added mincheck, maxcheck, vbatscale to settings configurable via cli

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@120 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

baseflight.uvopt

@@ -519,10 +519,10 @@
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       <PathWithFileName>.\src\mixer.c</PathWithFileName>
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@@ -575,10 +575,10 @@
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@@ -589,10 +589,10 @@
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@@ -603,10 +603,10 @@
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@@ -694,10 +694,10 @@
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       <PathWithFileName>.\src\drv_mpu3050.c</PathWithFileName>
       <FilenameWithoutPath>drv_mpu3050.c</FilenameWithoutPath>

src/cli.c

@@ -71,6 +71,9 @@ const clivalue_t valueTable[] = {
     { "minthrottle", VAR_UINT16, &cfg.minthrottle, 0, 2000 },
     { "maxthrottle", VAR_UINT16, &cfg.maxthrottle, 0, 2000 },
     { "mincommand", VAR_UINT16, &cfg.mincommand, 0, 2000 },
+    { "mincheck", VAR_UINT16, &cfg.mincheck, 0, 2000 },
+    { "maxcheck", VAR_UINT16, &cfg.maxcheck, 0, 2000 },
+    { "vbatscale", VAR_UINT8, &cfg.vbatscale, 10, 200 },
     { "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
     { "wing_left_mid", VAR_UINT16, &cfg.wing_left_mid, 0, 2000 },
     { "wing_right_mid", VAR_UINT16, &cfg.wing_right_mid, 0, 2000 },
@@ -273,7 +276,7 @@ static void cliSave(char *cmdline)
 
 static void cliPrintVar(const clivalue_t *var)
 {
-    int32_t value;
+    int32_t value = 0;
     char buf[16];
 
     switch (var->type) {
@@ -338,7 +341,7 @@ static void cliSet(char *cmdline)
             uartPrint("\r\n");
             delay(10);
         }
-    } else if (eqptr = strstr(cmdline, "=")) {
+    } else if ((eqptr = strstr(cmdline, "="))) {
         // has equal, set var
         eqptr++;
         len--;

src/config.c

@@ -8,7 +8,7 @@
 config_t cfg;
 
 static uint32_t enabledSensors = 0;
-static uint8_t checkNewConf = 4;
+static uint8_t checkNewConf = 5;
 
 void readEEPROM(void)
 {
@@ -102,10 +102,13 @@ void checkFirstTime(bool reset)
     cfg.accTrim[1] = 0;
     cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
     cfg.powerTrigger1 = 0;
+    cfg.vbatscale = 110;
 
     // Radio/ESC
     cfg.deadband = 0;
     cfg.midrc = 1500;
+    cfg.mincheck = 1100;
+    cfg.maxcheck = 1900;
     cfg.minthrottle = 1150;
     cfg.maxthrottle = 1850;
     cfg.mincommand = 1000;

src/mixer.c

@@ -276,7 +276,7 @@ void mixTable(void)
         if (maxMotor > cfg.maxthrottle)     // this is a way to still have good gyro corrections if at least one motor reaches its max.
             motor[i] -= maxMotor - cfg.maxthrottle;
         motor[i] = constrain(motor[i], cfg.minthrottle, cfg.maxthrottle);
-        if ((rcData[THROTTLE]) < MINCHECK) {
+        if ((rcData[THROTTLE]) < cfg.mincheck) {
             if (!feature(FEATURE_MOTOR_STOP))
                 motor[i] = cfg.minthrottle;
             else

src/mw.c

@@ -149,7 +149,7 @@ void annexCode(void)
         if (rcData[axis] < cfg.midrc)
             rcCommand[axis] = -rcCommand[axis];
     }
-    rcCommand[THROTTLE] = cfg.minthrottle + (int32_t) (cfg.maxthrottle - cfg.minthrottle) * (rcData[THROTTLE] - MINCHECK) / (2000 - MINCHECK);
+    rcCommand[THROTTLE] = cfg.minthrottle + (int32_t) (cfg.maxthrottle - cfg.minthrottle) * (rcData[THROTTLE] - cfg.mincheck) / (2000 - cfg.mincheck);
 
