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100 commits

Author SHA1 Message Date
Dominic Clifton
8875aad776 rename sensor_t to acc_t and gyro_t and remove unused variables from
each.  relocated acc_t/gyro_t from sensors_common.h into
drivers/accgyro_common.h since they define an interface and the
dependency was pointing the wrong way from the drivers.
baro_t/acc_t/gyro_t dependences are all now pointing the right way.
2014-04-21 12:02:02 +01:00
Dominic Clifton
ca73413c72 Remove incorrect compiler warning about unused variable. 2014-04-21 03:05:46 +01:00
Dominic Clifton
007bc58859 de-duplicate EEPROM checksum calculation routines to reduce code size
and improve code maintainability.
2014-04-21 02:43:51 +01:00
Dominic Clifton
299d062e73 Replace local variables with better named ones in writeEEPROM. 2014-04-21 02:11:09 +01:00
Dominic Clifton
54424bf3fb Cleanup EEPROM writing code.
Avoid goto/label usage by using a loop instead, remove nesting, improve
and simplify logic, use 8 bit type for attempt counter.
2014-04-21 01:56:14 +01:00
Dominic Clifton
bd95c38ff0 Cleanup EEPROM reset and validation methods so that it is obvious what
the code is doing.  There are now no EEPROM read/write/reset/verify
methods that take any arguments which removes magic boolean variables
from method signatures.

This also removes duplicate code in the cliDefaults and cliSave commands
which results in smaller code also also due to the deduplication of a
reboot message.
2014-04-21 01:36:06 +01:00
Dominic Clifton
a012cb1c82 Decouple reading EEPROM from writing EEPROM. Now writeEEPROM() does
only what it's name implies and it's method takes no arguments.  This
avoids the 0/1 magic numbers which was a flag to decide whether the user
should be notified after the EEPROM has been read (!).

Introduced a method called readEEPROMAndNotify() which is used in all
cases where writeEEPROM(1) was previously called.

Additionally this avoid re-reading the profile when the reboot command
is issued which speeds up reboots.

Finally this avoid needless comments because the code tells you now what
it is going to do.
2014-04-21 01:18:15 +01:00
Dominic Clifton
3daaf66b14 Removed profile storage code from writeEEProm() to remove the boolean
flag from the method signature.  Now it is clear when the current
profile needs to be stored.
2014-04-21 01:02:53 +01:00
Dominic Clifton
e969d184e6 decouple failsafe from the rest of the system.
Note: the pwm_common driver has a dependency on the main failsafe code,
the solution is probably to move some of the code into rx_pwm.
2014-04-21 00:46:16 +01:00
Dominic Clifton
a7e4c859bd decouple cli/msp from each other. relocated non-msp code into
serial_common.c/h. decouple runtime_config from serial ports.  decouple
buzzer from serial ports.  decouple opening of the main serial port from
the msp code.  decouple serial rx providers from runtime_config.  rename
core_t to serialPorts_t since it only contained serial ports.  It's now
clear which files use serial ports based on the header files they
include.
2014-04-19 01:01:31 +01:00
Dominic Clifton
2baf385b99 Remove mpu6050_scale from core_t by providing a sensor independent way
of determining a revision code.  Previously there was mpu6050 specific
code in cli.c (the status command).

Finally this commit has removed all non-serial port configuration
settings from core_t so that a future commit can refactor core_t to
reduce dependencies on serial port code.

In doing this I also noted from other source code that the MPU6050
accelerometer trim for some revisions appeared to be incorrectly set to
255 * 8 instead of 256 * 8.
2014-04-18 23:32:48 +01:00
Dominic Clifton
b8e7c2d14f Fix servo middle/channel forwarding variable re-use. Adds a new
capability flag which is returned by MSP IDENT (CAP_CHANNEL_FORWARDING).
Adds two new MSP commands that are specifically for configuring channel
forwarding (MSP_CHANNEL_FORWARDING/MSP_SET_CHANNEL_FORWARDING).  Servo
'middle' and 'forward from channel' are now stored independently, as
they probably should always have been.
2014-04-18 19:19:37 +01:00
Dominic Clifton
a85bfa51e3 Remove config.c's dependencies on the mw.h/board.h files. Moved some RX
code into rx_common.c. Moved some GPS code into gps_common.c.  Isolated
some GPS functions into gps_common.c that were called from mw.c/loop().
moved gimbal defines into gimbal.h.  Moved sound & light code into
statusindicator.c
2014-04-18 12:13:37 +01:00
Dominic Clifton
0f02e12f40 de-duplicate failsafe code. extract failsafe code to seperate files.
remove dependency on board.h and mw.h on a few files.

Moved rx configuration paramaters into rxConfig in order to remove the
dependency on config_t from the sbus rx code  - sumd/spektrum to follow.

