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158 commits

Author SHA1 Message Date
Nicholas Sherlock
828ec550cd Apply the same maximum control rates (1.0) in CLI and MSP 
Previously it was possible to set roll/pitch rate > 1.0 using MSP, but
not using the CLI. Roll/pitch rate > 1.0 is meaningless.

TPA is also limited to 1.0.
 2015-03-22 20:38:15 +13:00
Dominic Clifton
4cf6fe6571 Rename 'frsky_hiprec_vfas' to 'frsky_vfas_precision' and introduce enum 
for FRSKY_VFAS_PRECISION_LOW and FRSKY_VFAS_PRECISION_HIGH.

Improves naming for humans.  'hiprec' was meaningless and
untranslatable. See
https://cleancoders.com/episode/clean-code-episode-2/show
 2015-03-13 23:49:24 +01:00
Dominic Clifton
d82fc6b9be Merge pull request #477 from projectkk2glider/projectkk2glider/issue_316_frsky_voltages 
Fixes #316: better arithmetics for FrSky CELL voltages, VFAS battery vol...
 2015-03-13 23:40:24 +01:00
Dominic Clifton
4a12d00d1e Moving mixer config out of the profile. It doesn't really make sense. 2015-03-09 23:00:44 +00:00
Dominic Clifton
ed434fe47b Use a positive named setting and variable instead of a negative one to 
simplify the logic and aid understanding.
 2015-03-09 22:50:27 +00:00
Dominic Clifton
5e3734946e # This is a combination of 2 commits. 
# The first commit's message is:

Previously, at minimum throttle, the quad would do absolutely no self-leveling
and simply run the motors at constant minthrottle.  This allowed the chance
for the quad to lose control during flight if the throttle was set to minimum,
say, to drop from a high altitude to a lower one.

With this edit, the quad will still self-level at minimum throttle when armed,
allowing for safe decents from altitude.  To prevent motors spinning when
arming/disarming, the yaw input is ignored if the throttle is at minimum and
we're using the sticks to arm/disarm.

Conflicts:
	src/main/flight/mixer.c

# This is the 2nd commit message:

added cli command disable_pid_at_min_throttle
 2015-03-09 23:36:54 +01:00
Dominic Clifton
bce6c6722c Merge branch 'port-changes' of https://github.com/ledvinap/cleanflight into ledvinap-port-changes 
Conflicts:
	src/main/blackbox/blackbox.c
	src/main/io/serial.c
 2015-03-09 22:23:04 +01:00
Damjan Adamic
517d38c94f Re #316: Battery voltage calculation converted to integer arithmetic, unit tests updated to account for proper rounding of voltage 
Added frsky_hiprec_vfas configuration option that selects how VFAS is sent
Better arithmetics for FrSky CELL voltages, VFAS battery voltage send with other ID that allows 0.1V resolution
 2015-03-09 20:43:04 +01:00
Dominic Clifton
b595b49ca8 Decouple roll and pitch rates. MSP clients take note of updated 
MSP_RC_TUNING/MSP_SET_RC_TUNING commands.
 2015-03-07 15:11:20 +00:00
Nicholas Sherlock
8a541a9fa2 Fix upper limit on mag_hardware and acc_hardware CLI variables 2015-03-07 01:18:05 +13:00
Dominic Clifton
1a8500c768 Transition to new per-port & per-function baud rate configuration. 2015-02-27 01:05:37 +00:00
Dominic Clifton
b6509dd1eb Merge branch 'master' into serial-cleanup 
Conflicts:
	src/main/blackbox/blackbox_io.c
	src/main/config/config.c
 2015-02-26 22:43:29 +00:00
Dominic Clifton
ed434dd169 Cleanup ACC hardware enum so that 'None' is always '1' and doesn't 
change every time a new sensor is added.  All the sensor enum values are
now aligned.
 2015-02-26 22:31:38 +00:00
Dominic Clifton
b9e1283809 Ensure motors are stopped before a reboot. Ensure hard fault handler 
doesn't use potentially unitialised data to update the motors.  Pause
for 50ms before rebooting after updating disabling the motors to ensure
the timer hardware and ESCs havea chance to react.

This commit might help with #123
 2015-02-23 14:02:47 +00:00
Petr Ledvina
1ecbdf3dae Minor code cleanup 2015-02-23 09:17:06 +01:00
Dominic Clifton
2f09b7d1d9 Merge branch 'blackbox-flash' of https://github.com/sherlockflight/cleanflight-dev into sherlockflight-blackbox-flash 2015-02-22 17:24:39 +00:00
Dominic Clifton
9057d70410 Allow excluding of servo code at compilation time. 
This is in preparation for backbox on CJMCU/64k.

Flight tested on CJMCU.
 2015-02-22 16:21:03 +00:00
Dominic Clifton
a1b01807cf Merge branch 'lowpass' of https://github.com/fusterjj/cleanflight into fusterjj-lowpass 
Conflicts:
	src/main/flight/mixer.c
 2015-02-22 14:55:04 +00:00
Nicholas Sherlock
f6c9f7cc4a Merge remote-tracking branch 'upstream/master' into blackbox-flash 2015-02-21 12:52:26 +13:00
Dominic Clifton
523980fc7b Merge remote-tracking branch 'cleanflight/master' into serial-cleanup 2015-02-20 20:15:09 +00:00
Dominic Clifton
f6408cd355 CJMCU disable cli servos command to save flash space. 
At some point in the future it might be an idea to use a define for
USE_SERVOS so that more code could be excluded. (Servo tilt, etc).
 2015-02-20 18:51:50 +00:00
Nicholas Sherlock
6c30f879be Merge remote-tracking branch 'upstream/master' into servo-cli 2015-02-20 13:37:01 +13:00
Nicholas Sherlock
e636d8b945 Merge remote-tracking branch 'upstream/master' into blackbox-flash 2015-02-20 13:34:59 +13:00
Dominic Clifton
021496b244 Merge branch 'master' into serial-cleanup 2015-02-19 21:57:54 +00:00
Dominic Clifton
1de72b11ce Update the cli status command to show all detected sensors (Except on 
CJMCU).

Further cleanup of sensor initialisation.
 2015-02-19 21:08:30 +00:00
Nicholas Sherlock
155a369491 Reduce code size of serial_cli by 104 bytes with some small tweaks: 
Avoid calling strlen() just to check if a string is empty
Shorter error messages and reuse messages for cliServo
Use cliPrint rather than printf when not using placeholders
 2015-02-18 13:07:26 +13:00
Nicholas Sherlock
716ee9f5c4 Add "servo" CLI command to get/set servo conf, and include in dump 2015-02-17 23:33:12 +13:00
Nicholas Sherlock
892f1698d9 Rename flash_ident command to flash_info 2015-02-16 18:07:58 +13:00
Nicholas Sherlock
d6911e8b86 Avoid synchronous flushes to flash during Blackbox shutdown 2015-02-15 23:23:53 +13:00
Nicholas Sherlock
acd4745a4e Merge remote-tracking branch 'upstream/master' into blackbox-flash 2015-02-15 01:54:50 +13:00
Nicholas Sherlock
6423ac7db1 Rename FLASHFS to USE_FLASHFS 2015-02-14 09:45:56 +13:00
Nicholas Sherlock
80ea5e4419 Add flash ready state to MSP response, add flash async block write 2015-02-13 20:28:19 +13:00
Dominic Clifton
5163bef0b2 Refactor serial port configuration, stage 1. 
Tested and working:
* multiple MSP ports at different baud rates.
* cli on any MSP port.
* GPS
* gps passthough on currently active cli port.

Example config used for testing:

feature SOFTSERIAL
feature GPS
feature RX_PPM
serial_port_1_functions = 1
serial_port_1_baudrate = 115200
serial_port_2_functions = 128
serial_port_2_baudrate = 115200
serial_port_3_functions = 1
serial_port_3_baudrate = 19200
serial_port_4_functions = 0
serial_port_4_baudrate = 0

Known broken:
* Telemetry and shared serial ports
* Telemetry when unarmed.

Probably broken:
* Blackbox on shared port.

Untested.
* Serial RX.
* Blackbox.
 2015-02-12 01:28:53 +00:00
Nicholas Sherlock
5651e65a0b Add support for discovering beginning of free space on flash chip 2015-02-10 13:44:18 +13:00
Dominic Clifton
6de42dd0de Display version on the OLED display. 2015-02-02 22:30:59 +00:00
Dominic Clifton
395a1bb9a3 Update cli version command to show the version number now that there is 
one available.
 2015-02-02 22:05:30 +00:00
Dominic Clifton
55cac2bdeb Finally rename flight.c/.h to pid.c/.h. Cleanup some dependencies. 
Relocate more code.
 2015-02-01 00:39:38 +01:00
Dominic Clifton
53406a7ac7 Relocate some structures and code to the right places. 
This cleans up the include file order somewhat and fixes a couple of
dependencies.

The goal of this is to rename flight.c/flight.h to pid.c/pid.h.
 2015-01-31 23:47:51 +01:00
Joel Fuster
4f0af41e79 Merge remote-tracking branch 'upstream/master' into lowpass 2015-01-31 10:47:39 -05:00
Dominic Clifton
fa18940087 Minor cleanups to allow CJMCU to build again. 2015-01-30 21:25:18 +01:00
Dominic Clifton
f77a762b48 Allow inflight adjustments for floating-point based PID controllers. 2015-01-30 20:54:34 +01:00
Nicholas Sherlock
ebff1bdcd7 Merge remote-tracking branch 'upstream/master' into blackbox-flash 2015-01-30 13:48:49 +13:00
Nicholas Sherlock
3c74ac2c91 Make more bulk writes asynchronous where possible, begin MSP impl. 2015-01-30 13:45:05 +13:00
Michael Jakob
b4803697d2 Initial port of Harakiri PID controller 
some of the settings are hardcoded
 2015-01-28 13:26:51 +01:00
Nicholas Sherlock
5a57dda665 Adding blackbox device setting and basic flashfs support for it 2015-01-28 22:14:49 +13:00
Nicholas Sherlock
f9e22a0461 Merge remote-tracking branch 'upstream/master' into blackbox-flash 2015-01-28 20:48:17 +13:00
Nicholas Sherlock
2e14faeef6 Comment updates, allow CLI flash read to read more in one operation 2015-01-28 20:48:06 +13:00
Nicholas Sherlock
3eb28f16ea Basic read/write/erase flash functionality works from the CLI 
Very little code coverage tested yet, only writes of small sizes
 2015-01-28 17:45:36 +13:00
Dominic Clifton
a2b232e805 Detach midrc (input) from servo center (output). 
This fixes incorrect servo center position when midrc was not 1500.
Most likely only experienced by futaba plane or servo/tilt users.
 2015-01-27 23:04:41 +01:00
Dominic Clifton
153f6483e2 Merge pull request #429 from MJ666/MultiWii_PID_32 
MultiWi 2.3 PID controller port
 2015-01-26 18:14:16 +01:00