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https://github.com/betaflight/betaflight.git
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Merge branch 'master' into patch_v3.1.4
This commit is contained in:
borisbstyle
GitHub
commit
ecb104b1f1
150 changed files with 3461 additions and 2167 deletions
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@ -29,12 +29,18 @@
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#include "cms/cms.h"
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#include "common/color.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "common/color.h"
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#include "common/filter.h"
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#include "common/maths.h"
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#include "config/config_eeprom.h"
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#include "config/config_master.h"
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#include "config/config_profile.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/sensor.h"
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#include "drivers/accgyro.h"
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#include "drivers/compass.h"
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#include "drivers/io.h"
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@ -45,6 +51,7 @@
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#include "drivers/rx_pwm.h"
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#include "drivers/rx_spi.h"
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#include "drivers/sdcard.h"
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#include "drivers/sensor.h"
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#include "drivers/serial.h"
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#include "drivers/sound_beeper.h"
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#include "drivers/system.h"
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@ -56,42 +63,37 @@
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#include "fc/fc_rc.h"
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#include "fc/runtime_config.h"
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#include "sensors/sensors.h"
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#include "sensors/gyro.h"
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#include "sensors/compass.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#include "sensors/boardalignment.h"
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#include "flight/altitudehold.h"
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#include "flight/failsafe.h"
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#include "flight/imu.h"
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#include "flight/mixer.h"
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#include "flight/navigation.h"
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#include "flight/pid.h"
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#include "flight/servos.h"
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#include "io/beeper.h"
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#include "io/serial.h"
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#include "io/gimbal.h"
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#include "io/motors.h"
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#include "io/servos.h"
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#include "io/ledstrip.h"
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#include "io/gps.h"
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#include "io/ledstrip.h"
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#include "io/motors.h"
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#include "io/osd.h"
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#include "io/serial.h"
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#include "io/servos.h"
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#include "io/vtx.h"
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#include "rx/rx.h"
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#include "rx/rx_spi.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#include "sensors/boardalignment.h"
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#include "sensors/compass.h"
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#include "sensors/gyro.h"
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#include "sensors/sensors.h"
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#include "telemetry/telemetry.h"
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#include "flight/mixer.h"
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#include "flight/servos.h"
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#include "flight/pid.h"
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#include "flight/imu.h"
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#include "flight/failsafe.h"
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#include "flight/altitudehold.h"
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#include "flight/navigation.h"
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#include "config/config_eeprom.h"
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#include "config/config_profile.h"
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#include "config/config_master.h"
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#include "config/feature.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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@ -544,7 +546,7 @@ uint8_t getCurrentProfile(void)
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return masterConfig.current_profile_index;
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}
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void setProfile(uint8_t profileIndex)
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static void setProfile(uint8_t profileIndex)
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{
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currentProfile = &masterConfig.profile[profileIndex];
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currentControlRateProfileIndex = currentProfile->activeRateProfile;
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@ -866,11 +868,14 @@ void createDefaultConfig(master_t *config)
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}
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}
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static void resetConf(void)
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void resetConfigs(void)
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{
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createDefaultConfig(&masterConfig);
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pgResetAll(MAX_PROFILE_COUNT);
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pgActivateProfile(0);
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setProfile(0);
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setControlRateProfile(0);
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#ifdef LED_STRIP
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reevaluateLedConfig();
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@ -883,32 +888,19 @@ void activateConfig(void)
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resetAdjustmentStates();
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useRcControlsConfig(
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modeActivationProfile()->modeActivationConditions,
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&masterConfig.motorConfig,
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¤tProfile->pidProfile
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);
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#ifdef TELEMETRY
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telemetryUseConfig(&masterConfig.telemetryConfig);
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#endif
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useRcControlsConfig(modeActivationProfile()->modeActivationConditions, ¤tProfile->pidProfile);
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useAdjustmentConfig(¤tProfile->pidProfile);
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#ifdef GPS
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gpsUseProfile(&masterConfig.gpsProfile);
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gpsUsePIDs(¤tProfile->pidProfile);
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#endif
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useFailsafeConfig(&masterConfig.failsafeConfig);
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setAccelerationTrims(&accelerometerConfig()->accZero);
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failsafeReset();
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setAccelerationTrims(&accelerometerConfigMutable()->accZero);
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setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
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mixerUseConfigs(
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&masterConfig.flight3DConfig,
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&masterConfig.motorConfig,
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&masterConfig.mixerConfig,
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&masterConfig.airplaneConfig,
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&masterConfig.rxConfig
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);
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mixerUseConfigs(&masterConfig.airplaneConfig);
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#ifdef USE_SERVOS
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servoUseConfigs(&masterConfig.servoMixerConfig, masterConfig.servoProfile.servoConf, &masterConfig.gimbalConfig);
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@ -921,22 +913,13 @@ void activateConfig(void)
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throttleCorrectionConfig()->throttle_correction_angle