Avoided use of YAW/PITCH/ROLL in some files since those constants are
from an unrelated enum type.

Replaced some magic numbers with constants to remove comments and
improve code readability.

Note, due to the tight coupling and global variable usage it was
difficult to create a smaller commit.
2014-04-17 23:02:22 +01:00
Dominic Clifton
41b5a01958 Decouple board alignment code. 2014-04-17 19:31:01 +01:00
Dominic Clifton
89612bd881 De-couple battery code.
This fixes a bug where buzzerFreq could be uninitialised before it's
use.
This improves performance by only checking whether to sound the battery
alarm after the battery voltage has been recalculated.
There were unused battery beep codes which have been deleted to save
code size.
Configuration structure extracted from mw.h into config.h.
Moved mixer configuration structures into flight_mixer.h.
Added a build_config.c in order to decouple pwm_common.h from config.h.
Finally, battery configuration values now live in a batteryConfig
structure which means that battery.c does not depend on config.h and all
of it's dependencies.

Fixed the use of plurals on defines that were not collection objects.
PIDITEMS and CHECKBOXITEMS are now PID_ITEM_COUNT and
CHECKBOX_ITEM_COUNT.
2014-04-17 16:36:01 +01:00
Dominic Clifton
64d16e1987 Relocated used code from board.h into appropriate headers, deleted
unused code.
2014-04-17 15:02:41 +01:00
treymarc
0286b13768 adjust default value to work with new alt hold or fpv 2014-04-12 17:26:59 +00:00
treymarc
4a000c98ed throtlle angle correction with propper small angle calculation :
correction angle is configurabe (from 0.1° to 90°)
correction value var renamed in cli
correction is disable when vertical or inverted
2014-04-12 03:15:17 +00:00
Dominic Clifton
c012e7480f Merge remote-tracking branch 'multiwii/master' into hott-telemetry 2014-04-07 23:08:03 +01:00
Johannes Kasberger
99ff409783 increment EEPROM_CONF_VERSION 2014-04-07 23:07:51 +02:00
Johannes Kasberger
74a54d81dd Added options to allow further TPA configuration
Replaced define BREAKPOINT with cfg option
Added tpa and tpa_breakpoint to cli
2014-04-07 22:52:32 +02:00
Dominic Clifton
3007d3cbdc Improving code readability by aligning comments with code and removing
comments that duplicated code.  Comments are harder to refactor than
code and become stale.  Updating default and limit values for some
settings to use enum values.
2014-04-07 01:05:33 +01:00
Dominic Clifton
6f0a419bf6 Cleanup telemetry code. Remove duplicate logic. Improve readability.
Add support for another provider.  Change default softserial baud rate
to match the speed used by FrSky telemetry.
2014-04-06 22:25:22 +01:00
dongie
f336fc8d20 allow configurable bootloader reboot character to workaround retarded BT adapters that spam 'R' 2014-04-06 13:42:10 +09:00
Dominic Clifton
c7de7d2ebc Add support for 2 softserial ports on PWM4+5/TIM3_CH1+2/PA6+PA7 and
PWM6+7/TIM3_CH3+4/PB0+PB1

Update software serial to monitor serial pins for signal changes instead
of periodically sampling pin signals.

When reading the data the timer used is syncronized to the falling edge
of the start bit which allows for better syncronisation at higher
speeds.  The code has been tested OK from 1200 baud to 19200.  38400
baud was tested and partially usable but has been disabled because there
are too many transmit and receive errors, especially when transmitting
and receiving at the same time.

Due to the way a single timer is used for transmitting and receiving, if
data comes in while transmitting the system may incorrectly transmit a
short or long bit.  However at 19200 and below this didn't cause a
problem in the limited testing I performed.
2014-04-03 22:42:15 +01:00
dongie
30afff2578 got rid of feature_gyro_smoothing. nobody used that, and its retarded to do anyway. 2014-02-18 15:27:53 +09:00
dongie
202fc17608 added max_angle_inclination to CLI to configure (default) 50 degree max inclination. configurable between 10 and 90 (100..900 in cli) 2014-02-18 15:23:02 +09:00
dongie
92c0947d7f bump config version after PID default changes and add built hex file 2014-01-28 10:03:30 +09:00
Lukas S
073f5116bb new althold PID
althold should work better now, the PID settings are preliminary. There
is definetly room for improvement.
For aquiring your own PID settings set ALT_P = 0 and tune the VEL pid
until the copter only drifts a little from its position when you
activate althold. Then set ALT_P to a value where it holds the position
stable
2014-01-28 01:26:58 +01:00
KipK
6ee98fed90 indents 2014-01-17 17:02:48 +01:00
KipK
7bd2db04be Added a mcfg.telemetry_switch for CLI
If telemetry_switch=1 it change baudrate and protocol using aux channel, either it switch  when armed/disarmed.

