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2.8.1 changes ready for merge
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blckmn
parent
6927139261
commit
897aab9c86
13 changed files with 200 additions and 142 deletions
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@ -180,29 +180,34 @@ static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
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static void resetPidProfile(pidProfile_t *pidProfile)
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{
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pidProfile->pidController = 1;
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#if (defined(STM32F10X))
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pidProfile->pidController = PID_CONTROLLER_MWREWRITE;
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#else
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pidProfile->pidController = PID_CONTROLLER_LUX_FLOAT;
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#endif
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pidProfile->P8[ROLL] = 45;
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pidProfile->I8[ROLL] = 40;
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pidProfile->D8[ROLL] = 15;
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pidProfile->P8[PITCH] = 45;
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pidProfile->D8[ROLL] = 18;
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pidProfile->P8[PITCH] = 50;
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pidProfile->I8[PITCH] = 40;
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pidProfile->D8[PITCH] = 15;
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pidProfile->D8[PITCH] = 18;
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pidProfile->P8[YAW] = 90;
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pidProfile->I8[YAW] = 45;
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pidProfile->D8[YAW] = 20;
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pidProfile->P8[PIDALT] = 50;
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pidProfile->I8[PIDALT] = 0;
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pidProfile->D8[PIDALT] = 0;
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pidProfile->P8[PIDPOS] = 15; // POSHOLD_P * 100;
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pidProfile->I8[PIDPOS] = 0; // POSHOLD_I * 100;
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pidProfile->P8[PIDPOS] = 15; // POSHOLD_P * 100;
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pidProfile->I8[PIDPOS] = 0; // POSHOLD_I * 100;
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pidProfile->D8[PIDPOS] = 0;
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pidProfile->P8[PIDPOSR] = 34; // POSHOLD_RATE_P * 10;
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pidProfile->I8[PIDPOSR] = 14; // POSHOLD_RATE_I * 100;
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pidProfile->D8[PIDPOSR] = 53; // POSHOLD_RATE_D * 1000;
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pidProfile->P8[PIDNAVR] = 25; // NAV_P * 10;
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pidProfile->I8[PIDNAVR] = 33; // NAV_I * 100;
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pidProfile->D8[PIDNAVR] = 83; // NAV_D * 1000;
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pidProfile->P8[PIDPOSR] = 34; // POSHOLD_RATE_P * 10;
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pidProfile->I8[PIDPOSR] = 14; // POSHOLD_RATE_I * 100;
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pidProfile->D8[PIDPOSR] = 53; // POSHOLD_RATE_D * 1000;
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pidProfile->P8[PIDNAVR] = 25; // NAV_P * 10;
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pidProfile->I8[PIDNAVR] = 33; // NAV_I * 100;
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pidProfile->D8[PIDNAVR] = 83; // NAV_D * 1000;
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pidProfile->P8[PIDLEVEL] = 50;
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pidProfile->I8[PIDLEVEL] = 50;
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pidProfile->D8[PIDLEVEL] = 100;
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@ -214,8 +219,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
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pidProfile->yaw_lpf_hz = 80;
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pidProfile->rollPitchItermIgnoreRate = 200;
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pidProfile->yawItermIgnoreRate = 45;
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pidProfile->dterm_lpf_hz = 110; // filtering ON by default
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pidProfile->yawItermIgnoreRate = 35;
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pidProfile->dterm_lpf_hz = 50; // filtering ON by default
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pidProfile->dynamic_pid = 1;
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#ifdef GTUNE
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@ -265,7 +270,7 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
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escAndServoConfig->maxthrottle = 1850;
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escAndServoConfig->mincommand = 1000;
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escAndServoConfig->servoCenterPulse = 1500;
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escAndServoConfig->escDesyncProtection = 10000;
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escAndServoConfig->escDesyncProtection = 0;
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}
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void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
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@ -388,14 +393,14 @@ uint8_t getCurrentControlRateProfile(void)
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return currentControlRateProfileIndex;
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}
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static void setControlRateProfile(uint8_t profileIndex)
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{
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currentControlRateProfileIndex = profileIndex;
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masterConfig.profile[getCurrentProfile()].activeRateProfile = profileIndex;
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currentControlRateProfile = &masterConfig.profile[getCurrentProfile()].controlRateProfile[profileIndex];
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static void setControlRateProfile(uint8_t profileIndex)
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{
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currentControlRateProfileIndex = profileIndex;
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masterConfig.profile[getCurrentProfile()].activeRateProfile = profileIndex;
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currentControlRateProfile = &masterConfig.profile[getCurrentProfile()].controlRateProfile[profileIndex];
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}
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controlRateConfig_t *getControlRateConfig(uint8_t profileIndex)
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controlRateConfig_t *getControlRateConfig(uint8_t profileIndex)
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{
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return &masterConfig.profile[profileIndex].controlRateProfile[masterConfig.profile[profileIndex].activeRateProfile];
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}
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@ -489,10 +494,10 @@ static void resetConf(void)
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masterConfig.rxConfig.rssi_channel = 0;
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masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
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masterConfig.rxConfig.rssi_ppm_invert = 0;
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masterConfig.rxConfig.rcSmoothing = 0;
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masterConfig.rxConfig.rcSmoothing = 0; // TODO - Cleanup with next EEPROM changes
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masterConfig.rxConfig.fpvCamAngleDegrees = 0;
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#ifdef STM32F4
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masterConfig.rxConfig.max_aux_channel = 99;
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masterConfig.rxConfig.max_aux_channel = 99;
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#else
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masterConfig.rxConfig.max_aux_channel = 6;
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#endif
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@ -541,11 +546,11 @@ static void resetConf(void)
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masterConfig.emf_avoidance = 0; // TODO - needs removal
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resetPidProfile(¤tProfile->pidProfile);
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uint8_t rI;
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for (rI = 0; rI<MAX_RATEPROFILES; rI++) {
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resetControlRateConfig(&masterConfig.profile[0].controlRateProfile[rI]);
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}
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uint8_t rI;
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for (rI = 0; rI<MAX_RATEPROFILES; rI++) {
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resetControlRateConfig(&masterConfig.profile[0].controlRateProfile[rI]);
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}
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resetRollAndPitchTrims(&masterConfig.accelerometerTrims);
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masterConfig.mag_declination = 0;
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@ -887,22 +892,22 @@ void validateAndFixConfig(void)
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#if defined(CC3D) && defined(SONAR) && defined(USE_SOFTSERIAL1) && defined(RSSI_ADC_GPIO)
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// shared pin
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if ((featureConfigured(FEATURE_SONAR) + featureConfigured(FEATURE_SOFTSERIAL) + featureConfigured(FEATURE_RSSI_ADC)) > 1) {
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featureClear(FEATURE_SONAR);
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featureClear(FEATURE_SOFTSERIAL);
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featureClear(FEATURE_RSSI_ADC);
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featureClear(FEATURE_SONAR);
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featureClear(FEATURE_SOFTSERIAL);
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featureClear(FEATURE_RSSI_ADC);
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}
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#endif
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#if defined(COLIBRI_RACE)
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masterConfig.serialConfig.portConfigs[0].functionMask = FUNCTION_MSP;
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if(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_MSP)) {
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featureClear(FEATURE_RX_PARALLEL_PWM);
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featureClear(FEATURE_RX_MSP);
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featureSet(FEATURE_RX_PPM);
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featureClear(FEATURE_RX_PARALLEL_PWM);
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featureClear(FEATURE_RX_MSP);
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featureSet(FEATURE_RX_PPM);
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}
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if(featureConfigured(FEATURE_RX_SERIAL)) {
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masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
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//masterConfig.rxConfig.serialrx_provider = SERIALRX_SBUS;
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masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
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//masterConfig.rxConfig.serialrx_provider = SERIALRX_SBUS;
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}
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#endif
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@ -980,11 +985,11 @@ void writeEEPROM(void)
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for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {
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if (wordOffset % FLASH_PAGE_SIZE == 0) {
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#if defined(STM32F40_41xxx)
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status = FLASH_EraseSector(FLASH_Sector_8, VoltageRange_3); //0x08080000 to 0x080A0000
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status = FLASH_EraseSector(FLASH_Sector_8, VoltageRange_3); //0x08080000 to 0x080A0000
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#elif defined (STM32F411xE)
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status = FLASH_EraseSector(FLASH_Sector_7, VoltageRange_3); //0x08060000 to 0x08080000
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status = FLASH_EraseSector(FLASH_Sector_7, VoltageRange_3); //0x08060000 to 0x08080000
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#else
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status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset);
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status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset);
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#endif
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if (status != FLASH_COMPLETE) {
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break;
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@ -1040,12 +1045,12 @@ void changeProfile(uint8_t profileIndex)
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beeperConfirmationBeeps(profileIndex + 1);
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}
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void changeControlRateProfile(uint8_t profileIndex) {
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if (profileIndex > MAX_RATEPROFILES) {
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profileIndex = MAX_RATEPROFILES - 1;
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}
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setControlRateProfile(profileIndex);
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activateControlRateConfig();
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void changeControlRateProfile(uint8_t profileIndex) {
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if (profileIndex > MAX_RATEPROFILES) {
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profileIndex = MAX_RATEPROFILES - 1;
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}
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setControlRateProfile(profileIndex);
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activateControlRateConfig();
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}
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void handleOneshotFeatureChangeOnRestart(void)
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