mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-15 12:25:20 +03:00
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
|
|
@ -31,6 +31,8 @@
|
|||
#include "common/maths.h"
|
||||
|
||||
#include "config/feature.h"
|
||||
#include "config/parameter_group.h"
|
||||
#include "config/parameter_group_ids.h"
|
||||
|
||||
#include "drivers/system.h"
|
||||
|
||||
|
|
@ -59,7 +61,6 @@
|
|||
#include "flight/failsafe.h"
|
||||
|
||||
|
||||
static motorConfig_t *motorConfig;
|
||||
static pidProfile_t *pidProfile;
|
||||
|
||||
// true if arming is done via the sticks (as opposed to a switch)
|
||||
|
|
@ -73,37 +74,6 @@ bool isAirmodeActive(void) {
|
|||
return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
|
||||
}
|
||||
|
||||
void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
|
||||
#ifndef BLACKBOX
|
||||
#define UNUSED(x) (void)(x)
|
||||
UNUSED(adjustmentFunction);
|
||||
UNUSED(newValue);
|
||||
#else
|
||||
if (feature(FEATURE_BLACKBOX)) {
|
||||
flightLogEvent_inflightAdjustment_t eventData;
|
||||
eventData.adjustmentFunction = adjustmentFunction;
|
||||
eventData.newValue = newValue;
|
||||
eventData.floatFlag = false;
|
||||
blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue) {
|
||||
#ifndef BLACKBOX
|
||||
UNUSED(adjustmentFunction);
|
||||
UNUSED(newFloatValue);
|
||||
#else
|
||||
if (feature(FEATURE_BLACKBOX)) {
|
||||
flightLogEvent_inflightAdjustment_t eventData;
|
||||
eventData.adjustmentFunction = adjustmentFunction;
|
||||
eventData.newFloatValue = newFloatValue;
|
||||
eventData.floatFlag = true;
|
||||
blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
bool isUsingSticksForArming(void)
|
||||
{
|
||||
return isUsingSticksToArm;
|
||||
|
|
@ -114,20 +84,20 @@ bool areSticksInApModePosition(uint16_t ap_mode)
|
|||
return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
|
||||
}
|
||||
|
||||
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
|
||||
throttleStatus_e calculateThrottleStatus(void)
|
||||
{
|
||||
if (feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
|
||||
if ((rcData[THROTTLE] > (rxConfig->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig->midrc + deadband3d_throttle)))
|
||||
if ((rcData[THROTTLE] > (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle) && rcData[THROTTLE] < (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)))
|
||||
return THROTTLE_LOW;
|
||||
} else {
|
||||
if (rcData[THROTTLE] < rxConfig->mincheck)
|
||||
if (rcData[THROTTLE] < rxConfig()->mincheck)
|
||||
return THROTTLE_LOW;
|
||||
}
|
||||
|
||||
return THROTTLE_HIGH;
|
||||
}
|
||||
|
||||
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch)
|
||||
void processRcStickPositions(throttleStatus_e throttleStatus)
|
||||
{
|
||||
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
|
||||
static uint8_t rcSticks; // this hold sticks position for command combos
|
||||
|
|
@ -139,9 +109,9 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
|
|||
// checking sticks positions
|
||||
for (i = 0; i < 4; i++) {
|
||||
stTmp >>= 2;
|
||||
if (rcData[i] > rxConfig->mincheck)
|
||||
if (rcData[i] > rxConfig()->mincheck)
|
||||
stTmp |= 0x80; // check for MIN
|
||||
if (rcData[i] < rxConfig->maxcheck)
|
||||
if (rcData[i] < rxConfig()->maxcheck)
|
||||
stTmp |= 0x40; // check for MAX
|
||||
}
|
||||
if (stTmp == rcSticks) {
|
||||
|
|
@ -168,7 +138,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
|
|||
if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive() ) {
|
||||
rcDisarmTicks++;
|
||||
if (rcDisarmTicks > 3) {
|
||||
if (disarm_kill_switch) {
|
||||
if (armingConfig()->disarm_kill_switch) {
|
||||
mwDisarm();
|
||||
} else if (throttleStatus == THROTTLE_LOW) {
|
||||
mwDisarm();
|
||||
|
|
@ -317,12 +287,12 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
|
|||
|
||||
}
|
||||
|
||||
bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationConditions, boxId_e modeId)
|
||||
bool isModeActivationConditionPresent(const modeActivationCondition_t *modeActivationConditions, boxId_e modeId)
|
||||
{
|
||||
uint8_t index;
|
||||
|
||||
for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
|
||||
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
|
||||
const modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
|
||||
|
||||
if (modeActivationCondition->modeId == modeId && IS_RANGE_USABLE(&modeActivationCondition->range)) {
|
||||
return true;
|
||||
|
|
@ -357,386 +327,13 @@ void updateActivatedModes(modeActivationCondition_t *modeActivationConditions)
|
|||
}
|
||||
}
|
||||
|
||||
uint8_t adjustmentStateMask = 0;
|
||||
|
||||
#define MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex) adjustmentStateMask |= (1 << adjustmentIndex)
|
||||
#define MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex) adjustmentStateMask &= ~(1 << adjustmentIndex)
|
||||
|
||||
#define IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex) (adjustmentStateMask & (1 << adjustmentIndex))
|
||||
|
||||
// sync with adjustmentFunction_e
|
||||
static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = {
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_RC_RATE,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_RC_EXPO,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_YAW_RATE,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_YAW_P,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_YAW_I,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_YAW_D,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
|
||||
.mode = ADJUSTMENT_MODE_SELECT,
|
||||
.data = { .selectConfig = { .switchPositions = 3 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_PITCH_RATE,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_ROLL_RATE,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_PITCH_P,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_PITCH_I,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_PITCH_D,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_ROLL_P,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_ROLL_I,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_ROLL_D,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_RC_RATE_YAW,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_D_SETPOINT,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
},
|
||||
{
|
||||
.adjustmentFunction = ADJUSTMENT_D_SETPOINT_TRANSITION,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
}
|
||||
};
|
||||
|
||||
#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
|
||||
|
||||
adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
|
||||
|
||||
static void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
|
||||
adjustmentState_t *adjustmentState = &adjustmentStates[index];
|
||||
|
||||
if (adjustmentState->config == adjustmentConfig) {
|
||||
// already configured
|
||||
return;
|
||||
}
|
||||
adjustmentState->auxChannelIndex = auxSwitchChannelIndex;
|
||||
adjustmentState->config = adjustmentConfig;
|
||||
adjustmentState->timeoutAt = 0;
|
||||
|
||||
MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
|
||||
}
|
||||
|
||||
static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
|
||||
int newValue;
|
||||
|
||||
if (delta > 0) {
|
||||
beeperConfirmationBeeps(2);
|
||||
} else {
|
||||
beeperConfirmationBeeps(1);
|
||||
}
|
||||
switch(adjustmentFunction) {
|
||||
case ADJUSTMENT_RC_RATE:
|
||||
newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in cli.c
|
||||
controlRateConfig->rcRate8 = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE, newValue);
|
||||
break;
|
||||
case ADJUSTMENT_RC_EXPO:
|
||||
newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
|
||||
controlRateConfig->rcExpo8 = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_EXPO, newValue);
|
||||
break;
|
||||
case ADJUSTMENT_THROTTLE_EXPO:
|
||||
newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
|
||||
controlRateConfig->thrExpo8 = newValue;
|
||||
generateThrottleCurve();
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
|
||||
break;
|
||||
case ADJUSTMENT_PITCH_ROLL_RATE:
|
||||
case ADJUSTMENT_PITCH_RATE:
|
||||
newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
|
||||
controlRateConfig->rates[FD_PITCH] = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
|
||||
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
|
||||
break;
|
||||
}
|
||||
// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
|
||||
case ADJUSTMENT_ROLL_RATE:
|
||||
newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
|
||||
controlRateConfig->rates[FD_ROLL] = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
|
||||
break;
|
||||
case ADJUSTMENT_YAW_RATE:
|
||||
newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
|
||||
controlRateConfig->rates[FD_YAW] = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
|
||||
break;
|
||||
case ADJUSTMENT_PITCH_ROLL_P:
|
||||
case ADJUSTMENT_PITCH_P:
|
||||
newValue = constrain((int)pidProfile->P8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
|
||||
pidProfile->P8[PIDPITCH] = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
|
||||
|
||||
if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
|
||||
break;
|
||||
}
|
||||
// follow though for combined ADJUSTMENT_PITCH_ROLL_P
|
||||
case ADJUSTMENT_ROLL_P:
|
||||
newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
|
||||
pidProfile->P8[PIDROLL] = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
|
||||
break;
|
||||
case ADJUSTMENT_PITCH_ROLL_I:
|
||||
case ADJUSTMENT_PITCH_I:
|
||||
newValue = constrain((int)pidProfile->I8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
|
||||
pidProfile->I8[PIDPITCH] = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
|
||||
|
||||
if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
|
||||
break;
|
||||
}
|
||||
// follow though for combined ADJUSTMENT_PITCH_ROLL_I
|
||||
case ADJUSTMENT_ROLL_I:
|
||||
newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
|
||||
pidProfile->I8[PIDROLL] = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
|
||||
break;
|
||||
case ADJUSTMENT_PITCH_ROLL_D:
|
||||
case ADJUSTMENT_PITCH_D:
|
||||
newValue = constrain((int)pidProfile->D8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
|
||||
pidProfile->D8[PIDPITCH] = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
|
||||
|
||||
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
|
||||
break;
|
||||
}
|
||||
// follow though for combined ADJUSTMENT_PITCH_ROLL_D
|
||||
case ADJUSTMENT_ROLL_D:
|
||||
newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
|
||||
pidProfile->D8[PIDROLL] = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
|
||||
break;
|
||||
case ADJUSTMENT_YAW_P:
|
||||
newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