This allows to keep MSP serial while armed for BT dongle if needed.
2014-01-16 19:36:54 +01:00
dongie
9a7ff04422 adding untested (and needing work) fixedwing althold implementation.
see comments in code for things to fix. added new variable to cli, fixedwing_althold_dir (though its value isn't really clear, I think it should always be positive since servo direction mix is done later).
2014-01-06 21:38:36 +09:00
Johannes Kasberger
26aa644999 Fixes array out of bound access for lookupPitchRollRC and lookupThrottleRC. 2013-11-07 16:59:36 +01:00
fiendie
6ab48fc438 Revert new PID stuff and move it to a separate branch for now. 2013-11-07 13:15:31 +01:00
dongie
c14e7cf59f whitespace and formatting cleanups from latest commit 2013-11-03 12:21:22 +09:00
Lukas S
b996b26cbb new Baseflight PID
full gyro scale is used now
and a new pid with float calculations was added based on PIDrewrite
eeprom size was also increased from 1kB to 2kB
2013-11-03 03:48:45 +01:00
timecop@gmail.com
35f0a8e4b0 old altitude calculation used again, added lpf for accZ by Luggi09
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@462 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-10-30 11:57:54 +00:00
timecop@gmail.com
779dfe8a92 separate all telemetry code and add option to use softserial for telemetry.
to use, set softserial_baudrate=9600, softserial_inverted=1 and  telemetry_softserial=1
then enable feature TELEMETRY.
by disq


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@448 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-10-23 09:47:38 +00:00
timecop@gmail.com
8d7f82dc75 added ability to specify arbitrary roll/pitch/yaw translation for board mounting by alu.
this allows to mount FC vertically/upside down/etc easily.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@445 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-10-19 09:56:29 +00:00
timecop@gmail.com
30ded7ff04 Beginning of the great GPS unfucking.
* Proper initialization sequence framework for various supported GPS types. NMEA will now auto-detect its baud rate based on received frames.
* As a result of the above, gps_baudrate has been changed to enum, to only allow fixed rates. (GPS baudrate, -1: autodetect (NMEA only), 0: 115200, 1: 57600, 2: 38400, 3: 19200, 4: 9600)
* UBX binary initialization at any specified baudrate with auto-reconnect on signal loss.
* GPS thread to handle initialization, signal loss and configuration. No longer does GPS need to be powered before FC, and on GPS reconnect, it will be re-initialized if needed.
MTK NMEA/binary initialization is omitted for now, as I can't find my MTK GPS
GPS deltaTime can be calculated to display update rate.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@438 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-10-13 15:25:45 +00:00
timecop@gmail.com
c682f1f21e Softserial can now be enabled/disabled via the SOFTSERIAL feature switch in the command line. Softserial baud rate can be set via softserial_baudrate setting. Added input & output inversion support, use softserial_inverted setting by Dominic Clifton
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@435 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-10-12 07:46:55 +00:00
timecop@gmail.com
9ebd82c5ef merged in mwii2.3 generic servo handler. completely untested.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@434 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-10-12 07:03:01 +00:00
timecop@gmail.com
7c595e4110 started merging in generic servo handler
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@422 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-30 23:42:44 +00:00
timecop@gmail.com
2272e1a5a6 reorganization of uart-based receiver drivers
FEATURE_SPEKTRUM has been removed and replaced with FEATURE_SERIALRX.
cli  option serialrx_type now configures what type of receiver it is
0 = spektrum1024, 1 = spektrum2048, 2 = sbus
sbus will need hardware inverter to use.
also cleaned up receiver drivers to assign readrawRC callback instead of assigning in code in main()
none of this has been tested.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@418 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-29 14:40:20 +00:00
timecop@gmail.com
01eaf85510 added ability to assign one of aux1..4 channels as RSSI by the-kenny
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@416 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-29 13:58:25 +00:00
timecop@gmail.com
71772f137b part 3 of the great sensor axis unfucking. careful flight testing may commence.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@400 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-15 01:56:23 +00:00
timecop@gmail.com
1cc306493b beginnings of the great sensor orientation unfucking. WORK IN PROGRESS DO NOT FLY.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@397 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-14 12:27:26 +00:00
dominicc1974@gmail.com
4c191270bf Changing all line endings to WINDOWS line endings (CR+LF) and removing all End-Of-Line whitespace and using spaces instead of tabs. Please ensure you configure your editors and tools to follow suit. If using git please enable autocrlf in your .git/config file.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@393 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-06 23:14:48 +00:00
timecop@gmail.com
929bbc8c3f added (untested) flag to disable tricopter servo updates when unarmed.
tri_unarmed_servo to 1 (default) always updates tri servo whether armed or not.
tri_unarmed_servo to 0 will only send servo signal to tail servo when armed.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@392 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-06 00:03:32 +00:00