mirror of
https://github.com/betaflight/betaflight.git
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merged in mwii2.3 generic servo handler. completely untested.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@434 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com
parent
37b73a057b
commit
9ebd82c5ef
7 changed files with 83 additions and 119 deletions
21
src/cli.c
21
src/cli.c
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@ -150,28 +150,7 @@ const clivalue_t valueTable[] = {
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{ "rssi_aux_channel", VAR_INT8, &mcfg.rssi_aux_channel, 0, 4 },
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{ "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
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{ "tri_unarmed_servo", VAR_INT8, &cfg.tri_unarmed_servo, 0, 1 },
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{ "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 },
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{ "tri_yaw_min", VAR_UINT16, &cfg.tri_yaw_min, 0, 2000 },
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{ "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },
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{ "wing_left_min", VAR_UINT16, &cfg.wing_left_min, 0, 2000 },
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{ "wing_left_mid", VAR_UINT16, &cfg.wing_left_mid, 0, 2000 },
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{ "wing_left_max", VAR_UINT16, &cfg.wing_left_max, 0, 2000 },
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{ "wing_right_min", VAR_UINT16, &cfg.wing_right_min, 0, 2000 },
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{ "wing_right_mid", VAR_UINT16, &cfg.wing_right_mid, 0, 2000 },
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{ "wing_right_max", VAR_UINT16, &cfg.wing_right_max, 0, 2000 },
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{ "pitch_direction_l", VAR_INT8, &cfg.pitch_direction_l, -1, 1 },
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{ "pitch_direction_r", VAR_INT8, &cfg.pitch_direction_r, -1, 1 },
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{ "roll_direction_l", VAR_INT8, &cfg.roll_direction_l, -1, 1 },
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{ "roll_direction_r", VAR_INT8, &cfg.roll_direction_r, -1, 1 },
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{ "gimbal_flags", VAR_UINT8, &cfg.gimbal_flags, 0, 255},
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{ "gimbal_pitch_gain", VAR_INT8, &cfg.gimbal_pitch_gain, -100, 100 },
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{ "gimbal_roll_gain", VAR_INT8, &cfg.gimbal_roll_gain, -100, 100 },
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{ "gimbal_pitch_min", VAR_UINT16, &cfg.gimbal_pitch_min, 100, 3000 },
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{ "gimbal_pitch_max", VAR_UINT16, &cfg.gimbal_pitch_max, 100, 3000 },
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{ "gimbal_pitch_mid", VAR_UINT16, &cfg.gimbal_pitch_mid, 100, 3000 },
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{ "gimbal_roll_min", VAR_UINT16, &cfg.gimbal_roll_min, 100, 3000 },
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{ "gimbal_roll_max", VAR_UINT16, &cfg.gimbal_roll_max, 100, 3000 },
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{ "gimbal_roll_mid", VAR_UINT16, &cfg.gimbal_roll_mid, 100, 3000 },
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{ "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 },
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{ "accxy_deadband", VAR_UINT8, &cfg.accxy_deadband, 0, 100 },
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{ "accz_deadband", VAR_UINT8, &cfg.accz_deadband, 0, 100 },
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26
src/config.c
26
src/config.c
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@ -13,7 +13,7 @@ master_t mcfg; // master config struct with data independent from profiles
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config_t cfg; // profile config struct
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const char rcChannelLetters[] = "AERT1234";
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static const uint8_t EEPROM_CONF_VERSION = 51;
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static const uint8_t EEPROM_CONF_VERSION = 52;
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static uint32_t enabledSensors = 0;
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static void resetConf(void);
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@ -83,7 +83,6 @@ void readEEPROM(void)
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lookupThrottleRC[i] = mcfg.minthrottle + (int32_t) (mcfg.maxthrottle - mcfg.minthrottle) * lookupThrottleRC[i] / 1000; // [0;1000] -> [MINTHROTTLE;MAXTHROTTLE]
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}
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cfg.tri_yaw_middle = constrain(cfg.tri_yaw_middle, cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
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setPIDController(cfg.pidController);
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GPS_set_pids();
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}
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@ -286,32 +285,9 @@ static void resetConf(void)
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cfg.yaw_direction = 1;
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cfg.tri_unarmed_servo = 1;
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cfg.tri_yaw_middle = 1500;
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cfg.tri_yaw_min = 1020;
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cfg.tri_yaw_max = 2000;
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// flying wing
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cfg.wing_left_min = 1020;
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cfg.wing_left_mid = 1500;
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cfg.wing_left_max = 2000;