     if (headFreeMode) {
         float radDiff = (heading - headFreeModeHold) * 0.0174533f;      // where PI/180 ~= 0.0174533
@@ -180,7 +180,7 @@ void annexCode(void)
             vbatRawArray[(ind++) % 8] = adcGetBattery();
             for (i = 0; i < 8; i++)
                 vbatRaw += vbatRawArray[i];
-            vbat = (((vbatRaw / 8) * 3.3f) / 4095) * 110;       // result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) * 10 for 0.1V
+            vbat = (((vbatRaw / 8) * 3.3f) / 4095) * cfg.vbatscale;       // result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) * 10 for 0.1V
         }
         if (rcOptions[BOXBEEPERON]) {       // unconditional beeper on via AUXn switch 
             buzzerFreq = 7;
@@ -352,17 +352,17 @@ void loop(void)
         failsafeCnt++;
 #endif
         // end of failsave routine - next change is made with RcOptions setting
-        if (rcData[THROTTLE] < MINCHECK) {
+        if (rcData[THROTTLE] < cfg.mincheck) {
             errorGyroI[ROLL] = 0;
             errorGyroI[PITCH] = 0;
             errorGyroI[YAW] = 0;
             errorAngleI[ROLL] = 0;
             errorAngleI[PITCH] = 0;
             rcDelayCommand++;
-            if (rcData[YAW] < MINCHECK && rcData[PITCH] < MINCHECK && armed == 0) {
+            if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck && armed == 0) {
                 if (rcDelayCommand == 20)
                     calibratingG = 400;
-            } else if (rcData[YAW] > MAXCHECK && rcData[PITCH] > MAXCHECK && armed == 0) {
+            } else if (rcData[YAW] > cfg.maxcheck && rcData[PITCH] > cfg.maxcheck && armed == 0) {
                 if (rcDelayCommand == 20) {
                     if (cfg.mixerConfiguration == MULTITYPE_TRI) {
                         servo[5] = 1500; // we center the yaw servo in conf mode
@@ -377,7 +377,7 @@ void loop(void)
 #endif
                     previousTime = micros();
                 }
-            } else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (armed == 0 && rcData[YAW] < MINCHECK && rcData[PITCH] > MAXCHECK && rcData[ROLL] > MAXCHECK)) {
+            } else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (armed == 0 && rcData[YAW] < cfg.mincheck && rcData[PITCH] > cfg.maxcheck && rcData[ROLL] > cfg.maxcheck)) {
                 if (rcDelayCommand == 20) {
                     if (AccInflightCalibrationMeasurementDone) {        //trigger saving into eeprom after landing
                         AccInflightCalibrationMeasurementDone = 0;
@@ -398,18 +398,18 @@ void loop(void)
                 } else if (armed)
                     armed = 0;
                 rcDelayCommand = 0;
-            } else if ((rcData[YAW] < MINCHECK || rcData[ROLL] < MINCHECK)
+            } else if ((rcData[YAW] < cfg.mincheck || rcData[ROLL] < cfg.mincheck)
                        && armed == 1) {
                 if (rcDelayCommand == 20)
                     armed = 0;  // rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged
-            } else if ((rcData[YAW] > MAXCHECK || rcData[ROLL] > MAXCHECK)
+            } else if ((rcData[YAW] > cfg.maxcheck || rcData[ROLL] > cfg.maxcheck)
-                       && rcData[PITCH] < MAXCHECK && armed == 0 && calibratingG == 0 && calibratedACC == 1) {
+                       && rcData[PITCH] < cfg.maxcheck && armed == 0 && calibratingG == 0 && calibratedACC == 1) {
                 if (rcDelayCommand == 20) {
                     armed = 1;
                     headFreeModeHold = heading;
                 }
 #ifdef LCD_TELEMETRY_AUTO
-            } else if (rcData[ROLL] < MINCHECK && rcData[PITCH] > MAXCHECK && armed == 0) {
+            } else if (rcData[ROLL] < cfg.mincheck && rcData[PITCH] > cfg.maxcheck && armed == 0) {
                 if (rcDelayCommand == 20) {
                     if (telemetry_auto) {
                         telemetry_auto = 0;
@@ -420,31 +420,31 @@ void loop(void)
 #endif
             } else
                 rcDelayCommand = 0;
-        } else if (rcData[THROTTLE] > MAXCHECK && armed == 0) {
+        } else if (rcData[THROTTLE] > cfg.maxcheck && armed == 0) {
-            if (rcData[YAW] < MINCHECK && rcData[PITCH] < MINCHECK) {   //throttle=max, yaw=left, pitch=min
+            if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck) {   //throttle=max, yaw=left, pitch=min
                 if (rcDelayCommand == 20)
                     calibratingA = 400;
                 rcDelayCommand++;
-            } else if (rcData[YAW] > MAXCHECK && rcData[PITCH] < MINCHECK) {    //throttle=max, yaw=right, pitch=min  
+            } else if (rcData[YAW] > cfg.maxcheck && rcData[PITCH] < cfg.mincheck) {    //throttle=max, yaw=right, pitch=min  
                 if (rcDelayCommand == 20)
                     calibratingM = 1;   // MAG calibration request
                 rcDelayCommand++;
-            } else if (rcData[PITCH] > MAXCHECK) {
+            } else if (rcData[PITCH] > cfg.maxcheck) {
                 cfg.accTrim[PITCH] += 2;
                 writeParams();
                 if (feature(FEATURE_LED_RING))
                     ledringBlink();
-            } else if (rcData[PITCH] < MINCHECK) {
+            } else if (rcData[PITCH] < cfg.mincheck) {
                 cfg.accTrim[PITCH] -= 2;
                 writeParams();
                 if (feature(FEATURE_LED_RING))
                     ledringBlink();
-            } else if (rcData[ROLL] > MAXCHECK) {
+            } else if (rcData[ROLL] > cfg.maxcheck) {
                 cfg.accTrim[ROLL] += 2;
                 writeParams();
                 if (feature(FEATURE_LED_RING))
                     ledringBlink();
-            } else if (rcData[ROLL] < MINCHECK) {
+            } else if (rcData[ROLL] < cfg.mincheck) {
                 cfg.accTrim[ROLL] -= 2;
                 writeParams();
                 if (feature(FEATURE_LED_RING))
@@ -461,7 +461,7 @@ void loop(void)
 #endif
 
