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Launch Control

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Adds a race start assistance system that allows the pilot to pitch forward and then release the sticks with the quad holding position for the race start.
This commit is contained in:
Bruce Luckcuck 2018-10-09 19:25:59 -04:00
parent 8609346f21
commit e4dc93b128
14 changed files with 377 additions and 17 deletions
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63
src/main/cms/cms_menu_imu.c
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@ -42,6 +42,7 @@
#include "pg/pg.h"
#include "fc/config.h"
#include "fc/core.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
@ -243,6 +244,64 @@ static CMS_Menu cmsx_menuRateProfile = {
.entries = cmsx_menuRateProfileEntries
};
#ifdef USE_LAUNCH_CONTROL
static uint8_t cmsx_launchControlMode;
static uint8_t cmsx_launchControlTriggerMode;
static uint8_t cmsx_launchControlThrottlePct;
static uint8_t cmsx_launchControlAngleLimit;
static uint8_t cmsx_launchControlGain;
static long cmsx_launchControlOnEnter(void)
{
const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
cmsx_launchControlMode = pidProfile->launchControlMode;
cmsx_launchControlTriggerMode = pidProfile->launchControlTriggerMode;
cmsx_launchControlThrottlePct = pidProfile->launchControlThrottlePct;
cmsx_launchControlAngleLimit = pidProfile->launchControlAngleLimit;
cmsx_launchControlGain = pidProfile->launchControlGain;
return 0;
}
static long cmsx_launchControlOnExit(const OSD_Entry *self)
{
UNUSED(self);
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidProfile->launchControlMode = cmsx_launchControlMode;
pidProfile->launchControlTriggerMode = cmsx_launchControlTriggerMode;
pidProfile->launchControlThrottlePct = cmsx_launchControlThrottlePct;
pidProfile->launchControlAngleLimit = cmsx_launchControlAngleLimit;
pidProfile->launchControlGain = cmsx_launchControlGain;
return 0;
}
static OSD_Entry cmsx_menuLaunchControlEntries[] = {
{ "-- LAUNCH CONTROL --", OME_Label, NULL, pidProfileIndexString, 0 },
{ "MODE", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_launchControlMode, LAUNCH_CONTROL_MODE_COUNT - 1, osdLaunchControlModeNames}, 0 },
{ "TRIGGER MODE", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_launchControlTriggerMode, LAUNCH_CONTROL_TRIGGER_MODE_COUNT - 1, osdLaunchControlTriggerModeNames}, 0 },
{ "TRIGGER THROTTLE", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlThrottlePct, 0, 50, 1 } , 0 },
{ "ANGLE LIMIT", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlAngleLimit, 0, 80, 1 } , 0 },
{ "ITERM GAIN", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlGain, 0, 200, 1 } , 0 },
{ "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 }
};
static CMS_Menu cmsx_menuLaunchControl = {
#ifdef CMS_MENU_DEBUG
.GUARD_text = "LAUNCH",
.GUARD_type = OME_MENU,
#endif
.onEnter = cmsx_launchControlOnEnter,
.onExit = cmsx_launchControlOnExit,
.entries = cmsx_menuLaunchControlEntries,
};
#endif
static uint8_t cmsx_feedForwardTransition;
static uint8_t cmsx_angleStrength;
static uint8_t cmsx_horizonStrength;
@ -303,6 +362,10 @@ static OSD_Entry cmsx_menuProfileOtherEntries[] = {
#ifdef USE_THROTTLE_BOOST
{ "THR BOOST", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_throttleBoost, 0, 100, 1 } , 0 },
#endif
#ifdef USE_LAUNCH_CONTROL
{"LAUNCH CONTROL", OME_Submenu, cmsMenuChange, &cmsx_menuLaunchControl, 0 },
#endif
{ "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 }