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cfg.wing_right_min = 1020;
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cfg.wing_right_mid = 1500;
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cfg.wing_right_max = 2000;
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cfg.pitch_direction_l = 1;
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cfg.pitch_direction_r = -1;
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cfg.roll_direction_l = 1;
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cfg.roll_direction_r = 1;
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// gimbal
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cfg.gimbal_pitch_gain = 10;
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cfg.gimbal_roll_gain = 10;
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cfg.gimbal_flags = GIMBAL_NORMAL;
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cfg.gimbal_pitch_min = 1020;
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cfg.gimbal_pitch_max = 2000;
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cfg.gimbal_pitch_mid = 1500;
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cfg.gimbal_roll_min = 1020;
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cfg.gimbal_roll_max = 2000;
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cfg.gimbal_roll_mid = 1500;
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// gps/nav stuff
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cfg.gps_wp_radius = 200;
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@ -81,6 +81,8 @@ int main(void)
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pwmInit(&pwm_params);
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// configure PWM/CPPM read function and max number of channels. spektrum or sbus below will override both of these, if enabled
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for (i = 0; i < RC_CHANS; i++)
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rcData[i] = 1502;
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rcReadRawFunc = pwmReadRawRC;
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core.numRCChannels = MAX_INPUTS;
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82
src/mixer.c
82
src/mixer.c
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@ -3,7 +3,7 @@
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static uint8_t numberMotor = 0;
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int16_t motor[MAX_MOTORS];
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int16_t servo[8] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
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int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
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static motorMixer_t currentMixer[MAX_MOTORS];
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@ -130,6 +130,30 @@ const mixer_t mixers[] = {
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{ 0, 0, NULL }, // MULTITYPE_CUSTOM
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};
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int16_t servoMiddle(int nr)
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{
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// Normally, servo.middle is a value between 1000..2000, but for the purposes of stupid, if it's less than
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// the number of RC channels, it means the center value is taken FROM that RC channel (by its index)
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if (cfg.servoConf[nr].middle < RC_CHANS && nr < MAX_SERVOS)
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return rcData[cfg.servoConf[nr].middle];
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else
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return cfg.servoConf[nr].middle;
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}
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int servoDirection(int nr, int lr)
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{
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// servo.rate is overloaded for servos that don't have a rate, but only need direction
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// bit set = negative, clear = positive
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// rate[2] = ???_direction
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// rate[1] = roll_direction
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// rate[0] = pitch_direction
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// servo.rate is also used as gimbal gain multiplier (yeah)
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if (cfg.servoConf[nr].rate & lr)
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return -1;
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else
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return 1;
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}
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void mixerInit(void)
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{
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int i;
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@ -319,17 +343,17 @@ void mixTable(void)
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// airplane / servo mixes
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switch (mcfg.mixerConfiguration) {
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case MULTITYPE_BI:
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servo[4] = constrain(1500 + (-cfg.yaw_direction * axisPID[YAW]) + axisPID[PITCH], 1020, 2000); //LEFT
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servo[5] = constrain(1500 + (-cfg.yaw_direction * axisPID[YAW]) - axisPID[PITCH], 1020, 2000); //RIGHT
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servo[4] = (servoDirection(4, 2) * axisPID[YAW]) + (servoDirection(4, 1) * axisPID[PITCH]) + servoMiddle(4); // LEFT