         if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
-            if (AccInflightCalibrationArmed && armed == 1 && rcData[THROTTLE] > MINCHECK && !rcOptions[BOXARM]) {      // Copter is airborne and you are turning it off via boxarm : start measurement
+            if (AccInflightCalibrationArmed && armed == 1 && rcData[THROTTLE] > cfg.mincheck && !rcOptions[BOXARM]) {      // Copter is airborne and you are turning it off via boxarm : start measurement
                 InflightcalibratingA = 50;
                 AccInflightCalibrationArmed = 0;
             }

src/mw.h

@@ -1,12 +1,5 @@
 #pragma once
 
-#define MINCHECK 1100
-#define MAXCHECK 1900
-
-/* this is the value for the ESCs when they are not armed
-   in some cases, this value must be lowered down to 900 for some specific ESCs */
-// #define MINCOMMAND 1000
-
 /* This option should be uncommented if ACC Z is accurate enough when motors are running*/
 /* should now be ok with BMA020 and BMA180 ACC */
 #define TRUSTED_ACCZ
@@ -62,7 +55,6 @@
    with R1=33k and R2=51k
    vbat = [0;1023]*16/VBATSCALE */
 #define VBATFREQ 6        // to read battery voltage - keep equal to PSENSORFREQ (6) unless you know what you are doing
-#define VBATSCALE     160 // change this value if readed Battery voltage is different than real voltage
 #define VBATLEVEL1_3S 107 // 10,7V
 #define VBATLEVEL2_3S 103 // 10,3V
 #define VBATLEVEL3_3S 99  // 9.9V
@@ -162,10 +154,13 @@ typedef struct config_t {
     uint8_t activate1[CHECKBOXITEMS];
     uint8_t activate2[CHECKBOXITEMS];
     uint8_t powerTrigger1;                  // trigger for alarm based on power consumption
+    uint8_t vbatscale;                      // adjust this to match battery voltage to reported value
     
     // Radio/ESC-related configuration
     uint8_t deadband;                       // introduce a deadband around the stick center. Must be greater than zero
     uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
+    uint16_t mincheck;                      // minimum rc end
+    uint16_t maxcheck;                      // maximum rc end
     uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
     uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs