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VTX improvements from iNav.
This commit is contained in:
mikeller
parent
43e6ea31da
commit
b4db764b46
8 changed files with 54 additions and 11 deletions
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@ -279,3 +279,10 @@ Click on a variable to jump to the relevant documentation page.
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| `magzero_x` | Magnetometer calibration X offset | -32768 | 32767 | 0 | Master | INT16 |
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| `magzero_y` | Magnetometer calibration Y offset | -32768 | 32767 | 0 | Master | INT16 |
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| `magzero_z` | Magnetometer calibration Z offset | -32768 | 32767 | 0 | Master | INT16 |
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| `vtx_band` | Configure the VTX band. Set to zero to use `vtx_freq`. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race. | 0 | 5 | 4 | Master | UINT8 |
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| `vtx_channel` | Channel to use within the configured `vtx_band`. Valid values are [1, 8]. | 1 | 8 | 1 | Master | UINT8 |
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| `vtx_freq` | Set the VTX frequency using raw MHz. This parameter is ignored unless `vtx_band` is 0. | 0 | 5900 | 5740 | Master | UINT16 |
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| `vtx_halfduplex` | Use half duplex UART to communicate with the VTX, using only a TX pin in the FC. | OFF | ON | ON | Master | UINT8 |
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| `vtx_low_power_disarm` | When the craft is disarmed, set the VTX to its lowest power. `ON` will set the power to its minimum value on startup, increase it to `vtx_power` when arming and change it back to its lowest setting after disarming. `UNTIL_FIRST_ARM` will start with minimum power, but once the craft is armed it will increase to `vtx_power` and it will never decrease until the craft is power cycled. | | | OFF | Master | UINT8 |
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| `vtx_pit_mode_freq` | Frequency to use (in MHz) when the VTX is in pit mode. | 0 | 5900 | 0 | Master | UINT16 |
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| `vtx_power` | VTX RF power level to use. The exact number of mw depends on the VTX hardware. | 0 | 3 | 1 | Master | UINT8 |
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@ -57,6 +57,15 @@ vtxDevType_e vtxCommonGetDeviceType(const vtxDevice_t *vtxDevice)
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return vtxDevice->vTable->getDeviceType(vtxDevice);
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}
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bool vtxCommonDeviceIsReady(const vtxDevice_t *vtxDevice)
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{
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if (vtxDevice && vtxDevice->vTable->isReady) {
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return vtxDevice->vTable->isReady(vtxDevice);
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}
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return false;
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}
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void vtxCommonProcess(vtxDevice_t *vtxDevice, timeUs_t currentTimeUs)
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{
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if (vtxDevice) {
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@ -40,7 +40,6 @@
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#define VTX_SETTINGS_DEFAULT_CHANNEL 1
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#define VTX_SETTINGS_DEFAULT_FREQ 5740
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#define VTX_SETTINGS_DEFAULT_PITMODE_FREQ 0
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#define VTX_SETTINGS_DEFAULT_LOW_POWER_DISARM 0
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#define VTX_SETTINGS_MAX_FREQUENCY_MHZ 5999 //max freq (in MHz) for 'vtx_freq' setting
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@ -167,6 +166,7 @@ vtxDevice_t *vtxCommonDevice(void);
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// VTable functions
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void vtxCommonProcess(vtxDevice_t *vtxDevice, timeUs_t currentTimeUs);
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vtxDevType_e vtxCommonGetDeviceType(const vtxDevice_t *vtxDevice);
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bool vtxCommonDeviceIsReady(const vtxDevice_t *vtxDevice);
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void vtxCommonSetBandAndChannel(vtxDevice_t *vtxDevice, uint8_t band, uint8_t channel);
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void vtxCommonSetPowerByIndex(vtxDevice_t *vtxDevice, uint8_t level);
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void vtxCommonSetPitMode(vtxDevice_t *vtxDevice, uint8_t onoff);
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@ -1363,11 +1363,13 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
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case MSP_VTX_CONFIG:
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{
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const vtxDevice_t *vtxDevice = vtxCommonDevice();
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uint8_t pitmode=0;
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uint8_t pitmode = 0;
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vtxDevType_e vtxType = VTXDEV_UNKNOWN;
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uint8_t deviceIsReady = 0;
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if (vtxDevice) {
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vtxCommonGetPitMode(vtxDevice, &pitmode);
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vtxType = vtxCommonGetDeviceType(vtxDevice);
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deviceIsReady = vtxCommonDeviceIsReady(vtxDevice) ? 1 : 0;
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}
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sbufWriteU8(dst, vtxType);
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sbufWriteU8(dst, vtxSettingsConfig()->band);
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@ -1375,6 +1377,8 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
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sbufWriteU8(dst, vtxSettingsConfig()->power);
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sbufWriteU8(dst, pitmode);
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sbufWriteU16(dst, vtxSettingsConfig()->freq);
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sbufWriteU8(dst, deviceIsReady);
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sbufWriteU8(dst, vtxSettingsConfig()->lowPowerDisarm);
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// future extensions here...