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servo[5] = (servoDirection(5, 2) * axisPID[YAW]) + (servoDirection(5, 1) * axisPID[PITCH]) + servoMiddle(5); // RIGHT
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break;
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case MULTITYPE_TRI:
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servo[5] = constrain(cfg.tri_yaw_middle + -cfg.yaw_direction * axisPID[YAW], cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
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servo[5] = (servoDirection(5, 1) * axisPID[YAW]) + servoMiddle(5); // REAR
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break;
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case MULTITYPE_GIMBAL:
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servo[0] = constrain(cfg.gimbal_pitch_mid + cfg.gimbal_pitch_gain * angle[PITCH] / 16 + rcCommand[PITCH], cfg.gimbal_pitch_min, cfg.gimbal_pitch_max);
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servo[1] = constrain(cfg.gimbal_roll_mid + cfg.gimbal_roll_gain * angle[ROLL] / 16 + rcCommand[ROLL], cfg.gimbal_roll_min, cfg.gimbal_roll_max);
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servo[0] = (((int32_t)cfg.servoConf[0].rate * angle[PITCH]) / 50) + servoMiddle(0);
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servo[1] = (((int32_t)cfg.servoConf[1].rate * angle[ROLL]) / 50) + servoMiddle(1);
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break;
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case MULTITYPE_AIRPLANE:
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@ -337,47 +361,47 @@ void mixTable(void)
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break;
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case MULTITYPE_FLYING_WING:
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motor[0] = rcCommand[THROTTLE];
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if (!f.ARMED)
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servo[7] = mcfg.mincommand;
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else
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servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle);
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motor[0] = servo[7];
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if (f.PASSTHRU_MODE) {
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// do not use sensors for correction, simple 2 channel mixing
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servo[0] = cfg.pitch_direction_l * (rcData[PITCH] - mcfg.midrc) + cfg.roll_direction_l * (rcData[ROLL] - mcfg.midrc);
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servo[1] = cfg.pitch_direction_r * (rcData[PITCH] - mcfg.midrc) + cfg.roll_direction_r * (rcData[ROLL] - mcfg.midrc);
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servo[3] = (servoDirection(3, 1) * rcCommand[PITCH]) + (servoDirection(3, 2) * rcCommand[ROLL]);
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servo[4] = (servoDirection(4, 1) * rcCommand[PITCH]) + (servoDirection(4, 2) * rcCommand[ROLL]);
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} else {
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// use sensors to correct (gyro only or gyro + acc)
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servo[0] = cfg.pitch_direction_l * axisPID[PITCH] + cfg.roll_direction_l * axisPID[ROLL];
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servo[1] = cfg.pitch_direction_r * axisPID[PITCH] + cfg.roll_direction_r * axisPID[ROLL];
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servo[3] = (servoDirection(3, 1) * axisPID[PITCH]) + (servoDirection(3, 2) * axisPID[ROLL]);
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servo[4] = (servoDirection(4, 1) * axisPID[PITCH]) + (servoDirection(4, 2) * axisPID[ROLL]);
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}
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servo[0] = constrain(servo[0] + cfg.wing_left_mid, cfg.wing_left_min, cfg.wing_left_max);
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servo[1] = constrain(servo[1] + cfg.wing_right_mid, cfg.wing_right_min, cfg.wing_right_max);
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servo[3] += servoMiddle(3);
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servo[4] += servoMiddle(4);
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break;
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}
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// do camstab
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if (feature(FEATURE_SERVO_TILT)) {
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uint16_t aux[2] = { 0, 0 };
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if ((cfg.gimbal_flags & GIMBAL_NORMAL) || (cfg.gimbal_flags & GIMBAL_TILTONLY))
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aux[0] = rcData[AUX3] - mcfg.midrc;
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if (!(cfg.gimbal_flags & GIMBAL_DISABLEAUX34))
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aux[1] = rcData[AUX4] - mcfg.midrc;
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servo[0] = cfg.gimbal_pitch_mid + aux[0];
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servo[1] = cfg.gimbal_roll_mid + aux[1];
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// center at fixed position, or vary either pitch or roll by RC channel
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servo[0] = servoMiddle(0);
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servo[1] = servoMiddle(1);
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if (rcOptions[BOXCAMSTAB]) {
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if (cfg.gimbal_flags & GIMBAL_MIXTILT) {
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servo[0] -= (-cfg.gimbal_pitch_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16;
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servo[1] += (-cfg.gimbal_pitch_gain) * angle[PITCH] / 16 + cfg.gimbal_roll_gain * angle[ROLL] / 16;
