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merge upstream into sirinfpv branch

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This commit is contained in:
Evgeny Sychov 2016-03-20 20:06:53 -07:00
commit 93f8e0dadd
10 changed files with 20 additions and 27 deletions
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2
src/main/config/config.c
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@ -490,7 +490,7 @@ static void resetConf(void)
masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
masterConfig.retarded_arm = 0; // TODO - Cleanup retarded arm support
masterConfig.gyro_cal_on_first_arm = 0; // TODO - Cleanup retarded arm support
masterConfig.disarm_kill_switch = 1;
masterConfig.auto_disarm_delay = 5;
masterConfig.small_angle = 25;

2
src/main/config/config_master.h
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@ -99,7 +99,7 @@ typedef struct master_t {
inputFilteringMode_e inputFilteringMode; // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
uint8_t retarded_arm; // allow disarm/arm on throttle down + roll left/right
uint8_t gyro_cal_on_first_arm; // allow disarm/arm on throttle down + roll left/right
uint8_t disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value
uint8_t auto_disarm_delay; // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
uint8_t small_angle;

3
src/main/config/runtime_config.h
View file

@ -21,7 +21,8 @@
typedef enum {
OK_TO_ARM = (1 << 0),
PREVENT_ARMING = (1 << 1),
ARMED = (1 << 2)
ARMED = (1 << 2),
WAS_EVER_ARMED = (1 << 3)
} armingFlag_e;
extern uint8_t armingFlags;

3
src/main/flight/failsafe.c
View file

@ -172,7 +172,8 @@ void failsafeUpdateState(void)
bool failsafeSwitchIsOn = IS_RC_MODE_ACTIVE(BOXFAILSAFE);
beeperMode_e beeperMode = BEEPER_SILENCE;
if (!receivingRxData) {
// Beep RX lost only if we are not seeing data and we have been armed earlier
if (!receivingRxData && ARMING_FLAG(WAS_EVER_ARMED)) {
beeperMode = BEEPER_RX_LOST;
}

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

@ -311,7 +311,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
gyroError = gyroADC[axis] / 4;
error = rc - gyroError;
errorGyroI[axis] = constrain(errorGyroI[axis] + ((error * (uint16_t)targetPidLooptime) >> 12) , -16000, +16000); // WindUp 16 bits is ok here
errorGyroI[axis] = constrain(errorGyroI[axis] + ((error * (uint16_t)targetPidLooptime) >> 11) , -16000, +16000); // WindUp 16 bits is ok here
if (ABS(gyroADC[axis]) > (640 * 4)) {
errorGyroI[axis] = 0;

17
src/main/io/rc_controls.c
View file

@ -130,7 +130,7 @@ rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig)
return NOT_CENTERED;
}
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch)
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
@ -195,15 +195,6 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
rcDelayCommand = 0; // reset so disarm tone will repeat
}
}
// Disarm on roll (only when retarded_arm is enabled)
if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO)) {
if (ARMING_FLAG(ARMED))
mwDisarm();
else {
beeper(BEEPER_DISARM_REPEAT); // sound tone while stick held
rcDelayCommand = 0; // reset so disarm tone will repeat
}
}
}
if (ARMING_FLAG(ARMED)) {
@ -261,12 +252,6 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
mwArm();
return;
}
if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI)) {
// Arm via ROLL
mwArm();
return;
}
}
if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {

2
src/main/io/rc_controls.h
View file

@ -159,7 +159,7 @@ bool areUsingSticksToArm(void);
bool areSticksInApModePosition(uint16_t ap_mode);
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch);
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);

1
src/main/io/serial_cli.c
View file

@ -587,6 +587,7 @@ const clivalue_t valueTable[] = {
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servo_pwm_rate, .config.minmax = { 50, 498 } },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
{ "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_cal_on_first_arm, .config.lookup = { TABLE_OFF_ON } },
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.auto_disarm_delay, .config.minmax = { 0, 60 } },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.small_angle, .config.minmax = { 0, 180 } },

8
src/main/io/serial_msp.c
View file

@ -881,9 +881,9 @@ static bool processOutCommand(uint8_t cmdMSP)
headSerialReply(3 * PID_ITEM_COUNT);
if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
for (i = 0; i < 3; i++) {
serialize8(constrain(lrintf(currentProfile->pidProfile.P_f[i] * 10.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.P_f[i] * 40.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.I_f[i] * 100.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.D_f[i] * 1000.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.D_f[i] * 4000.0f), 0, 255));
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {
@ -1339,9 +1339,9 @@ static bool processInCommand(void)
case MSP_SET_PID:
if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) {
for (i = 0; i < 3; i++) {
currentProfile->pidProfile.P_f[i] = (float)read8() / 10.0f;
currentProfile->pidProfile.P_f[i] = (float)read8() / 40.0f;
currentProfile->pidProfile.I_f[i] = (float)read8() / 100.0f;
currentProfile->pidProfile.D_f[i] = (float)read8() / 1000.0f;
currentProfile->pidProfile.D_f[i] = (float)read8() / 4000.0f;
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {

7
src/main/mw.c
View file

@ -358,6 +358,10 @@ void releaseSharedTelemetryPorts(void) {
void mwArm(void)
{
if (!ARMING_FLAG(WAS_EVER_ARMED) && masterConfig.gyro_cal_on_first_arm) {
gyroSetCalibrationCycles(calculateCalibratingCycles());
}
if (ARMING_FLAG(OK_TO_ARM)) {
if (ARMING_FLAG(ARMED)) {
return;
@ -367,6 +371,7 @@ void mwArm(void)
}
if (!ARMING_FLAG(PREVENT_ARMING)) {
ENABLE_ARMING_FLAG(ARMED);
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
#ifdef BLACKBOX
@ -545,7 +550,7 @@ void processRx(void)
}
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();