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}
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break;
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@ -2026,18 +2030,19 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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vtxType = vtxCommonGetDeviceType(vtxDevice);
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}
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uint16_t newFrequency = sbufReadU16(src);
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if (newFrequency <= VTXCOMMON_MSP_BANDCHAN_CHKVAL) { //value is band and channel
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if (newFrequency <= VTXCOMMON_MSP_BANDCHAN_CHKVAL) { // Value is band and channel
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const uint8_t newBand = (newFrequency / 8) + 1;
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const uint8_t newChannel = (newFrequency % 8) + 1;
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vtxSettingsConfigMutable()->band = newBand;
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vtxSettingsConfigMutable()->channel = newChannel;
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vtxSettingsConfigMutable()->freq = vtx58_Bandchan2Freq(newBand, newChannel);
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} else { //value is frequency in MHz
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} else if (newFrequency <= VTX_SETTINGS_MAX_FREQUENCY_MHZ) { // Value is frequency in MHz
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vtxSettingsConfigMutable()->band = 0;
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vtxSettingsConfigMutable()->channel = 0;
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vtxSettingsConfigMutable()->freq = newFrequency;
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}
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if (sbufBytesRemaining(src) > 1) {
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if (sbufBytesRemaining(src) >= 2) {
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vtxSettingsConfigMutable()->power = sbufReadU8(src);
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if (vtxType != VTXDEV_UNKNOWN) {
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// Delegate pitmode to vtx directly
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@ -2047,6 +2052,10 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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if (currentPitmode != newPitmode) {
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vtxCommonSetPitMode(vtxDevice, newPitmode);
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}
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if (sbufBytesRemaining(src)) {
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vtxSettingsConfigMutable()->lowPowerDisarm = sbufReadU8(src);
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}
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}
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}
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}
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@ -381,6 +381,12 @@ static const char * const lookupTableDynamicFilterRange[] = {
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};
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#endif // USE_GYRO_DATA_ANALYSE
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#ifdef USE_VTX_COMMON
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static const char * const lookupTableVtxLowPowerDisarm[] = {
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"OFF", "ON", "UNTIL_FIRST_ARM"
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};
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#endif
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#define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
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const lookupTableEntry_t lookupTables[] = {
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@ -474,7 +480,9 @@ const lookupTableEntry_t lookupTables[] = {
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LOOKUP_TABLE_ENTRY(lookupTableDynamicFftLocation),
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LOOKUP_TABLE_ENTRY(lookupTableDynamicFilterRange),
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#endif // USE_GYRO_DATA_ANALYSE
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#ifdef USE_VTX_COMMON
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LOOKUP_TABLE_ENTRY(lookupTableVtxLowPowerDisarm),
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#endif
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};
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#undef LOOKUP_TABLE_ENTRY
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@ -1040,7 +1048,7 @@ const clivalue_t valueTable[] = {
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{ "vtx_band", VAR_UINT8 | MASTER_VALUE, .config.minmax = { VTX_SETTINGS_NO_BAND, VTX_SETTINGS_MAX_BAND }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, band) },
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{ "vtx_channel", VAR_UINT8 | MASTER_VALUE, .config.minmax = { VTX_SETTINGS_MIN_CHANNEL, VTX_SETTINGS_MAX_CHANNEL }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, channel) },