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servo[0] -= (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 - (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50;
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servo[1] += (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 + (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50;
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} else {
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servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16;
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servo[1] += cfg.gimbal_roll_gain * angle[ROLL] / 16;
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servo[0] += (int32_t)cfg.servoConf[0].rate * angle[PITCH] / 50;
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servo[1] += (int32_t)cfg.servoConf[0].rate * angle[ROLL] / 50;
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}
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}
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servo[0] = constrain(servo[0], cfg.gimbal_pitch_min, cfg.gimbal_pitch_max);
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servo[1] = constrain(servo[1], cfg.gimbal_roll_min, cfg.gimbal_roll_max);
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}
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// constrain servos
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for (i = 0; i < MAX_SERVOS; i++)
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servo[i] = constrain(servo[i], cfg.servoConf[i].min, cfg.servoConf[i].max); // limit the values
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// forward AUX1-4 to servo outputs (not constrained)
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if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) {
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int offset = 0;
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if (feature(FEATURE_SERVO_TILT))
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5
src/mw.c
5
src/mw.c
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@ -16,7 +16,7 @@ int16_t telemTemperature1; // gyro sensor temperature
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int16_t failsafeCnt = 0;
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int16_t failsafeEvents = 0;
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int16_t rcData[8] = { 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502 }; // interval [1000;2000]
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int16_t rcData[RC_CHANS]; // interval [1000;2000]
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int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
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int16_t lookupPitchRollRC[6]; // lookup table for expo & RC rate PITCH+ROLL
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int16_t lookupThrottleRC[11]; // lookup table for expo & mid THROTTLE
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@ -802,9 +802,6 @@ void loop(void)
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currentTime = micros();
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cycleTime = (int32_t)(currentTime - previousTime);
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previousTime = currentTime;
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#ifdef MPU6050_DMP
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mpu6050DmpLoop();
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#endif
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#ifdef MAG
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if (sensors(SENSOR_MAG)) {
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39
src/mw.h
39
src/mw.h
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@ -4,11 +4,13 @@
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#define VBATFREQ 6 // to read battery voltage - nth number of loop iterations
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#define BARO_TAB_SIZE_MAX 48
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#define VERSION 220
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#define VERSION 230
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#define LAT 0
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#define LON 1
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#define RC_CHANS (18)
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// Serial GPS only variables
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// navigation mode
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typedef enum NavigationMode
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@ -44,10 +46,8 @@ typedef enum MultiType
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typedef enum GimbalFlags {
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GIMBAL_NORMAL = 1 << 0,
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GIMBAL_TILTONLY = 1 << 1,
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GIMBAL_DISABLEAUX34 = 1 << 2,
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GIMBAL_FORWARDAUX = 1 << 3,
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GIMBAL_MIXTILT = 1 << 4,
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GIMBAL_MIXTILT = 1 << 1,
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GIMBAL_FORWARDAUX = 1 << 2,
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} GimbalFlags;
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/*********** RC alias *****************/
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@ -194,33 +194,9 @@ typedef struct config_t {
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// mixer-related configuration
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int8_t yaw_direction;
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uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed
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uint16_t tri_yaw_middle; // tail servo center pos. - use this for initial trim
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uint16_t tri_yaw_min; // tail servo min
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uint16_t tri_yaw_max; // tail servo max