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);
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configureAltitudeHold(
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¤tProfile->pidProfile,
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&masterConfig.barometerConfig,
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&masterConfig.rcControlsConfig,
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&masterConfig.motorConfig
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);
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#ifdef BARO
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useBarometerConfig(&masterConfig.barometerConfig);
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#endif
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configureAltitudeHold(¤tProfile->pidProfile);
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}
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void validateAndFixConfig(void)
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{
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if ((motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)) {
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motorConfig()->mincommand = 1000;
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if((motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)){
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motorConfigMutable()->mincommand = 1000;
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}
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if ((motorConfig()->motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
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@ -1053,18 +1036,18 @@ void validateAndFixGyroConfig(void)
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{
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// Prevent invalid notch cutoff
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if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
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gyroConfig()->gyro_soft_notch_hz_1 = 0;
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gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
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}
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if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
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gyroConfig()->gyro_soft_notch_hz_2 = 0;
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gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
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}
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float samplingTime = 0.000125f;
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if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
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pidConfig()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
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gyroConfig()->gyro_sync_denom = 1;
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gyroConfig()->gyro_use_32khz = false;
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pidConfigMutable()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
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gyroConfigMutable()->gyro_sync_denom = 1;
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gyroConfigMutable()->gyro_use_32khz = false;
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samplingTime = 0.001f;
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}
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@ -1072,18 +1055,18 @@ void validateAndFixGyroConfig(void)
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samplingTime = 0.00003125;
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// F1 and F3 can't handle high sample speed.
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#if defined(STM32F1)
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gyroConfig()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 16);
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gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 16);
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#elif defined(STM32F3)
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gyroConfig()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
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gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
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#endif
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} else {
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#if defined(STM32F1)
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gyroConfig()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
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gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
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#endif
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}
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#if !defined(GYRO_USES_SPI) || !defined(USE_MPU_DATA_READY_SIGNAL)
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gyroConfig()->gyro_isr_update = false;
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gyroConfigMutable()->gyro_isr_update = false;
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#endif
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// check for looptime restrictions based on motor protocol. Motor times have safety margin
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@ -1113,7 +1096,7 @@ void validateAndFixGyroConfig(void)
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if (pidLooptime < motorUpdateRestriction) {
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const uint8_t maxPidProcessDenom = constrain(motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom), 1, MAX_PID_PROCESS_DENOM);
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pidConfig()->pid_process_denom = MIN(pidConfig()->pid_process_denom, maxPidProcessDenom);
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pidConfigMutable()->pid_process_denom = MIN(pidConfigMutable()->pid_process_denom, maxPidProcessDenom);
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}
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// Prevent overriding the max rate of motors
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@ -1121,25 +1104,57 @@ void validateAndFixGyroConfig(void)
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uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
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if(motorConfig()->motorPwmRate > maxEscRate)
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motorConfig()->motorPwmRate = maxEscRate;
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motorConfigMutable()->motorPwmRate = maxEscRate;
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}
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}
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void readEEPROM(void)
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{
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suspendRxSignal();
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// Sanity check, read flash
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if (!loadEEPROM()) {
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failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
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}
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// pgActivateProfile(getCurrentProfile());
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// setControlRateProfile(rateProfileSelection()->defaultRateProfileIndex);
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if (masterConfig.current_profile_index > MAX_PROFILE_COUNT - 1) {// sanity check
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masterConfig.current_profile_index = 0;
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}
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setProfile(masterConfig.current_profile_index);
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validateAndFixConfig();
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activateConfig();
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resumeRxSignal();
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}
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void writeEEPROM(void)
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{
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suspendRxSignal();
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writeConfigToEEPROM();
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resumeRxSignal();
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}
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void resetEEPROM(void)
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{
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resetConfigs();
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writeEEPROM();
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}
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void ensureEEPROMContainsValidData(void)
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{
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if (isEEPROMContentValid()) {
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return;
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}
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resetEEPROM();
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}
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void resetEEPROM(void)
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{
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resetConf();
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writeEEPROM();
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}
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void saveConfigAndNotify(void)
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{
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writeEEPROM();
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