STATUS_EX 150 // out message: Cycletime, errors_count, CPU load, sensor present etc
|
||||
#define MSP_UID 160 // out message: Unique device ID
|
||||
#define MSP_GPSSVINFO 164 // out message: Get Signal Strength (only U-Blox)
|
||||
#define MSP_GPSSTATISTICS 166 // out message: Get GPS debugging data
|
||||
|
||||
#define MSP_RX_CONFIG 44
|
||||
#define MSP_SET_RX_CONFIG 45
|
||||
// OSD specific commands (180-189)
|
||||
#define MSP_OSD_VIDEO_CONFIG 180 // out message: Get OSD video settings
|
||||
#define MSP_SET_OSD_VIDEO_CONFIG 181 // in message: Set OSD video settings
|
||||
#define MSP_DISPLAYPORT 182 // out message: External OSD displayport mode
|
||||
#define MSP_COPY_PROFILE 183 // in message: Copy settings between profiles
|
||||
#define MSP_BEEPER_CONFIG 184 // out message: Get beeper configuration
|
||||
#define MSP_SET_BEEPER_CONFIG 185 // in message: Set beeper configuration
|
||||
#define MSP_SET_TX_INFO 186 // in message: Set runtime information from TX lua scripts
|
||||
#define MSP_TX_INFO 187 // out message: Get runtime information for TX lua scripts
|
||||
#define MSP_SET_OSD_CANVAS 188 // in message: Set OSD canvas size COLSxROWS
|
||||
#define MSP_OSD_CANVAS 189 // out message: Get OSD canvas size COLSxROWS
|
||||
|
||||
#define MSP_LED_COLORS 46
|
||||
#define MSP_SET_LED_COLORS 47
|
||||
// Set commands (200-229)
|
||||
#define MSP_SET_RAW_RC 200 // in message: 8 rc chan
|
||||
#define MSP_SET_RAW_GPS 201 // in message: Fix, numsat, lat, lon, alt, speed
|
||||
#define MSP_SET_PID 202 // in message: P I D coeff (9 are used currently)
|
||||
#define MSP_SET_RC_TUNING 204 // in message: RC rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo
|
||||
#define MSP_ACC_CALIBRATION 205 // in message: No param - calibrate accelerometer
|
||||
#define MSP_MAG_CALIBRATION 206 // in message: No param - calibrate magnetometer
|
||||
#define MSP_RESET_CONF 208 // in message: No param - reset settings
|
||||
#define MSP_SET_WP 209 // in message: Sets a given WP (WP#,lat, lon, alt, flags)
|
||||
#define MSP_SELECT_SETTING 210 // in message: Select setting number (0-2)
|
||||
#define MSP_SET_HEADING 211 // in message: Define a new heading hold direction
|
||||
#define MSP_SET_SERVO_CONFIGURATION 212 // in message: Servo settings
|
||||
#define MSP_SET_MOTOR 214 // in message: PropBalance function
|
||||
#define MSP_SET_NAV_CONFIG 215 // in message: Sets nav config parameters
|
||||
#define MSP_SET_MOTOR_3D_CONFIG 217 // in message: Settings needed for reversible ESCs
|
||||
#define MSP_SET_RC_DEADBAND 218 // in message: Deadbands for yaw alt pitch roll
|
||||
#define MSP_SET_RESET_CURR_PID 219 // in message: Reset current PID profile to defaults
|
||||
#define MSP_SET_SENSOR_ALIGNMENT 220 // in message: Set the orientation of acc,gyro,mag
|
||||
#define MSP_SET_LED_STRIP_MODECOLOR 221 // in message: Set LED strip mode_color settings
|
||||
#define MSP_SET_MOTOR_CONFIG 222 // in message: Motor configuration (min/max throttle, etc)
|
||||
#define MSP_SET_GPS_CONFIG 223 // in message: GPS configuration
|
||||
#define MSP_SET_COMPASS_CONFIG 224 // in message: Compass configuration
|
||||
#define MSP_SET_GPS_RESCUE 225 // in message: Set GPS Rescue parameters
|
||||
#define MSP_SET_GPS_RESCUE_PIDS 226 // in message: Set GPS Rescue PID values
|
||||
#define MSP_SET_VTXTABLE_BAND 227 // in message: Set vtxTable band/channel data
|
||||
#define MSP_SET_VTXTABLE_POWERLEVEL 228 // in message: Set vtxTable powerLevel data
|
||||
|
||||
#define MSP_LED_STRIP_CONFIG 48
|
||||
#define MSP_SET_LED_STRIP_CONFIG 49
|
||||
|
||||
#define MSP_RSSI_CONFIG 50
|
||||
#define MSP_SET_RSSI_CONFIG 51
|
||||
|
||||
#define MSP_ADJUSTMENT_RANGES 52
|
||||
#define MSP_SET_ADJUSTMENT_RANGE 53
|
||||
|
||||
// private - only to be used by the configurator, the commands are likely to change
|
||||
#define MSP_CF_SERIAL_CONFIG 54
|
||||
#define MSP_SET_CF_SERIAL_CONFIG 55
|
||||
|
||||
#define MSP_VOLTAGE_METER_CONFIG 56
|
||||
#define MSP_SET_VOLTAGE_METER_CONFIG 57
|
||||
|
||||
#define MSP_SONAR_ALTITUDE 58 //out message get sonar altitude [cm]
|
||||
|
||||
#define MSP_PID_CONTROLLER 59
|
||||
#define MSP_SET_PID_CONTROLLER 60
|
||||
|
||||
#define MSP_ARMING_CONFIG 61
|
||||
#define MSP_SET_ARMING_CONFIG 62
|
||||
|
||||
//
|
||||
// Baseflight MSP commands (if enabled they exist in Cleanflight)
|
||||
//
|
||||
#define MSP_RX_MAP 64 //out message get channel map (also returns number of channels total)
|
||||
#define MSP_SET_RX_MAP 65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
|
||||
|
||||
// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG. In Cleanflight, isolated commands already exist and should be used instead.
