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https://github.com/betaflight/betaflight.git
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Merge branch 'master' into patch_v3.1.6
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borisbstyle
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commit
de3d1d527d
197 changed files with 4476 additions and 4008 deletions
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@ -28,6 +28,10 @@
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#include "common/maths.h"
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#include "common/filter.h"
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#include "config/feature.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "drivers/system.h"
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#include "drivers/pwm_output.h"
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@ -46,9 +50,6 @@
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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#include "config/feature.h"
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#include "config/config_master.h"
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#define EXTERNAL_DSHOT_CONVERSION_FACTOR 2
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// (minimum output value(1001) - (minimum input value(48) / conversion factor(2))
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#define EXTERNAL_DSHOT_CONVERSION_OFFSET 977
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@ -62,12 +63,6 @@ static float motorMixRange;
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int16_t motor[MAX_SUPPORTED_MOTORS];
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int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
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static mixerConfig_t *mixerConfig;
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static flight3DConfig_t *flight3DConfig;
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static motorConfig_t *motorConfig;
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static airplaneConfig_t *airplaneConfig;
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rxConfig_t *rxConfig;
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mixerMode_e currentMixerMode;
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static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
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@ -236,8 +231,6 @@ const mixer_t mixers[] = {
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};
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#endif
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static motorMixer_t *customMixers;
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static uint16_t disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
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uint16_t motorOutputHigh, motorOutputLow;
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static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
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@ -254,7 +247,7 @@ float getMotorMixRange()
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bool isMotorProtocolDshot(void) {
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#ifdef USE_DSHOT
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switch(motorConfig->motorPwmProtocol) {
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switch(motorConfig()->dev.motorPwmProtocol) {
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case PWM_TYPE_DSHOT1200:
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case PWM_TYPE_DSHOT600:
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case PWM_TYPE_DSHOT300:
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@ -274,47 +267,31 @@ void initEscEndpoints(void) {
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if (isMotorProtocolDshot()) {
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disarmMotorOutput = DSHOT_DISARM_COMMAND;
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if (feature(FEATURE_3D))
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motorOutputLow = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * motorConfig->digitalIdleOffsetPercent);
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motorOutputLow = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * motorConfig()->digitalIdleOffsetPercent);
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else
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motorOutputLow = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * motorConfig->digitalIdleOffsetPercent);
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motorOutputLow = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * motorConfig()->digitalIdleOffsetPercent);
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motorOutputHigh = DSHOT_MAX_THROTTLE;
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deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_3D_DEADBAND_HIGH) / 100.0f) * motorConfig->digitalIdleOffsetPercent); // TODO - Not working yet !! Mixer requires some throttle rescaling changes
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deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_3D_DEADBAND_HIGH) / 100.0f) * motorConfig()->digitalIdleOffsetPercent); // TODO - Not working yet !! Mixer requires some throttle rescaling changes
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deadbandMotor3dLow = DSHOT_3D_DEADBAND_LOW;
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} else
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#endif
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{
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disarmMotorOutput = (feature(FEATURE_3D)) ? flight3DConfig->neutral3d : motorConfig->mincommand;
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motorOutputLow = motorConfig->minthrottle;
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motorOutputHigh = motorConfig->maxthrottle;
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deadbandMotor3dHigh = flight3DConfig->deadband3d_high;
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deadbandMotor3dLow = flight3DConfig->deadband3d_low;
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disarmMotorOutput = (feature(FEATURE_3D)) ? flight3DConfig()->neutral3d : motorConfig()->mincommand;
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motorOutputLow = motorConfig()->minthrottle;
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motorOutputHigh = motorConfig()->maxthrottle;
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deadbandMotor3dHigh = flight3DConfig()->deadband3d_high;
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deadbandMotor3dLow = flight3DConfig()->deadband3d_low;
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}
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rcCommandThrottleRange = (PWM_RANGE_MAX - rxConfig->mincheck);
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rcCommandThrottleRange3dLow = rxConfig->midrc - rxConfig->mincheck - flight3DConfig->deadband3d_throttle;
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rcCommandThrottleRange3dHigh = PWM_RANGE_MAX - rxConfig->midrc - flight3DConfig->deadband3d_throttle;
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rcCommandThrottleRange = (PWM_RANGE_MAX - rxConfig()->mincheck);
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rcCommandThrottleRange3dLow = rxConfig()->midrc - rxConfig()->mincheck - flight3DConfig()->deadband3d_throttle;
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rcCommandThrottleRange3dHigh = PWM_RANGE_MAX - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
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}
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void mixerUseConfigs(
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flight3DConfig_t *flight3DConfigToUse,
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motorConfig_t *motorConfigToUse,
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mixerConfig_t *mixerConfigToUse,
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airplaneConfig_t *airplaneConfigToUse,
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rxConfig_t *rxConfigToUse)
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{
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flight3DConfig = flight3DConfigToUse;
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motorConfig = motorConfigToUse;
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mixerConfig = mixerConfigToUse;
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airplaneConfig = airplaneConfigToUse;
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rxConfig = rxConfigToUse;
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}
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void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
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void mixerInit(mixerMode_e mixerMode)
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{
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currentMixerMode = mixerMode;
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customMixers = initialCustomMixers;
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initEscEndpoints();
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}
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@ -328,9 +305,9 @@ void mixerConfigureOutput(void)
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// load custom mixer into currentMixer
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for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
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// check if done
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if (customMixers[i].throttle == 0.0f)
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if (customMotorMixer(i)->throttle == 0.0f)
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break;
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currentMixer[i] = customMixers[i];
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currentMixer[i] = *customMotorMixer(i);
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motorCount++;
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}
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} else {
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@ -441,25 +418,25 @@ void mixTable(pidProfile_t *pidProfile)
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// Find min and max throttle based on condition.