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{ "vtx_power", VAR_UINT8 | MASTER_VALUE, .config.minmax = { VTX_SETTINGS_MIN_POWER, VTX_SETTINGS_POWER_COUNT-1 }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, power) },
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{ "vtx_low_power_disarm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, lowPowerDisarm) },
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{ "vtx_low_power_disarm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_VTX_LOW_POWER_DISARM }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, lowPowerDisarm) },
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#ifdef VTX_SETTINGS_FREQCMD
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{ "vtx_freq", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, VTX_SETTINGS_MAX_FREQUENCY_MHZ }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, freq) },
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{ "vtx_pit_mode_freq", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, VTX_SETTINGS_MAX_FREQUENCY_MHZ }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, pitModeFreq) },
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@ -116,7 +116,9 @@ typedef enum {
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TABLE_DYNAMIC_FFT_LOCATION,
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TABLE_DYNAMIC_FILTER_RANGE,
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#endif // USE_GYRO_DATA_ANALYSE
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#ifdef USE_VTX_COMMON
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TABLE_VTX_LOW_POWER_DISARM,
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#endif
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LOOKUP_TABLE_COUNT
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} lookupTableIndex_e;
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@ -54,7 +54,7 @@ PG_RESET_TEMPLATE(vtxSettingsConfig_t, vtxSettingsConfig,
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.power = VTX_SETTINGS_DEFAULT_POWER,
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.freq = VTX_SETTINGS_DEFAULT_FREQ,
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.pitModeFreq = VTX_SETTINGS_DEFAULT_PITMODE_FREQ,
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.lowPowerDisarm = VTX_SETTINGS_DEFAULT_LOW_POWER_DISARM,
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.lowPowerDisarm = VTX_LOW_POWER_DISARM_OFF,
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);
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typedef enum {
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@ -111,7 +111,9 @@ STATIC_UNIT_TESTED vtxSettingsConfig_t vtxGetSettings(void)
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}
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#endif
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if (!ARMING_FLAG(ARMED) && settings.lowPowerDisarm && !failsafeIsActive()) {
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if (!ARMING_FLAG(ARMED) && !failsafeIsActive() &&
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(settings.lowPowerDisarm == VTX_LOW_POWER_DISARM_ALWAYS ||
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(settings.lowPowerDisarm == VTX_LOW_POWER_DISARM_UNTIL_FIRST_ARM && !ARMING_FLAG(WAS_EVER_ARMED)))) {
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settings.power = VTX_SETTINGS_DEFAULT_POWER;
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}
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@ -26,13 +26,19 @@
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#include "common/time.h"
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#include "pg/pg.h"
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typedef enum {
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VTX_LOW_POWER_DISARM_OFF = 0,
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VTX_LOW_POWER_DISARM_ALWAYS,
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VTX_LOW_POWER_DISARM_UNTIL_FIRST_ARM, // Set low power until arming for the first time
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} vtxLowerPowerDisarm_e;
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typedef struct vtxSettingsConfig_s {
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uint8_t band; // 1=A, 2=B, 3=E, 4=F(Airwaves/Fatshark), 5=Raceband
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uint8_t channel; // 1-8
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uint8_t power; // 0 = lowest
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uint16_t freq; // sets freq in MHz if band=0
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uint16_t pitModeFreq; // sets out-of-range pitmode frequency
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uint8_t lowPowerDisarm; // min power while disarmed
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uint8_t lowPowerDisarm; // min power while disarmed, from vtxLowerPowerDisarm_e
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} vtxSettingsConfig_t;
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PG_DECLARE(vtxSettingsConfig_t, vtxSettingsConfig);
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