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synced with mwc 2.1. it's suprising how many "new" things in 2.1 didn't actually matter on a real platform.

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removed camtrig stuff since it wasnt possible. somewhat replaced with aux forwarding (see below)
2.1 buzzer code changed, untested.
removed flying wing mixer. nobody used that. 
added alt_hold_throttle_neutral, nav_slew_rate and looptime configuration to cli. default looptime set to 3000. changed default gyro_cmpf to 400 to sync with 2.1.
increased bmp085 oversampling
added gimbal_flags (bit 4 set) flag which, in PPM mode, forwards AUX1..4 to the lower 4 PWM outputs instead of using them as motors. set gimbal_flags=8 to test it out. output is fixed to 50Hz.
merged 2.1 gps changes (not many)
casting in gyro smoothing (nobody uses that anyway)
calibrate accel in gimbal mode, set smallangle in gyro-only mode
vtail4 mixer fix
flight tested on quadx w/ppm.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@182 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-07-20 14:53:15 +00:00
parent e70d7b5d16
commit c98113b82c
19 changed files with 5363 additions and 5696 deletions
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51
src/mixer.c
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@ -12,7 +12,7 @@ void mixerInit(void)
if (cfg.mixerConfiguration == MULTITYPE_BI || cfg.mixerConfiguration == MULTITYPE_TRI || cfg.mixerConfiguration == MULTITYPE_GIMBAL || cfg.mixerConfiguration == MULTITYPE_FLYING_WING)
useServo = 1;
// if we want camstab/trig, that also enabled servos. this is kinda lame. maybe rework feature bits later.
if (feature(FEATURE_SERVO_TILT) || feature(FEATURE_CAMTRIG))
if (feature(FEATURE_SERVO_TILT))
useServo = 1;
switch (cfg.mixerConfiguration) {
@ -98,12 +98,9 @@ void mixTable(void)
{
int16_t maxMotor;
uint32_t i;
static uint8_t camCycle = 0;
static uint8_t camState = 0;
static uint32_t camTime = 0;
if (numberMotor > 3) {
//prevent "yaw jump" during yaw correction
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW]));
}
@ -214,9 +211,9 @@ void mixTable(void)
break;
case MULTITYPE_VTAIL4:
motor[0] = PIDMIX(+0, +1, -1 / 2); //REAR_R
motor[0] = PIDMIX(+0, +1, +1); //REAR_R
motor[1] = PIDMIX(-1, -1, +0); //FRONT_R
motor[2] = PIDMIX(+0, +1, +1 / 2); //REAR_L
motor[2] = PIDMIX(+0, +1, -1); //REAR_L
motor[3] = PIDMIX(+1, -1, -0); //FRONT_L
break;
@ -224,19 +221,6 @@ void mixTable(void)
servo[0] = constrain(cfg.gimbal_pitch_mid + cfg.gimbal_pitch_gain * angle[PITCH] / 16 + rcCommand[PITCH], cfg.gimbal_pitch_min, cfg.gimbal_pitch_max);
servo[1] = constrain(cfg.gimbal_roll_mid + cfg.gimbal_roll_gain * angle[ROLL] / 16 + rcCommand[ROLL], cfg.gimbal_roll_min, cfg.gimbal_roll_max);
break;
case MULTITYPE_FLYING_WING:
motor[0] = rcCommand[THROTTLE];
if (f.PASSTHRU_MODE) { // do not use sensors for correction, simple 2 channel mixing
servo[0] = PITCH_DIRECTION_L * (rcData[PITCH] - cfg.midrc) + ROLL_DIRECTION_L * (rcData[ROLL] - cfg.midrc);
servo[1] = PITCH_DIRECTION_R * (rcData[PITCH] - cfg.midrc) + ROLL_DIRECTION_R * (rcData[ROLL] - cfg.midrc);
} else { // use sensors to correct (gyro only or gyro+acc according to aux1/aux2 configuration
servo[0] = PITCH_DIRECTION_L * axisPID[PITCH] + ROLL_DIRECTION_L * axisPID[ROLL];
servo[1] = PITCH_DIRECTION_R * axisPID[PITCH] + ROLL_DIRECTION_R * axisPID[ROLL];
}
servo[0] = constrain(servo[0] + cfg.wing_left_mid , WING_LEFT_MIN, WING_LEFT_MAX);
servo[1] = constrain(servo[1] + cfg.wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX);
break;
}
// do camstab
@ -260,29 +244,10 @@ void mixTable(void)
servo[1] = constrain(servo[1], cfg.gimbal_roll_min, cfg.gimbal_roll_max);
}
// do camtrig (this doesn't actually work)
if (feature(FEATURE_CAMTRIG)) {
if (camCycle == 1) {
if (camState == 0) {
servo[2] = CAM_SERVO_HIGH;
camState = 1;
camTime = millis();
} else if (camState == 1) {
if ((millis() - camTime) > CAM_TIME_HIGH) {
servo[2] = CAM_SERVO_LOW;
camState = 2;
camTime = millis();
}
} else { //camState ==2
if ((millis() - camTime) > CAM_TIME_LOW) {
camState = 0;
camCycle = 0;
}
}
}
if (rcOptions[BOXCAMTRIG])
camCycle = 1;
}
if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) {
for (i = 0; i < 4; i++)
pwmWrite(6 + i, rcData[AUX1 + i]);
}
maxMotor = motor[0];
for (i = 1; i < numberMotor; i++)