mirror of
https://github.com/betaflight/betaflight.git
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merge upstream into sirinfpv branch
This commit is contained in:
Evgeny Sychov
commit
eb5963809d
77 changed files with 3017 additions and 946 deletions
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@ -55,6 +55,7 @@
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#include "io/ledstrip.h"
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#include "io/gps.h"
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#include "io/osd.h"
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#include "io/vtx.h"
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#include "rx/rx.h"
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@ -73,6 +74,10 @@
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#include "config/config_profile.h"
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#include "config/config_master.h"
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#ifndef DEFAULT_RX_FEATURE
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#define DEFAULT_RX_FEATURE FEATURE_RX_PARALLEL_PWM
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#endif
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#define BRUSHED_MOTORS_PWM_RATE 16000
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#define BRUSHLESS_MOTORS_PWM_RATE 400
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@ -125,8 +130,14 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
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#define FLASH_TO_RESERVE_FOR_CONFIG 0x1000
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#endif
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// use the last flash pages for storage
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#ifdef CUSTOM_FLASH_MEMORY_ADDRESS
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size_t custom_flash_memory_address = 0;
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#define CONFIG_START_FLASH_ADDRESS (custom_flash_memory_address)
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#else
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// use the last flash pages for storage
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#define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG))
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#endif
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master_t masterConfig; // master config struct with data independent from profiles
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profile_t *currentProfile;
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@ -135,7 +146,7 @@ static uint32_t activeFeaturesLatch = 0;
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static uint8_t currentControlRateProfileIndex = 0;
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controlRateConfig_t *currentControlRateProfile;
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static const uint8_t EEPROM_CONF_VERSION = 133;
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static const uint8_t EEPROM_CONF_VERSION = 140;
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static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
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{
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@ -149,14 +160,14 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->pidController = 1;
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pidProfile->P8[ROLL] = 45;
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pidProfile->I8[ROLL] = 30;
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pidProfile->D8[ROLL] = 18;
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pidProfile->I8[ROLL] = 40;
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pidProfile->D8[ROLL] = 15;
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pidProfile->P8[PITCH] = 45;
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pidProfile->I8[PITCH] = 30;
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pidProfile->D8[PITCH] = 18;
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pidProfile->I8[PITCH] = 40;
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pidProfile->D8[PITCH] = 15;
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pidProfile->P8[YAW] = 90;
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pidProfile->I8[YAW] = 40;
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pidProfile->D8[YAW] = 0;
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pidProfile->I8[YAW] = 45;
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pidProfile->D8[YAW] = 20;
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pidProfile->P8[PIDALT] = 50;
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pidProfile->I8[PIDALT] = 0;
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pidProfile->D8[PIDALT] = 0;
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@ -178,14 +189,11 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->D8[PIDVEL] = 75;
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pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
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pidProfile->yaw_lpf_hz = 70.0f;
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pidProfile->dterm_differentiator = 1;
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pidProfile->rollPitchItermResetRate = 200;
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pidProfile->rollPitchItermResetAlways = 0;
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pidProfile->yawItermResetRate = 50;
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pidProfile->dterm_lpf_hz = 70.0f; // filtering ON by default
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pidProfile->H_sensitivity = 75; // TODO - Cleanup during next EEPROM changes
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pidProfile->yaw_lpf_hz = 80;
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pidProfile->rollPitchItermIgnoreRate = 200;
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pidProfile->yawItermIgnoreRate = 45;
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pidProfile->dterm_lpf_hz = 110; // filtering ON by default
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pidProfile->dynamic_pid = 1;
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#ifdef GTUNE
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pidProfile->gtune_lolimP[ROLL] = 10; // [0..200] Lower limit of ROLL P during G tune.
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@ -234,6 +242,7 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
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escAndServoConfig->maxthrottle = 1850;
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escAndServoConfig->mincommand = 1000;
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escAndServoConfig->servoCenterPulse = 1500;
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escAndServoConfig->escDesyncProtection = 10000;
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}
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void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
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@ -306,15 +315,16 @@ void resetSerialConfig(serialConfig_t *serialConfig)
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static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
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controlRateConfig->rcRate8 = 100;
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controlRateConfig->rcExpo8 = 60;
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controlRateConfig->rcYawRate8 = 100;
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controlRateConfig->rcExpo8 = 10;
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controlRateConfig->thrMid8 = 50;
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controlRateConfig->thrExpo8 = 0;
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controlRateConfig->dynThrPID = 0;
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controlRateConfig->rcYawExpo8 = 20;
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controlRateConfig->tpa_breakpoint = 1500;
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controlRateConfig->dynThrPID = 20;
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controlRateConfig->rcYawExpo8 = 10;
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controlRateConfig->tpa_breakpoint = 1650;
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for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
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controlRateConfig->rates[axis] = 50;
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controlRateConfig->rates[axis] = 70;
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}
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}
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@ -328,7 +338,6 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
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void resetMixerConfig(mixerConfig_t *mixerConfig) {
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mixerConfig->yaw_motor_direction = 1;
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mixerConfig->yaw_jump_prevention_limit = 200;
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#ifdef USE_SERVOS
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mixerConfig->tri_unarmed_servo = 1;
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mixerConfig->servo_lowpass_freq = 400;
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@ -378,17 +387,12 @@ static void resetConf(void)
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memset(&masterConfig, 0, sizeof(master_t));
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setProfile(0);
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masterConfig.version = EEPROM_CONF_VERSION;
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masterConfig.mixerMode = MIXER_QUADX;
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featureClearAll();
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#if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE) || defined(DOGE)
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featureSet(FEATURE_RX_PPM);
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featureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE | FEATURE_SUPEREXPO_RATES);
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#ifdef DEFAULT_FEATURES
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featureSet(DEFAULT_FEATURES);
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#endif
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//#if defined(SPRACINGF3MINI)
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// featureSet(FEATURE_DISPLAY);
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//#endif
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#ifdef SIRINFPV
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featureSet(FEATURE_OSD);
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featureSet(FEATURE_RX_SERIAL);
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@ -418,18 +422,22 @@ static void resetConf(void)
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featureSet(FEATURE_VBAT);
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#endif
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featureSet(FEATURE_FAILSAFE);
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featureSet(FEATURE_ONESHOT125);
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masterConfig.version = EEPROM_CONF_VERSION;
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masterConfig.mixerMode = MIXER_QUADX;
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// global settings
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masterConfig.current_profile_index = 0; // default profile
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masterConfig.dcm_kp = 2500; // 1.0 * 10000
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masterConfig.dcm_ki = 0; // 0.003 * 10000
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masterConfig.gyro_lpf = 0; // 256HZ default
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#ifdef STM32F10X
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masterConfig.gyro_sync_denom = 8;
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masterConfig.gyro_soft_lpf_hz = 80.0f;
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#else
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masterConfig.gyro_sync_denom = 4;
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#endif
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masterConfig.gyro_soft_lpf_hz = 100;
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masterConfig.pid_process_denom = 1;
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masterConfig.pid_process_denom = 2;
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masterConfig.debug_mode = 0;
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@ -459,7 +467,7 @@ static void resetConf(void)
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masterConfig.rxConfig.spektrum_sat_bind = 0;
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masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
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masterConfig.rxConfig.midrc = 1500;
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masterConfig.rxConfig.mincheck = 1080;
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masterConfig.rxConfig.mincheck = 1100;
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masterConfig.rxConfig.maxcheck = 1900;
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masterConfig.rxConfig.rx_min_usec = 885; // any of first 4 channels below this value will trigger rx loss detection
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masterConfig.rxConfig.rx_max_usec = 2115; // any of first 4 channels above this value will trigger rx loss detection
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@ -476,9 +484,7 @@ static void resetConf(void)
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masterConfig.rxConfig.rcSmoothing = 0;
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masterConfig.rxConfig.fpvCamAngleDegrees = 0;
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masterConfig.rxConfig.max_aux_channel = 6;
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masterConfig.rxConfig.superExpoFactor = 30;
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masterConfig.rxConfig.superExpoFactorYaw = 30;
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masterConfig.rxConfig.superExpoYawMode = 0;
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masterConfig.rxConfig.airModeActivateThreshold = 1350;
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resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
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@ -503,7 +509,8 @@ static void resetConf(void)
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masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
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#endif
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masterConfig.servo_pwm_rate = 50;
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masterConfig.use_oneshot42 = 0;
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masterConfig.fast_pwm_protocol = 1;
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masterConfig.use_unsyncedPwm = 0;
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#ifdef CC3D
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masterConfig.use_buzzer_p6 = 0;
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#endif