|
||||
// DEPRECATED - #define MSP_BF_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere
|
||||
// DEPRECATED - #define MSP_SET_BF_CONFIG 67 //in message baseflight-specific settings save
|
||||
|
||||
#define MSP_REBOOT 68 //in message reboot settings
|
||||
|
||||
// Use MSP_BUILD_INFO instead
|
||||
// DEPRECATED - #define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion
|
||||
|
||||
#define MSP_DATAFLASH_SUMMARY 70 //out message - get description of dataflash chip
|
||||
#define MSP_DATAFLASH_READ 71 //out message - get content of dataflash chip
|
||||
#define MSP_DATAFLASH_ERASE 72 //in message - erase dataflash chip
|
||||
|
||||
// No-longer needed
|
||||
// DEPRECATED - #define MSP_LOOP_TIME 73 //out message Returns FC cycle time i.e looptime parameter // DEPRECATED
|
||||
// DEPRECATED - #define MSP_SET_LOOP_TIME 74 //in message Sets FC cycle time i.e looptime parameter // DEPRECATED
|
||||
|
||||
#define MSP_FAILSAFE_CONFIG 75 //out message Returns FC Fail-Safe settings
|
||||
#define MSP_SET_FAILSAFE_CONFIG 76 //in message Sets FC Fail-Safe settings
|
||||
|
||||
#define MSP_RXFAIL_CONFIG 77 //out message Returns RXFAIL settings
|
||||
#define MSP_SET_RXFAIL_CONFIG 78 //in message Sets RXFAIL settings
|
||||
|
||||
#define MSP_SDCARD_SUMMARY 79 //out message Get the state of the SD card
|
||||
|
||||
#define MSP_BLACKBOX_CONFIG 80 //out message Get blackbox settings
|
||||
#define MSP_SET_BLACKBOX_CONFIG 81 //in message Set blackbox settings
|
||||
|
||||
#define MSP_TRANSPONDER_CONFIG 82 //out message Get transponder settings
|
||||
#define MSP_SET_TRANSPONDER_CONFIG 83 //in message Set transponder settings
|
||||
|
||||
#define MSP_OSD_CONFIG 84 //out message Get osd settings - betaflight
|
||||
#define MSP_SET_OSD_CONFIG 85 //in message Set osd settings - betaflight
|
||||
|
||||
#define MSP_OSD_CHAR_READ 86 //out message Get osd settings - betaflight
|
||||
#define MSP_OSD_CHAR_WRITE 87 //in message Set osd settings - betaflight
|
||||
|
||||
#define MSP_VTX_CONFIG 88 //out message Get vtx settings - betaflight
|
||||
#define MSP_SET_VTX_CONFIG 89 //in message Set vtx settings - betaflight
|
||||
|
||||
// Betaflight Additional Commands
|
||||
#define MSP_ADVANCED_CONFIG 90
|
||||
#define MSP_SET_ADVANCED_CONFIG 91
|
||||
|
||||
#define MSP_FILTER_CONFIG 92
|
||||
#define MSP_SET_FILTER_CONFIG 93
|
||||
|
||||
#define MSP_PID_ADVANCED 94
|
||||
#define MSP_SET_PID_ADVANCED 95
|
||||
|
||||
#define MSP_SENSOR_CONFIG 96
|
||||
#define MSP_SET_SENSOR_CONFIG 97
|
||||
|
||||
#define MSP_CAMERA_CONTROL 98
|
||||
|
||||
#define MSP_SET_ARMING_DISABLED 99
|
||||
|
||||
//
|
||||
// OSD specific
|
||||
//
|
||||
#define MSP_OSD_VIDEO_CONFIG 180
|
||||
#define MSP_SET_OSD_VIDEO_CONFIG 181
|
||||
|
||||
// External OSD displayport mode messages
|
||||
#define MSP_DISPLAYPORT 182
|
||||
|
||||
#define MSP_COPY_PROFILE 183
|
||||
|
||||
#define MSP_BEEPER_CONFIG 184
|
||||
#define MSP_SET_BEEPER_CONFIG 185
|
||||
|
||||
#define MSP_SET_TX_INFO 186 // in message Used to send runtime information from TX lua scripts to the firmware
|
||||
#define MSP_TX_INFO 187 // out message Used by TX lua scripts to read information from the firmware
|
||||
|
||||
#define MSP_SET_OSD_CANVAS 188 // in message Set osd canvas size COLSxROWS
|
||||
#define MSP_OSD_CANVAS 189 // out message Get osd canvas size COLSxROWS
|
||||
|
||||
//
|
||||
// Multwii original MSP commands
|
||||
//
|
||||
|
||||
// See MSP_API_VERSION and MSP_MIXER_CONFIG
|
||||
//DEPRECATED - #define MSP_IDENT 100 //out message mixerMode + multiwii version + protocol version + capability variable
|
||||
|
||||
#define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number
|
||||
#define MSP_RAW_IMU 102 //out message 9 DOF
|
||||
#define MSP_SERVO 103 //out message servos
|
||||
#define MSP_MOTOR 104 //out message motors
|
||||
#define MSP_RC 105 //out message rc channels and more
|
||||
#define MSP_RAW_GPS 106 //out message fix, numsat, lat, lon, alt, speed, ground course
|
||||
#define MSP_COMP_GPS 107 //out message distance home, direction home
|
||||
#define MSP_ATTITUDE 108 //out message 2 angles 1 heading
|
||||
#define MSP_ALTITUDE 109 //out message altitude, variometer
|
||||
#define MSP_ANALOG 110 //out message vbat, powermetersum, rssi if available on RX
|
||||
#define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
|
||||
#define MSP_PID 112 //out message P I D coeff (9 are used currently)
|
||||
// Legacy Multiicommand that was never used.
|
||||
//DEPRECATED - #define MSP_BOX 113 //out message BOX setup (number is dependant of your setup)
|
||||
// Legacy command that was under constant change due to the naming vagueness, avoid at all costs - use more specific commands instead.
|
||||
//DEPRECATED - #define MSP_MISC 114 //out message powermeter trig
|
||||
// Legacy Multiicommand that was never used and always wrong
|
||||
//DEPRECATED - #define MSP_MOTOR_PINS 115 //out message which pins are in use for motors & servos, for GUI
|
||||
#define MSP_BOXNAMES 116 //out message the aux switch names
|
||||
#define MSP_PIDNAMES 117 //out message the PID names
|
||||
#define MSP_WP 118 //out message get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
|
||||
#define MSP_BOXIDS 119 //out message get the permanent IDs associated to BOXes
|
||||
#define MSP_SERVO_CONFIGURATIONS 120 //out message All servo configurations.
|
||||
#define MSP_NAV_STATUS 121 //out message Returns navigation status
|
||||
#define MSP_NAV_CONFIG 122 //out message Returns navigation parameters
|
||||
#define MSP_MOTOR_3D_CONFIG 124 //out message Settings needed for reversible ESCs
|
||||
#define MSP_RC_DEADBAND 125 //out message deadbands for yaw alt pitch roll
|
||||
#define MSP_SENSOR_ALIGNMENT 126 //out message orientation of acc,gyro,mag
|
||||
#define MSP_LED_STRIP_MODECOLOR 127 //out message Get LED strip mode_color settings
|
||||
#define MSP_VOLTAGE_METERS 128 //out message Voltage (per meter)
|
||||
#define MSP_CURRENT_METERS 129 //out message Amperage (per meter)
|
||||
#define MSP_BATTERY_STATE 130 //out message Connected/Disconnected, Voltage, Current Used
|
||||
#define MSP_MOTOR_CONFIG 131 //out message Motor configuration (min/max throttle, etc)
|
||||
#define MSP_GPS_CONFIG 132 //out message GPS configuration
|
||||
#define MSP_COMPASS_CONFIG 133 //out message Compass configuration
|
||||
#define MSP_ESC_SENSOR_DATA 134 //out message Extra ESC data from 32-Bit ESCs (Temperature, RPM)
|
||||
#define MSP_GPS_RESCUE 135 //out message GPS Rescue angle, returnAltitude, descentDistance, groundSpeed, sanityChecks and minSats
|
||||
#define MSP_GPS_RESCUE_PIDS 136 //out message GPS Rescue throttleP and velocity PIDS + yaw P
|
||||
#define MSP_VTXTABLE_BAND 137 //out message vtxTable band/channel data
|
||||
#define MSP_VTXTABLE_POWERLEVEL 138 //out message vtxTable powerLevel data
|
||||
#define MSP_MOTOR_TELEMETRY 139 //out message Per-motor telemetry data (RPM, packet stats, ESC temp, etc.)
|
||||
|
||||
#define MSP_SIMPLIFIED_TUNING 140 //out message Simplified tuning values and enabled state
|
||||
#define MSP_SET_SIMPLIFIED_TUNING 141 //in message Set simplified tuning positions and apply the calculated tuning
|
||||
#define MSP_CALCULATE_SIMPLIFIED_PID 142 //out message Requests calculations of PID values based on sliders. Sends the calculated values back. But don't save anything to the firmware
|
||||
#define MSP_CALCULATE_SIMPLIFIED_GYRO 143 //out message Requests calculations of gyro filter values based on sliders. Sends the calculated values back. But don't save anything to the firmware
|
||||
#define MSP_CALCULATE_SIMPLIFIED_DTERM 144 //out message Requests calculations of gyro filter values based on sliders. Sends the calculated values back. But don't save anything to the firmware
|
||||
#define MSP_VALIDATE_SIMPLIFIED_TUNING 145 //out message Returns an array of true/false showing which simpligfied tuning groups are matching with value and which are not
|
||||
|
||||
#define MSP_SET_RAW_RC 200 //in message 8 rc chan
|
||||
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
|
||||
#define MSP_SET_PID 202 //in message P I D coeff (9 are used currently)
|
||||
// Legacy multiiwii command that was never used.
|
||||
//DEPRECATED - #define MSP_SET_BOX 203 //in message BOX setup (number is dependant of your setup)
|
||||
#define MSP_SET_RC_TUNING 204 //in message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo
|
||||
#define MSP_ACC_CALIBRATION 205 //in message no param
|
||||
#define MSP_MAG_CALIBRATION 206 //in message no param
|
||||
// Legacy command that was under constant change due to the naming vagueness, avoid at all costs - use more specific commands instead.
|
||||
//DEPRECATED - #define MSP_SET_MISC 207 //in message powermeter trig + 8 free for future use
|
||||
#define MSP_RESET_CONF 208 //in message no param
|
||||
#define MSP_SET_WP 209 //in message sets a given WP (WP#,lat, lon, alt, flags)
|
||||
#define MSP_SELECT_SETTING 210 //in message Select Setting Number (0-2)
|
||||
#define MSP_SET_HEADING 211 //in message define a new heading hold direction
|
||||
#define MSP_SET_SERVO_CONFIGURATION 212 //in message Servo settings
|
||||
#define MSP_SET_MOTOR 214 //in message PropBalance function
|
||||
#define MSP_SET_NAV_CONFIG 215 //in message Sets nav config parameters - write to the eeprom
|
||||
#define MSP_SET_MOTOR_3D_CONFIG 217 //in message Settings needed for reversible ESCs
|
||||
#define MSP_SET_RC_DEADBAND 218 //in message deadbands for yaw alt pitch roll
|
||||
#define MSP_SET_RESET_CURR_PID 219 //in message resetting the current pid profile to defaults
|
||||
#define MSP_SET_SENSOR_ALIGNMENT 220 //in message set the orientation of the acc,gyro,mag
|
||||
#define MSP_SET_LED_STRIP_MODECOLOR 221 //in message Set LED strip mode_color settings
|
||||
#define MSP_SET_MOTOR_CONFIG 222 //out message Motor configuration (min/max throttle, etc)
|
||||
#define MSP_SET_GPS_CONFIG 223 //out message GPS configuration
|
||||
#define MSP_SET_COMPASS_CONFIG 224 //out message Compass configuration
|
||||
#define MSP_SET_GPS_RESCUE 225 //in message GPS Rescue angle, returnAltitude, descentDistance, groundSpeed and sanityChecks
|
||||
#define MSP_SET_GPS_RESCUE_PIDS 226 //in message GPS Rescue throttleP and velocity PIDS + yaw P
|
||||
#define MSP_SET_VTXTABLE_BAND 227 //in message set vtxTable band/channel data (one band at a time)
|
||||
#define MSP_SET_VTXTABLE_POWERLEVEL 228 //in message set vtxTable powerLevel data (one powerLevel at a time)
|
||||
|
||||
// #define MSP_BIND 240 //in message no param
|
||||
// #define MSP_ALARMS 242
|
||||
|
||||
#define MSP_EEPROM_WRITE 250 //in message no param
|
||||
#define MSP_RESERVE_1 251 //reserved for system usage
|
||||
#define MSP_RESERVE_2 252 //reserved for system usage
|
||||
#define MSP_DEBUGMSG 253 //out message debug string buffer
|
||||
#define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4
|
||||
#define MSP_V2_FRAME 255 //MSPv2 payload indicator
|
||||
|
||||
// Additional commands that are not compatible with MultiWii
|
||||
#define MSP_STATUS_EX 150 //out message cycletime, errors_count, CPU load, CPU temperature, sensor present etc
|
||||
#define MSP_UID 160 //out message Unique device ID
|
||||
#define MSP_GPSSVINFO 164 //out message get Signal Strength (only U-Blox)
|
||||
#define MSP_GPSSTATISTICS 166 //out message get GPS debugging data
|
||||
#define MSP_MULTIPLE_MSP 230 //out message request multiple MSPs in one request - limit is the TX buffer; returns each MSP in the order they were requested starting with length of MSP; MSPs with input arguments are not supported
|
||||
#define MSP_MODE_RANGES_EXTRA 238 //out message Reads the extra mode range data
|
||||
#define MSP_ACC_TRIM 240 //out message get acc angle trim values
|
||||
#define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values
|
||||
#define MSP_SERVO_MIX_RULES 241 //out message Returns servo mixer configuration
|
||||
#define MSP_SET_SERVO_MIX_RULE 242 //in message Sets servo mixer configuration
|
||||
#define MSP_SET_PASSTHROUGH 245 //in message Sets up passthrough to different peripherals (4way interface, uart, etc...)
|
||||
#define MSP_SET_RTC 246 //in message Sets the RTC clock
|
||||
#define MSP_RTC 247 //out message Gets the RTC clock
|
||||
#define MSP_SET_BOARD_INFO 248 //in message Sets the board information for this board
|
||||
#define MSP_SET_SIGNATURE 249 //in message Sets the signature of the board and serial number
|
||||
// Multiple MSP and special commands (230-255)
|
||||
#define MSP_MULTIPLE_MSP 230 // out message: Request multiple MSPs in one request
|
||||
#define MSP_MODE_RANGES_EXTRA 238 // out message: Extra mode range data
|
||||
#define MSP_SET_ACC_TRIM 239 // in message: Set acc angle trim values
|
||||
#define MSP_ACC_TRIM 240 // out message: Get acc angle trim values
|
||||
#define MSP_SERVO_MIX_RULES 241 // out message: Get servo mixer configuration
|
||||
#define MSP_SET_SERVO_MIX_RULE 242 // in message: Set servo mixer configuration
|
||||
#define MSP_SET_PASSTHROUGH 245 // in message: Set passthrough to peripherals
|
||||
#define MSP_SET_RTC 246 // in message: Set the RTC clock
|
||||
#define MSP_RTC 247 // out message: Get the RTC clock
|
||||
#define MSP_SET_BOARD_INFO 248 // in message: Set the board information
|
||||
#define MSP_SET_SIGNATURE 249 // in message: Set the signature of the board and serial number
|
||||
#define MSP_EEPROM_WRITE 250 // in message: Write settings to EEPROM
|
||||
#define MSP_RESERVE_1 251 // reserved for system usage
|
||||
#define MSP_RESERVE_2 252 // reserved for system usage
|
||||
#define MSP_DEBUGMSG 253 // out message: debug string buffer
|
||||
#define MSP_DEBUG 254 // out message: debug1,debug2,debug3,debug4
|
||||
#define MSP_V2_FRAME 255 // MSPv2 payload indicator
|
||||
|
|
|
|||
|
|
@ -30,6 +30,7 @@
|
|||
#define MSP2_SET_LED_STRIP_CONFIG_VALUES 0x3009
|
||||
#define MSP2_SENSOR_CONFIG_ACTIVE 0x300A
|
||||
#define MSP2_SENSOR_OPTICALFLOW 0x300B
|
||||
#define MSP2_MCU_INFO 0x300C
|
||||
|
||||
// MSP2_SET_TEXT and MSP2_GET_TEXT variable types
|
||||
#define MSP2TEXT_PILOT_NAME 1
|
||||
|
|
|
|||
|
|
@ -1074,16 +1074,21 @@ static void osdElementFlymode(osdElementParms_t *element)
|
|||
strcpy(element->buff, "HEAD");
|
||||
} else if (FLIGHT_MODE(PASSTHRU_MODE)) {
|
||||
strcpy(element->buff, "PASS");
|
||||
} else if (FLIGHT_MODE(ALT_HOLD_MODE)) {
|
||||
strcpy(element->buff, "ALTH");
|
||||
} else if (FLIGHT_MODE(POS_HOLD_MODE)) {
|
||||
strcpy(element->buff, "POSH");
|
||||
} else if (FLIGHT_MODE(ALT_HOLD_MODE)) {
|
||||
strcpy(element->buff, "ALTH");
|
||||
} else if (FLIGHT_MODE(ANGLE_MODE)) {
|
||||
strcpy(element->buff, "ANGL");
|
||||
} else if (FLIGHT_MODE(HORIZON_MODE)) {
|
||||
strcpy(element->buff, "HOR ");
|
||||
} else if (IS_RC_MODE_ACTIVE(BOXACROTRAINER)) {
|
||||
strcpy(element->buff, "ATRN");
|
||||
#ifdef USE_CHIRP
|
||||
// the additional check for pidChirpIsFinished() is to have visual feedback for user that don't have warnings enabled in their googles
|
||||
} else if (FLIGHT_MODE(CHIRP_MODE) && !pidChirpIsFinished()) {
|
||||
#endif
|
||||
strcpy(element->buff, "CHIR");
|
||||
} else if (isAirmodeEnabled()) {
|
||||
strcpy(element->buff, "AIR ");
|
||||
} else {
|
||||
|
|
@ -2123,6 +2128,9 @@ void osdAddActiveElements(void)
|
|||
|
||||
static bool osdDrawSingleElement(displayPort_t *osdDisplayPort, uint8_t item)
|
||||
{
|
||||
// By default mark the element as rendered in case it's in the off blink state
|
||||
activeElement.rendered = true;
|
||||
|
||||
if (!osdElementDrawFunction[item]) {
|
||||
// Element has no drawing function
|
||||
return true;
|
||||
|
|
@ -2143,7 +2151,6 @@ static bool osdDrawSingleElement(displayPort_t *osdDisplayPort, uint8_t item)
|
|||
activeElement.buff = elementBuff;
|
||||
activeElement.osdDisplayPort = osdDisplayPort;
|
||||
activeElement.drawElement = true;
|
||||
activeElement.rendered = true;
|
||||
activeElement.attr = DISPLAYPORT_SEVERITY_NORMAL;
|
||||
|
||||
// Call the element drawing function
|
||||
|
|
@ -2267,7 +2274,7 @@ bool osdDrawNextActiveElement(displayPort_t *osdDisplayPort)
|
|||
// Only advance to the next element if rendering is complete
|
||||
if (osdDrawSingleElement(osdDisplayPort, item)) {
|
||||
// If rendering is complete then advance to the next element
|
||||
if (activeElement.rendered) {
|
||||
|
||||
// Prepare to render the background of the next element
|
||||
backgroundRendered = false;
|
||||
|
||||
|
|
@ -2276,7 +2283,6 @@ bool osdDrawNextActiveElement(displayPort_t *osdDisplayPort)
|
|||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -432,6 +432,16 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
|
|||
return;
|
||||
}
|
||||
|
||||
#ifdef USE_CHIRP
|
||||
// Visual info that chirp excitation is finished
|
||||
if (pidChirpIsFinished()) {
|
||||
tfp_sprintf(warningText, "CHIRP EXC FINISHED");
|
||||
*displayAttr = DISPLAYPORT_SEVERITY_INFO;
|
||||
*blinking = true;
|
||||
return;
|
||||
}
|
||||
#endif // USE_CHIRP
|
||||
|
||||
}
|
||||
|
||||
#endif // USE_OSD
|
||||
|
|
|
|||
|
|
@ -32,7 +32,11 @@
|
|||
PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 4);
|
||||
|
||||
PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
|
||||
#if defined(SIMULATOR_BUILD) && defined(USE_VIRTUAL_GPS)
|
||||
.provider = GPS_VIRTUAL,
|
||||
#else
|
||||
.provider = GPS_UBLOX,
|
||||
#endif
|
||||
.sbasMode = SBAS_NONE,
|
||||
.autoConfig = GPS_AUTOCONFIG_ON,
|
||||
.autoBaud = GPS_AUTOBAUD_OFF,
|
||||
|
|
|
|||
|
|
@ -24,6 +24,7 @@
|
|||
#include "platform.h"
|
||||
|
||||
#include "common/sensor_alignment.h"
|
||||
#include "common/sensor_alignment_impl.h"
|
||||
|
||||
#include "pg/pg.h"
|
||||
#include "pg/pg_ids.h"
|
||||
|
|
@ -67,13 +68,67 @@
|
|||
|
||||
// gyro alignments
|
||||
|
||||
#if defined(GYRO_1_ALIGN_ROLL) || defined(GYRO_1_ALIGN_PITCH) || defined(GYRO_1_ALIGN_YAW)
|
||||
#ifndef GYRO_1_ALIGN_ROLL
|
||||
#define GYRO_1_ALIGN_ROLL 0
|
||||
#endif
|
||||
#ifndef GYRO_1_ALIGN_PITCH
|
||||
#define GYRO_1_ALIGN_PITCH 0
|
||||
#endif
|
||||
#ifndef GYRO_1_ALIGN_YAW
|
||||
#define GYRO_1_ALIGN_YAW 0
|
||||
#endif
|
||||
#ifndef GYRO_1_CUSTOM_ALIGN
|
||||
#define GYRO_1_CUSTOM_ALIGN SENSOR_ALIGNMENT( GYRO_1_ALIGN_ROLL / 10, GYRO_1_ALIGN_PITCH / 10, GYRO_1_ALIGN_YAW / 10 )
|
||||
#else
|
||||
#error "GYRO_1_ALIGN_x and GYRO_1_CUSTOM_ALIGN are mutually exclusive"
|
||||
#endif
|
||||
#endif // GYRO_1_ALIGN_ROLL || GYRO_1_ALIGN_PITCH || GYRO_1_ALIGN_YAW
|
||||
|
||||
#if defined(GYRO_2_ALIGN_ROLL) || defined(GYRO_2_ALIGN_PITCH) || defined(GYRO_2_ALIGN_YAW)
|
||||
#ifndef GYRO_2_ALIGN_ROLL
|
||||
#define GYRO_2_ALIGN_ROLL 0
|
||||
#endif
|
||||
#ifndef GYRO_2_ALIGN_PITCH
|
||||
#define GYRO_2_ALIGN_PITCH 0
|
||||
#endif
|
||||
#ifndef GYRO_2_ALIGN_YAW
|
||||
#define GYRO_2_ALIGN_YAW 0
|
||||
#endif
|
||||
#ifndef GYRO_2_CUSTOM_ALIGN
|
||||
#define GYRO_2_CUSTOM_ALIGN SENSOR_ALIGNMENT( GYRO_2_ALIGN_ROLL / 10, GYRO_2_ALIGN_PITCH / 10, GYRO_2_ALIGN_YAW / 10 )
|
||||
#else
|
||||
#error "GYRO_2_ALIGN_x and GYRO_2_CUSTOM_ALIGN are mutually exclusive"
|
||||
#endif
|
||||
#endif // GYRO_2_ALIGN_ROLL || GYRO_2_ALIGN_PITCH || GYRO_2_ALIGN_YAW
|
||||
|
||||
#ifndef GYRO_1_ALIGN
|
||||
#ifdef GYRO_1_CUSTOM_ALIGN
|
||||
#define GYRO_1_ALIGN ALIGN_CUSTOM
|
||||
#else
|
||||
#define GYRO_1_ALIGN CW0_DEG
|
||||
#endif
|
||||
#endif // GYRO_1_ALIGN
|
||||
|
||||
#ifndef GYRO_1_CUSTOM_ALIGN
|
||||
#define GYRO_1_CUSTOM_ALIGN SENSOR_ALIGNMENT_FROM_STD(GYRO_1_ALIGN)
|
||||
#else
|
||||
STATIC_ASSERT(GYRO_1_ALIGN == ALIGN_CUSTOM, "GYRO_1_ALIGN and GYRO_1_CUSTOM_ALIGN mixed");
|
||||
#endif // GYRO_1_CUSTOM_ALIGN
|
||||
|
||||
#ifndef GYRO_2_ALIGN
|
||||
#ifdef GYRO_2_CUSTOM_ALIGN
|
||||
#define GYRO_2_ALIGN ALIGN_CUSTOM
|
||||
#else
|
||||
#define GYRO_2_ALIGN CW0_DEG
|
||||
#endif
|
||||
#endif // GYRO_2_ALIGN
|
||||
|
||||
#ifndef GYRO_2_CUSTOM_ALIGN
|
||||
#define GYRO_2_CUSTOM_ALIGN SENSOR_ALIGNMENT_FROM_STD(GYRO_2_ALIGN)
|
||||
#else
|
||||
STATIC_ASSERT(GYRO_2_ALIGN == ALIGN_CUSTOM, "GYRO_2_ALIGN and GYRO_2_CUSTOM_ALIGN mixed");
|
||||
#endif // GYRO_2_CUSTOM_ALIGN
|
||||
|
||||
#if defined(USE_SPI_GYRO) && (defined(GYRO_1_SPI_INSTANCE) || defined(GYRO_2_SPI_INSTANCE))
|
||||
static void gyroResetSpiDeviceConfig(gyroDeviceConfig_t *devconf, SPI_TypeDef *instance, ioTag_t csnTag, ioTag_t extiTag, ioTag_t clkInTag, uint8_t alignment, sensorAlignment_t customAlignment)
|
||||
|
|
@ -105,32 +160,18 @@ PG_REGISTER_ARRAY_WITH_RESET_FN(gyroDeviceConfig_t, MAX_GYRODEV_COUNT, gyroDevic
|
|||
void pgResetFn_gyroDeviceConfig(gyroDeviceConfig_t *devconf)
|
||||
{
|
||||
devconf[0].index = 0;
|
||||
sensorAlignment_t customAlignment1 = CUSTOM_ALIGN_CW0_DEG;
|
||||
#ifdef GYRO_1_CUSTOM_ALIGN
|
||||
customAlignment1 = GYRO_1_CUSTOM_ALIGN;
|
||||
#else
|
||||
buildAlignmentFromStandardAlignment(&customAlignment1, GYRO_1_ALIGN);
|
||||
#endif // GYRO_1_CUSTOM_ALIGN
|
||||
|
||||
// All multi-gyro boards use SPI based gyros.
|
||||
#ifdef USE_SPI_GYRO
|
||||
#ifdef GYRO_1_SPI_INSTANCE
|
||||
gyroResetSpiDeviceConfig(&devconf[0], GYRO_1_SPI_INSTANCE, IO_TAG(GYRO_1_CS_PIN), IO_TAG(GYRO_1_EXTI_PIN), IO_TAG(GYRO_1_CLKIN_PIN), GYRO_1_ALIGN, customAlignment1);
|
||||
gyroResetSpiDeviceConfig(&devconf[0], GYRO_1_SPI_INSTANCE, IO_TAG(GYRO_1_CS_PIN), IO_TAG(GYRO_1_EXTI_PIN), IO_TAG(GYRO_1_CLKIN_PIN), GYRO_1_ALIGN, GYRO_1_CUSTOM_ALIGN);
|
||||
#else
|
||||
devconf[0].busType = BUS_TYPE_NONE;
|
||||
#endif
|
||||
#ifdef USE_MULTI_GYRO
|
||||
devconf[1].index = 1;
|
||||
sensorAlignment_t customAlignment2 = CUSTOM_ALIGN_CW0_DEG;
|
||||
#ifdef GYRO_2_CUSTOM_ALIGN
|
||||
customAlignment2 = GYRO_2_CUSTOM_ALIGN;
|
||||
#else
|
||||
buildAlignmentFromStandardAlignment(&customAlignment2, GYRO_2_ALIGN);
|
||||
#endif // GYRO_2_CUSTOM_ALIGN
|
||||
|
||||
#ifdef GYRO_2_SPI_INSTANCE
|
||||
// TODO: CLKIN gyro 2 on separate pin is not supported yet. need to implement it
|
||||
gyroResetSpiDeviceConfig(&devconf[1], GYRO_2_SPI_INSTANCE, IO_TAG(GYRO_2_CS_PIN), IO_TAG(GYRO_2_EXTI_PIN), IO_TAG(GYRO_2_CLKIN_PIN), GYRO_2_ALIGN, customAlignment2);
|
||||
gyroResetSpiDeviceConfig(&devconf[1], GYRO_2_SPI_INSTANCE, IO_TAG(GYRO_2_CS_PIN), IO_TAG(GYRO_2_EXTI_PIN), IO_TAG(GYRO_2_CLKIN_PIN), GYRO_2_ALIGN, GYRO_2_CUSTOM_ALIGN);
|
||||
#else
|
||||
devconf[1].busType = BUS_TYPE_NONE;
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -50,6 +50,7 @@ typedef enum {
|
|||
ACC_BMI270,
|
||||
ACC_LSM6DSO,
|
||||
ACC_LSM6DSV16X,
|
||||
ACC_IIM42653,
|
||||
ACC_VIRTUAL
|
||||
} accelerationSensor_e;
|
||||
|
||||
|
|
|
|||
|
|
@ -216,9 +216,10 @@ retry:
|
|||
FALLTHROUGH;
|
||||
#endif
|
||||
|
||||
#if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P)
|
||||
#if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
|
||||
case ACC_ICM42605:
|
||||
case ACC_ICM42688P:
|
||||
case ACC_IIM42653:
|
||||
if (icm426xxSpiAccDetect(dev)) {
|
||||
switch (dev->mpuDetectionResult.sensor) {
|
||||
case ICM_42605_SPI:
|
||||
|
|
@ -227,6 +228,9 @@ retry:
|
|||
case ICM_42688P_SPI:
|
||||
accHardware = ACC_ICM42688P;
|
||||
break;
|
||||
case IIM_42653_SPI:
|
||||
accHardware = ACC_IIM42653;
|
||||
break;
|
||||
default:
|
||||
accHardware = ACC_NONE;
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -158,7 +158,11 @@ void compassPreInit(void)
|
|||
#if !defined(SIMULATOR_BUILD)
|
||||
bool compassDetect(magDev_t *magDev, uint8_t *alignment)
|
||||
{
|
||||
*alignment = ALIGN_DEFAULT; // may be overridden if target specifies MAG_*_ALIGN
|
||||
#ifdef MAG_ALIGN
|
||||
*alignment = MAG_ALIGN;
|
||||
#else
|
||||
*alignment = ALIGN_DEFAULT;
|
||||
#endif
|
||||
|
||||
magSensor_e magHardware = MAG_NONE;
|
||||
|
||||
|
|
@ -221,9 +225,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
|
|||
}
|
||||
|
||||
if (hmc5883lDetect(magDev)) {
|
||||
#ifdef MAG_HMC5883_ALIGN
|
||||
*alignment = MAG_HMC5883_ALIGN;
|
||||
#endif
|
||||
magHardware = MAG_HMC5883;
|
||||
break;
|
||||
}
|
||||
|
|
@ -237,9 +238,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
|
|||
}
|
||||
|
||||
if (lis2mdlDetect(magDev)) {
|
||||
#ifdef MAG_LIS3MDL_ALIGN
|
||||
*alignment = MAG_LIS2MDL_ALIGN;
|
||||
#endif
|
||||
magHardware = MAG_LIS2MDL;
|
||||
break;
|
||||
}
|
||||
|
|
@ -253,9 +251,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
|
|||
}
|
||||
|
||||
if (lis3mdlDetect(magDev)) {
|
||||
#ifdef MAG_LIS3MDL_ALIGN
|
||||
*alignment = MAG_LIS3MDL_ALIGN;
|
||||
#endif
|
||||
magHardware = MAG_LIS3MDL;
|
||||
break;
|
||||
}
|
||||
|
|
@ -269,9 +264,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
|
|||
}
|
||||
|
||||
if (ak8975Detect(magDev)) {
|
||||
#ifdef MAG_AK8975_ALIGN
|
||||
*alignment = MAG_AK8975_ALIGN;
|
||||
#endif
|
||||
magHardware = MAG_AK8975;
|
||||
break;
|
||||
}
|
||||
|
|
@ -290,9 +282,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
|
|||
}
|
||||
|
||||
if (ak8963Detect(magDev)) {
|
||||
#ifdef MAG_AK8963_ALIGN
|
||||
*alignment = MAG_AK8963_ALIGN;
|
||||
#endif
|
||||
magHardware = MAG_AK8963;
|
||||
break;
|
||||
}
|
||||
|
|
@ -306,9 +295,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
|
|||
}
|
||||
|
||||
if (qmc5883lDetect(magDev)) {
|
||||
#ifdef MAG_QMC5883L_ALIGN
|
||||
*alignment = MAG_QMC5883L_ALIGN;
|
||||
#endif
|
||||
magHardware = MAG_QMC5883;
|
||||
break;
|
||||
}
|
||||