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// flying wing related configuration
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uint16_t wing_left_min; // min/mid/max servo travel
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uint16_t wing_left_mid;
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uint16_t wing_left_max;
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uint16_t wing_right_min;
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uint16_t wing_right_mid;
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uint16_t wing_right_max;
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int8_t pitch_direction_l; // left servo - pitch orientation
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int8_t pitch_direction_r; // right servo - pitch orientation (opposite sign to pitch_direction_l if servos are mounted mirrored)
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int8_t roll_direction_l; // left servo - roll orientation
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int8_t roll_direction_r; // right servo - roll orientation (same sign as ROLL_DIRECTION_L, if servos are mounted in mirrored orientation)
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// gimbal-related configuration
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int8_t gimbal_pitch_gain; // gimbal pitch servo gain (tied to angle) can be negative to invert movement
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int8_t gimbal_roll_gain; // gimbal roll servo gain (tied to angle) can be negative to invert movement
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uint8_t gimbal_flags; // in servotilt mode, various things that affect stuff
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uint16_t gimbal_pitch_min; // gimbal pitch servo min travel
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uint16_t gimbal_pitch_max; // gimbal pitch servo max travel
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uint16_t gimbal_pitch_mid; // gimbal pitch servo neutral value
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uint16_t gimbal_roll_min; // gimbal roll servo min travel
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uint16_t gimbal_roll_max; // gimbal roll servo max travel
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uint16_t gimbal_roll_mid; // gimbal roll servo neutral value
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// gps-related stuff
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uint16_t gps_wp_radius; // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
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@ -305,6 +281,7 @@ typedef struct core_t {
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serialPort_t *telemport;
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serialPort_t *rcvrport;
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bool useServo;
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uint8_t numRCChannels;
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} core_t;
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@ -362,8 +339,8 @@ extern int16_t throttleAngleCorrection;
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extern int16_t headFreeModeHold;
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extern int16_t heading, magHold;
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extern int16_t motor[MAX_MOTORS];
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extern int16_t servo[8];
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extern int16_t rcData[8];
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extern int16_t servo[MAX_SERVOS];
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extern int16_t rcData[RC_CHANS];
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extern uint16_t rssi; // range: [0;1023]
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extern uint8_t vbat;
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extern int16_t telemTemperature1; // gyro sensor temperature
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27
src/serial.c
27
src/serial.c
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@ -149,7 +149,6 @@ static const char pidnames[] =
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static uint8_t checksum, indRX, inBuf[INBUF_SIZE];
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||||
static uint8_t cmdMSP;
|
||||
static bool guiConnected = false;
|
||||
// signal that we're in cli mode
|
||||
uint8_t cliMode = 0;
|
||||
|
||||
|
|
@ -468,17 +467,28 @@ static void evaluateCommand(void)
|
|||
serialize16(magADC[i]);
|
||||
break;
|
||||
case MSP_SERVO:
|
||||
headSerialReply(16);
|
||||
for (i = 0; i < 8; i++)
|
||||
serialize16(servo[i]);
|
||||
s_struct((uint8_t *)&servo, 16);
|
||||
break;
|
||||
case MSP_SERVO_CONF:
|
||||
s_struct((uint8_t *)&cfg.servoConf, 56); // struct servoConf is 7 bytes length: min:2 / max:2 / middle:2 / rate:1 ---- 8 servo => 8x7 = 56
|
||||
headSerialReply(56);
|
||||
for (i = 0; i < MAX_SERVOS; i++) {
|
||||
serialize16(cfg.servoConf[i].min);
|
||||
serialize16(cfg.servoConf[i].max);
|
||||
serialize16(cfg.servoConf[i].middle);
|
||||
serialize8(cfg.servoConf[i].rate);
|
||||
}
|
||||
break;
|
||||
case MSP_SET_SERVO_CONF:
|
||||
headSerialReply(0);
|
||||
for (i = 0; i < MAX_SERVOS; i++) {
|
||||
cfg.servoConf[i].min = read16();
|
||||
cfg.servoConf[i].max = read16();
|
||||
cfg.servoConf[i].middle = read16();
|
||||
cfg.servoConf[i].rate = read8();
|
||||
}
|
||||
break;
|
||||
case MSP_MOTOR:
|
||||
headSerialReply(16);
|
||||
for (i = 0; i < 8; i++)
|
||||
serialize16(motor[i]);
|
||||
s_struct((uint8_t *)motor, 16);
|
||||
break;
|
||||
case MSP_RC:
|
||||
headSerialReply(16);
|
||||
|
|
@ -718,7 +728,6 @@ void serialCom(void)
|
|||
indRX = 0;
|
||||
checksum ^= c;
|
||||
c_state = HEADER_SIZE; // the command is to follow
|
||||
guiConnected = true;
|
||||
} else if (c_state == HEADER_SIZE) {
|
||||
cmdMSP = c;
|
||||
checksum ^= c;
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue