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Code Issues Wiki Activity

Disabling of 3D Feature on switch

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borisbstyle 2016-03-10 00:27:44 +01:00
parent 03cc5fa438
commit fa63ab52e1
7 changed files with 26 additions and 11 deletions
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BIN
.testThrottle.c.swp Normal file
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10
src/main/flight/mixer.c
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@ -822,18 +822,18 @@ void mixTable(void)
int16_t throttleMin, throttleMax;
static int16_t throttlePrevious = 0; // Store the last throttle direction for deadband transitions
// Find min and max throttle based on condition. Use rcData for 3D to prevent loss of power due to min_check
// Find min and max throttle based on condition.
if (feature(FEATURE_3D)) {
if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
if ((rcData[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
if ((rcCommand[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle;
throttlePrevious = throttle = rcData[THROTTLE];
} else if (rcData[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
throttlePrevious = throttle = rcCommand[THROTTLE];
} else if (rcCommand[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
throttleMax = escAndServoConfig->maxthrottle;
throttleMin = flight3DConfig->deadband3d_high;
throttlePrevious = throttle = rcData[THROTTLE];
throttlePrevious = throttle = rcCommand[THROTTLE];
} else if ((throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Deadband handling from negative to positive
throttle = throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle;

3
src/main/io/rc_controls.h
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@ -49,7 +49,8 @@ typedef enum {
BOXBLACKBOX,
BOXFAILSAFE,
BOXAIRMODE,
BOXACROPLUS,
BOXACROPLUS,
BOX3DDISABLESWITCH,
CHECKBOX_ITEM_COUNT
} boxId_e;

5
src/main/io/rc_curves.c
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@ -24,6 +24,8 @@
#include "io/rc_curves.h"
#include "config/config.h"
int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
int16_t lookupYawRC[YAW_LOOKUP_LENGTH]; // lookup table for expo & RC rate YAW
int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
@ -48,6 +50,7 @@ void generateYawCurve(controlRateConfig_t *controlRateConfig)
void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoConfig_t *escAndServoConfig)
{
uint8_t i;
uint16_t minThrottle = (feature(FEATURE_3D && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) ? PWM_RANGE_MIN : escAndServoConfig->minthrottle);
for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
int16_t tmp = 10 * i - controlRateConfig->thrMid8;
@ -57,6 +60,6 @@ void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoCo
if (tmp < 0)
y = controlRateConfig->thrMid8;
lookupThrottleRC[i] = 10 * controlRateConfig->thrMid8 + tmp * (100 - controlRateConfig->thrExpo8 + (int32_t) controlRateConfig->thrExpo8 * (tmp * tmp) / (y * y)) / 10;
lookupThrottleRC[i] = escAndServoConfig->minthrottle + (int32_t) (escAndServoConfig->maxthrottle - escAndServoConfig->minthrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
lookupThrottleRC[i] = minThrottle + (int32_t) (escAndServoConfig->maxthrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
}
}

3
src/main/io/serial_msp.c
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@ -217,6 +217,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXFAILSAFE, "FAILSAFE;", 27 },
{ BOXAIRMODE, "AIR MODE;", 28 },
{ BOXACROPLUS, "ACRO PLUS;", 29 },
{ BOX3DDISABLESWITCH, "DISABLE 3D SWITCH;", 30},
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -544,7 +545,7 @@ void mspInit(serialConfig_t *serialConfig)
activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
activeBoxIds[activeBoxIdCount++] = BOXACROPLUS;
activeBoxIds[activeBoxIdCount++] = BOX3DDISABLESWITCH;
if (sensors(SENSOR_BARO)) {
activeBoxIds[activeBoxIdCount++] = BOXBARO;

14
src/main/mw.c
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@ -270,11 +270,21 @@ void annexCode(void)
rcCommand[axis] = -rcCommand[axis];
}
tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck);
if (feature(FEATURE_3D)) {
tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - PWM_RANGE_MIN);
} else {
tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck);
}
tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
if (IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH) && !failsafeIsActive()) {
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = masterConfig.rxConfig.midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - masterConfig.rxConfig.midrc);
}
if (FLIGHT_MODE(HEADFREE_MODE)) {
float radDiff = degreesToRadians(DECIDEGREES_TO_DEGREES(attitude.values.yaw) - headFreeModeHold);
float cosDiff = cos_approx(radDiff);

2
src/main/version.h
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@ -17,7 +17,7 @@
#define FC_VERSION_MAJOR 2 // increment when a major release is made (big new feature, etc)
#define FC_VERSION_MINOR 5 // increment when a minor release is made (small new feature, change etc)
#define FC_VERSION_PATCH_LEVEL 3 // increment when a bug is fixed
#define FC_VERSION_PATCH_LEVEL 4 // increment when a bug is fixed
#define STR_HELPER(x) #x
#define STR(x) STR_HELPER(x)