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if (feature(FEATURE_3D)) {
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if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
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if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
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if ((rcCommand[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
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if ((rcCommand[THROTTLE] <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) { // Out of band handling
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motorOutputMax = deadbandMotor3dLow;
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motorOutputMin = motorOutputLow;
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throttlePrevious = rcCommand[THROTTLE];
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throttle = rcCommand[THROTTLE] - rxConfig->mincheck;
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throttle = rcCommand[THROTTLE] - rxConfig()->mincheck;
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currentThrottleInputRange = rcCommandThrottleRange3dLow;
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if(isMotorProtocolDshot()) mixerInversion = true;
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} else if (rcCommand[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
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} else if (rcCommand[THROTTLE] >= (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) { // Positive handling
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motorOutputMax = motorOutputHigh;
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motorOutputMin = deadbandMotor3dHigh;
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throttlePrevious = rcCommand[THROTTLE];
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throttle = rcCommand[THROTTLE] - rxConfig->midrc - flight3DConfig->deadband3d_throttle;
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throttle = rcCommand[THROTTLE] - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
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currentThrottleInputRange = rcCommandThrottleRange3dHigh;
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} else if ((throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Deadband handling from negative to positive
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} else if ((throttlePrevious <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) { // Deadband handling from negative to positive
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motorOutputMax = deadbandMotor3dLow;
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motorOutputMin = motorOutputLow;
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throttle = rxConfig->midrc - flight3DConfig->deadband3d_throttle;
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throttle = rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
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currentThrottleInputRange = rcCommandThrottleRange3dLow;
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if(isMotorProtocolDshot()) mixerInversion = true;
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} else { // Deadband handling from positive to negative
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@ -469,7 +446,7 @@ void mixTable(pidProfile_t *pidProfile)
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currentThrottleInputRange = rcCommandThrottleRange3dHigh;
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}
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} else {
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throttle = rcCommand[THROTTLE] - rxConfig->mincheck;
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throttle = rcCommand[THROTTLE] - rxConfig()->mincheck;
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currentThrottleInputRange = rcCommandThrottleRange;
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motorOutputMin = motorOutputLow;
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motorOutputMax = motorOutputHigh;
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@ -485,7 +462,7 @@ void mixTable(pidProfile_t *pidProfile)
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}
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// Calculate voltage compensation
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const float vbatCompensationFactor = (batteryConfig && pidProfile->vbatPidCompensation) ? calculateVbatPidCompensation() : 1.0f;
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const float vbatCompensationFactor = pidProfile->vbatPidCompensation ? calculateVbatPidCompensation() : 1.0f;
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// Find roll/pitch/yaw desired output
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float motorMix[MAX_SUPPORTED_MOTORS];
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@ -494,7 +471,7 @@ void mixTable(pidProfile_t *pidProfile)
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motorMix[i] =
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scaledAxisPIDf[PITCH] * currentMixer[i].pitch +
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scaledAxisPIDf[ROLL] * currentMixer[i].roll +
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scaledAxisPIDf[YAW] * currentMixer[i].yaw * (-mixerConfig->yaw_motor_direction);
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scaledAxisPIDf[YAW] * currentMixer[i].yaw * (-mixerConfig()->yaw_motor_direction);
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if (vbatCompensationFactor > 1.0f) {
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motorMix[i] *= vbatCompensationFactor; // Add voltage compensation
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@ -542,7 +519,7 @@ void mixTable(pidProfile_t *pidProfile)
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// Motor stop handling
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if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D) && !isAirmodeActive()) {
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if (((rcData[THROTTLE]) < rxConfig->mincheck)) {
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if (((rcData[THROTTLE]) < rxConfig()->mincheck)) {
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motor[i] = disarmMotorOutput;
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}
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}
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