|
|
@ -322,9 +308,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
|
|||
}
|
||||
|
||||
if (ist8310Detect(magDev)) {
|
||||
#ifdef MAG_IST8310_ALIGN
|
||||
*alignment = MAG_IST8310_ALIGN;
|
||||
#endif
|
||||
magHardware = MAG_IST8310;
|
||||
break;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -314,6 +314,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
|
|||
case GYRO_LSM6DSO:
|
||||
case GYRO_LSM6DSV16X:
|
||||
case GYRO_ICM42688P:
|
||||
case GYRO_IIM42653:
|
||||
case GYRO_ICM42605:
|
||||
gyroSensor->gyroDev.gyroHasOverflowProtection = true;
|
||||
break;
|
||||
|
|
@ -427,9 +428,10 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
|
|||
FALLTHROUGH;
|
||||
#endif
|
||||
|
||||
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
|
||||
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
|
||||
case GYRO_ICM42605:
|
||||
case GYRO_ICM42688P:
|
||||
case GYRO_IIM42653:
|
||||
if (icm426xxSpiGyroDetect(dev)) {
|
||||
switch (dev->mpuDetectionResult.sensor) {
|
||||
case ICM_42605_SPI:
|
||||
|
|
@ -438,6 +440,9 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
|
|||
case ICM_42688P_SPI:
|
||||
gyroHardware = GYRO_ICM42688P;
|
||||
break;
|
||||
case IIM_42653_SPI:
|
||||
gyroHardware = GYRO_IIM42653;
|
||||
break;
|
||||
default:
|
||||
gyroHardware = GYRO_NONE;
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -107,7 +107,8 @@
|
|||
&& !defined(USE_ACC_SPI_MPU6000) \
|
||||
&& !defined(USE_ACC_SPI_MPU6500) \
|
||||
&& !defined(USE_ACC_SPI_MPU9250) \
|
||||
&& !defined(USE_VIRTUAL_ACC)
|
||||
&& !defined(USE_VIRTUAL_ACC) \
|
||||
&& !defined(USE_ACCGYRO_IIM42653)
|
||||
#error At least one USE_ACC device definition required
|
||||
#endif
|
||||
|
||||
|
|
@ -126,7 +127,8 @@
|
|||
&& !defined(USE_GYRO_SPI_MPU6000) \
|
||||
&& !defined(USE_GYRO_SPI_MPU6500) \
|
||||
&& !defined(USE_GYRO_SPI_MPU9250) \
|
||||
&& !defined(USE_VIRTUAL_GYRO)
|
||||
&& !defined(USE_VIRTUAL_GYRO) \
|
||||
&& !defined(USE_ACCGYRO_IIM42653)
|
||||
#error At least one USE_GYRO device definition required
|
||||
#endif
|
||||
|
||||
|
|
@ -466,8 +468,8 @@
|
|||
|
||||
// Generate USE_SPI_GYRO or USE_I2C_GYRO
|
||||
#if defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) \
|
||||
|| defined(USE_GYRO_L3GD20) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) \
|
||||
|| defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGYRO_LSM6DSV16X) || defined(USE_ACCGYRO_LSM6DSO)
|
||||
|| defined(USE_GYRO_L3GD20) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653) \
|
||||
|| defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGYRO_LSM6DSV16X) || defined(USE_ACCGYRO_LSM6DSO)
|
||||
#ifndef USE_SPI_GYRO
|
||||
#define USE_SPI_GYRO
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -114,6 +114,7 @@
|
|||
#define USE_ACCGYRO_BMI270
|
||||
#define USE_GYRO_SPI_ICM42605
|
||||
#define USE_GYRO_SPI_ICM42688P
|
||||
#define USE_ACCGYRO_IIM42653
|
||||
#define USE_ACC_SPI_ICM42605
|
||||
#define USE_ACC_SPI_ICM42688P
|
||||
#define USE_ACCGYRO_LSM6DSV16X
|
||||
|
|
|
|||
|
|
@ -457,12 +457,14 @@ void crsfFrameFlightMode(sbuf_t *dst)
|
|||
flightMode = "PASS";
|
||||
} else if (FLIGHT_MODE(ANGLE_MODE)) {
|
||||
flightMode = "ANGL";
|
||||
} else if (FLIGHT_MODE(ALT_HOLD_MODE)) {
|
||||
flightMode = "ALTH";
|
||||
} else if (FLIGHT_MODE(POS_HOLD_MODE)) {
|
||||
flightMode = "POSH";
|
||||
} else if (FLIGHT_MODE(ALT_HOLD_MODE)) {
|
||||
flightMode = "ALTH";
|
||||
} else if (FLIGHT_MODE(HORIZON_MODE)) {
|
||||
flightMode = "HOR";
|
||||
} else if (FLIGHT_MODE(CHIRP_MODE)) {
|
||||
flightMode = "CHIR";
|
||||
} else if (isAirmodeEnabled()) {
|
||||
flightMode = "AIR";
|
||||
}
|
||||
|
|
|
|||
|
|
@ -175,10 +175,10 @@ static void ltm_sframe(void)
|
|||
lt_flightmode = 2;
|
||||
else if (FLIGHT_MODE(HORIZON_MODE))
|
||||
lt_flightmode = 3;
|
||||
else if (FLIGHT_MODE(ALT_HOLD_MODE))
|
||||
lt_flightmode = 8;
|
||||
else if (FLIGHT_MODE(POS_HOLD_MODE))
|
||||
lt_flightmode = 9;
|
||||
else if (FLIGHT_MODE(ALT_HOLD_MODE))
|
||||
lt_flightmode = 8;
|
||||
else if (FLIGHT_MODE(GPS_RESCUE_MODE))
|
||||
lt_flightmode = 13;
|
||||
else
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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/>.
|
||||
*/
|
||||
|
|
|
|||
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Reference in a new issue