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@ -518,11 +525,7 @@ static void resetConf(void)
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resetSerialConfig(&masterConfig.serialConfig);
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#if defined(STM32F10X) && !defined(CC3D)
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masterConfig.emf_avoidance = 1;
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#else
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masterConfig.emf_avoidance = 0;
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#endif
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masterConfig.emf_avoidance = 0; // TODO - needs removal
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resetPidProfile(¤tProfile->pidProfile);
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@ -583,10 +586,17 @@ static void resetConf(void)
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#ifdef LED_STRIP
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applyDefaultColors(masterConfig.colors, CONFIGURABLE_COLOR_COUNT);
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applyDefaultLedStripConfig(masterConfig.ledConfigs);
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masterConfig.ledstrip_visual_beeper = 0;
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#endif
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#ifdef VTX
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masterConfig.vtx_band = 4; //Fatshark/Airwaves
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masterConfig.vtx_channel = 1; //CH1
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masterConfig.vtx_mode = 0; //CH+BAND mode
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masterConfig.vtx_mhz = 5740; //F0
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#endif
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#ifdef SPRACINGF3
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featureSet(FEATURE_BLACKBOX);
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masterConfig.blackbox_device = 1;
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#ifdef TRANSPONDER
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static const uint8_t defaultTransponderData[6] = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC }; // Note, this is NOT a valid transponder code, it's just for testing production hardware
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@ -608,22 +618,18 @@ static void resetConf(void)
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masterConfig.blackbox_rate_denom = 1;
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#endif
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#if defined(FURYF3)
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masterConfig.blackbox_device = 2;
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masterConfig.blackbox_rate_num = 1;
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masterConfig.blackbox_rate_denom = 1;
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#endif
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// alternative defaults settings for COLIBRI RACE targets
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#if defined(COLIBRI_RACE)
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masterConfig.escAndServoConfig.minthrottle = 1025;
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masterConfig.escAndServoConfig.maxthrottle = 1980;
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masterConfig.batteryConfig.vbatmaxcellvoltage = 45;
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masterConfig.batteryConfig.vbatmincellvoltage = 30;
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featureSet(FEATURE_VBAT);
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featureSet(FEATURE_FAILSAFE);
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#endif
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#ifdef SPRACINGF3EVO
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featureSet(FEATURE_TRANSPONDER);
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featureSet(FEATURE_RSSI_ADC);
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featureSet(FEATURE_CURRENT_METER);
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featureSet(FEATURE_TELEMETRY);
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#endif
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// alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets
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@ -647,7 +653,6 @@ static void resetConf(void)
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currentProfile->pidProfile.pidController = 2;
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masterConfig.failsafeConfig.failsafe_delay = 2;
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masterConfig.failsafeConfig.failsafe_off_delay = 0;
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masterConfig.mixerConfig.yaw_jump_prevention_limit = 500;
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currentControlRateProfile->rcRate8 = 100;
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currentControlRateProfile->rates[FD_PITCH] = 20;
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currentControlRateProfile->rates[FD_ROLL] = 20;
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@ -703,6 +708,17 @@ static void resetConf(void)
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masterConfig.customMotorMixer[7].yaw = -1.0f;
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#endif
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// alternative defaults settings for SINGULARITY target
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#if defined(SINGULARITY)
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masterConfig.blackbox_device = 1;
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masterConfig.blackbox_rate_num = 1;
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masterConfig.blackbox_rate_denom = 1;
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masterConfig.batteryConfig.vbatscale = 77;
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masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
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#endif
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// copy first profile into remaining profile
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for (i = 1; i < MAX_PROFILE_COUNT; i++) {
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memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
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@ -744,8 +760,6 @@ static bool isEEPROMContentValid(void)
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void activateControlRateConfig(void)
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{
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generatePitchRollCurve(currentControlRateProfile);
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generateYawCurve(currentControlRateProfile);
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generateThrottleCurve(currentControlRateProfile, &masterConfig.escAndServoConfig);
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}
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@ -818,7 +832,7 @@ void activateConfig(void)
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void validateAndFixConfig(void)
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{
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if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP))) {
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featureSet(FEATURE_RX_PARALLEL_PWM); // Consider changing the default to PPM
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featureSet(FEATURE_RX_PARALLEL_PWM);
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}
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if (featureConfigured(FEATURE_RX_PPM)) {
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@ -1135,12 +1149,12 @@ void setBeeperOffMask(uint32_t mask)
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masterConfig.beeper_off_flags = mask;
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}
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uint32_t getPreferedBeeperOffMask(void)
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uint32_t getPreferredBeeperOffMask(void)
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{
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return masterConfig.prefered_beeper_off_flags;
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return masterConfig.preferred_beeper_off_flags;
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}
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void setPreferedBeeperOffMask(uint32_t mask)
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void setPreferredBeeperOffMask(uint32_t mask)
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{
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masterConfig.prefered_beeper_off_flags = mask;
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masterConfig.preferred_beeper_off_flags = mask;
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}
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