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merge upstream into sirinfpv branch

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This commit is contained in:
Evgeny Sychov 2016-06-10 19:42:54 -07:00
commit eb5963809d
77 changed files with 3017 additions and 946 deletions
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20
src/main/io/serial_msp.c
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@ -60,6 +60,7 @@
#include "io/transponder_ir.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/osd.h"
#include "io/vtx.h"
#include "telemetry/telemetry.h"
@ -127,7 +128,7 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.mag_hardware = 1;
masterConfig.pid_process_denom = 2;
} else if (looptime < 375) {
#if defined(LUX_RACE) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(ALIENFLIGHTF3) || defined(SPRACINGF3EVO) || defined(DOGE)
#if defined(LUX_RACE) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(ALIENFLIGHTF3) || defined(SPRACINGF3EVO) || defined(DOGE) || defined(FURYF3)
masterConfig.acc_hardware = 0;
#else
masterConfig.acc_hardware = 1;
@ -155,7 +156,7 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.pid_process_denom = 1;
if (currentProfile->pidProfile.pidController == 2) masterConfig.pid_process_denom = 2;
if (looptime < 250) {
masterConfig.pid_process_denom = 3;
masterConfig.pid_process_denom = 4;
} else if (looptime < 375) {
if (currentProfile->pidProfile.pidController == 2) {
masterConfig.pid_process_denom = 3;
@ -174,8 +175,6 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.pid_process_denom = 1;
}
#endif
if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42) && ((masterConfig.gyro_sync_denom * gyroSampleRate) == 125)) masterConfig.pid_process_denom = 3;
}
}
@ -220,8 +219,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXBLACKBOX, "BLACKBOX;", 26 },
{ BOXFAILSAFE, "FAILSAFE;", 27 },
{ BOXAIRMODE, "AIR MODE;", 28 },
{ BOXSUPEREXPO, "SUPER EXPO;", 29 },
{ BOX3DDISABLESWITCH, "DISABLE 3D SWITCH;", 30},
{ BOX3DDISABLESWITCH, "DISABLE 3D SWITCH;", 29},
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -547,8 +545,7 @@ void mspInit(serialConfig_t *serialConfig)
activeBoxIds[activeBoxIdCount++] = BOXHORIZON;
}
activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
activeBoxIds[activeBoxIdCount++] = BOXSUPEREXPO;
if (!feature(FEATURE_AIRMODE)) activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
activeBoxIds[activeBoxIdCount++] = BOX3DDISABLESWITCH;
if (sensors(SENSOR_BARO)) {
@ -654,8 +651,7 @@ static uint32_t packFlightModeFlags(void)
IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |
IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << BOXFAILSAFE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXSUPEREXPO)) << BOXSUPEREXPO;
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE;
for (i = 0; i < activeBoxIdCount; i++) {
int flag = (tmp & (1 << activeBoxIds[i]));
@ -1892,6 +1888,10 @@ void mspProcess(void)
waitForSerialPortToFinishTransmitting(candidatePort->port);
stopMotors();
handleOneshotFeatureChangeOnRestart();
// On real flight controllers, systemReset() will do a soft reset of the device,
// reloading the program. But to support offline testing this flag needs to be
// cleared so that the software doesn't continuously attempt to reboot itself.
isRebootScheduled = false;
systemReset();
}
}