|
||||
pidProfile->P8[PIDYAW] = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
|
||||
break;
|
||||
case ADJUSTMENT_YAW_I:
|
||||
newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
|
||||
pidProfile->I8[PIDYAW] = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
|
||||
break;
|
||||
case ADJUSTMENT_YAW_D:
|
||||
newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
|
||||
pidProfile->D8[PIDYAW] = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
|
||||
break;
|
||||
case ADJUSTMENT_RC_RATE_YAW:
|
||||
newValue = constrain((int)controlRateConfig->rcYawRate8 + delta, 0, 300); // FIXME magic numbers repeated in cli.c
|
||||
controlRateConfig->rcYawRate8 = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
|
||||
break;
|
||||
case ADJUSTMENT_D_SETPOINT:
|
||||
newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 254); // FIXME magic numbers repeated in cli.c
|
||||
pidProfile->dtermSetpointWeight = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
|
||||
break;
|
||||
case ADJUSTMENT_D_SETPOINT_TRANSITION:
|
||||
newValue = constrain((int)pidProfile->setpointRelaxRatio + delta, 0, 100); // FIXME magic numbers repeated in cli.c
|
||||
pidProfile->setpointRelaxRatio = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT_TRANSITION, newValue);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
};
|
||||
}
|
||||
|
||||
static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
|
||||
{
|
||||
bool applied = false;
|
||||
|
||||
switch(adjustmentFunction) {
|
||||
case ADJUSTMENT_RATE_PROFILE:
|
||||
if (getCurrentControlRateProfile() != position) {
|
||||
changeControlRateProfile(position);
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position);
|
||||
applied = true;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
if (applied) {
|
||||
beeperConfirmationBeeps(position + 1);
|
||||
}
|
||||
}
|
||||
|
||||
#define RESET_FREQUENCY_2HZ (1000 / 2)
|
||||
|
||||
void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig)
|
||||
{
|
||||
uint8_t adjustmentIndex;
|
||||
uint32_t now = millis();
|
||||
|
||||
bool canUseRxData = rxIsReceivingSignal();
|
||||
|
||||
|
||||
for (adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
|
||||
adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
|
||||
|
||||
if (!adjustmentState->config) {
|
||||
continue;
|
||||
}
|
||||
uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
|
||||
if (adjustmentFunction == ADJUSTMENT_NONE) {
|
||||
continue;
|
||||
}
|
||||
|
||||
int32_t signedDiff = now - adjustmentState->timeoutAt;
|
||||
bool canResetReadyStates = signedDiff >= 0L;
|
||||
|
||||
if (canResetReadyStates) {
|
||||
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
|
||||
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
|
||||
}
|
||||
|
||||
if (!canUseRxData) {
|
||||
continue;
|
||||
}
|
||||
|
||||
uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
|
||||
|
||||
if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
|
||||
int delta;
|
||||
if (rcData[channelIndex] > rxConfig->midrc + 200) {
|
||||
delta = adjustmentState->config->data.stepConfig.step;
|
||||
} else if (rcData[channelIndex] < rxConfig->midrc - 200) {
|
||||
delta = 0 - adjustmentState->config->data.stepConfig.step;
|
||||
} else {
|
||||
// returning the switch to the middle immediately resets the ready state
|
||||
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
|
||||
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
|
||||
continue;
|
||||
}
|
||||
if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
|
||||
continue;
|
||||
}
|
||||
|
||||
applyStepAdjustment(controlRateConfig,adjustmentFunction,delta);
|
||||
pidInitConfig(pidProfile);
|
||||
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
|
||||
uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
|
||||
uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
|
||||
|
||||
applySelectAdjustment(adjustmentFunction, position);
|
||||
}
|
||||
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
|
||||
}
|
||||
}
|
||||
|
||||
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
|
||||
{
|
||||
uint8_t index;
|
||||
|
||||
for (index = 0; index < MAX_ADJUSTMENT_RANGE_COUNT; index++) {
|
||||
adjustmentRange_t *adjustmentRange = &adjustmentRanges[index];
|
||||
|
||||
if (isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {
|
||||
|
||||
const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentFunction - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
|
||||
|
||||
configureAdjustment(adjustmentRange->adjustmentIndex, adjustmentRange->auxSwitchChannelIndex, adjustmentConfig);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
|
||||
return MIN(ABS(rcData[axis] - midrc), 500);
|
||||
}
|
||||
|
||||
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, motorConfig_t *motorConfigToUse, pidProfile_t *pidProfileToUse)
|
||||
void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, pidProfile_t *pidProfileToUse)
|
||||
{
|
||||
motorConfig = motorConfigToUse;
|
||||
pidProfile = pidProfileToUse;
|
||||
|
||||
isUsingSticksToArm = !isModeActivationConditionPresent(modeActivationConditions, BOXARM);
|
||||
}
|
||||
|
||||
void resetAdjustmentStates(void)
|
||||
{
|
||||
memset(adjustmentStates, 0, sizeof(adjustmentStates));
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue