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Merge branch 'master' into patch_v3.1.4

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borisbstyle 2017-02-07 13:47:12 +01:00 • committed by GitHub
commit ecb104b1f1
150 changed files with 3461 additions and 2167 deletions
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119
src/main/fc/rc_controls.h
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@ -19,6 +19,8 @@
#include <stdbool.h>
#include "config/parameter_group.h"
typedef enum {
BOXARM = 0,
BOXANGLE,
@ -51,6 +53,7 @@ typedef enum {
BOXAIRMODE,
BOX3DDISABLESWITCH,
BOXFPVANGLEMIX,
BOXBLACKBOXERASE,
CHECKBOX_ITEM_COUNT
} boxId_e;
@ -140,6 +143,8 @@ typedef struct modeActivationCondition_s {
channelRange_t range;
} modeActivationCondition_t;
PG_DECLARE_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions);
typedef struct modeActivationProfile_s {
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
} modeActivationProfile_t;
@ -158,6 +163,8 @@ typedef struct controlRateConfig_s {
uint16_t tpa_breakpoint; // Breakpoint where TPA is activated
} controlRateConfig_t;
//!!TODO PG_DECLARE_ARRAY(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
extern int16_t rcCommand[4];
typedef struct rcControlsConfig_s {
@ -168,117 +175,39 @@ typedef struct rcControlsConfig_s {
int8_t yaw_control_direction; // change control direction of yaw (inverted, normal)
} rcControlsConfig_t;
PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
typedef struct flight3DConfig_s {
uint16_t deadband3d_low; // min 3d value
uint16_t deadband3d_high; // max 3d value
uint16_t neutral3d; // center 3d value
uint16_t deadband3d_throttle; // default throttle deadband from MIDRC
} flight3DConfig_t;
PG_DECLARE(flight3DConfig_t, flight3DConfig);
typedef struct armingConfig_s {
uint8_t gyro_cal_on_first_arm; // allow disarm/arm on throttle down + roll left/right
uint8_t disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value
uint8_t auto_disarm_delay; // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
} armingConfig_t;
PG_DECLARE(armingConfig_t, armingConfig);
bool areUsingSticksToArm(void);
bool areSticksInApModePosition(uint16_t ap_mode);
struct rxConfig_s;
throttleStatus_e calculateThrottleStatus(struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
void processRcStickPositions(struct rxConfig_s *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
throttleStatus_e calculateThrottleStatus(void);
void processRcStickPositions(throttleStatus_e throttleStatus);
bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
typedef enum {
ADJUSTMENT_NONE = 0,
ADJUSTMENT_RC_RATE,
ADJUSTMENT_RC_EXPO,
ADJUSTMENT_THROTTLE_EXPO,
ADJUSTMENT_PITCH_ROLL_RATE,
ADJUSTMENT_YAW_RATE,
ADJUSTMENT_PITCH_ROLL_P,
ADJUSTMENT_PITCH_ROLL_I,
ADJUSTMENT_PITCH_ROLL_D,
ADJUSTMENT_YAW_P,
ADJUSTMENT_YAW_I,
ADJUSTMENT_YAW_D,
ADJUSTMENT_RATE_PROFILE,
ADJUSTMENT_PITCH_RATE,
ADJUSTMENT_ROLL_RATE,
ADJUSTMENT_PITCH_P,
ADJUSTMENT_PITCH_I,
ADJUSTMENT_PITCH_D,
ADJUSTMENT_ROLL_P,
ADJUSTMENT_ROLL_I,
ADJUSTMENT_ROLL_D,
ADJUSTMENT_RC_RATE_YAW,
ADJUSTMENT_D_SETPOINT,
ADJUSTMENT_D_SETPOINT_TRANSITION,
ADJUSTMENT_FUNCTION_COUNT
} adjustmentFunction_e;
typedef enum {
ADJUSTMENT_MODE_STEP,
ADJUSTMENT_MODE_SELECT
} adjustmentMode_e;
typedef struct adjustmentStepConfig_s {
uint8_t step;
} adjustmentStepConfig_t;
typedef struct adjustmentSelectConfig_s {
uint8_t switchPositions;
} adjustmentSelectConfig_t;
typedef union adjustmentConfig_u {
adjustmentStepConfig_t stepConfig;
adjustmentSelectConfig_t selectConfig;
} adjustmentData_t;
typedef struct adjustmentConfig_s {
uint8_t adjustmentFunction;
uint8_t mode;
adjustmentData_t data;
} adjustmentConfig_t;
typedef struct adjustmentRange_s {
// when aux channel is in range...
uint8_t auxChannelIndex;
channelRange_t range;
// ..then apply the adjustment function to the auxSwitchChannel ...
uint8_t adjustmentFunction;
uint8_t auxSwitchChannelIndex;
// ... via slot
uint8_t adjustmentIndex;
} adjustmentRange_t;
#define ADJUSTMENT_INDEX_OFFSET 1
typedef struct adjustmentState_s {
uint8_t auxChannelIndex;
const adjustmentConfig_t *config;
uint32_t timeoutAt;
} adjustmentState_t;
#ifndef MAX_SIMULTANEOUS_ADJUSTMENT_COUNT
#define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel
#endif
#define MAX_ADJUSTMENT_RANGE_COUNT 15
typedef struct adjustmentProfile_s {
adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
} adjustmentProfile_t;
bool isAirmodeActive(void);
void resetAdjustmentStates(void);
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
void processRcAdjustments(controlRateConfig_t *controlRateConfig, struct rxConfig_s *rxConfig);
bool isUsingSticksForArming(void);
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationConditions, boxId_e modeId);
bool isModeActivationConditionPresent(const modeActivationCondition_t *modeActivationConditions, boxId_e modeId);
struct pidProfile_s;
struct motorConfig_s;
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, struct motorConfig_s *motorConfigToUse, struct pidProfile_s *pidProfileToUse);
void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, struct pidProfile_s *pidProfileToUse);