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.
* 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
First cut at polymorphic serial port implementation. Split serialPort_t into uartPort_t and serialPort_t. Calls to uartWrite() can now be replaced with calls to serialWrite().
Replacing calls to serialWriteByte(softSerial_t*, char) with calls to serialWrite(serialPort_t*, char). This completes the proof of concept for polymorphic serial port implementations (uartPort and softSerialPort).
Renaming isSerialAvailable to uartTotalBytesWaiting. Renaming serialAvailable to softSerialTotalBytesWaiting. Adding serialTotalBytesWaiting to serial API and updating calls to the former methods to use the serial API.
Renaming serialRead to softSerialRead. Adding serialRead to serial API and updating calls to uartRead and softSerialRead to use the serial API. Renamed uartPrint to serialPrint which now works on any serialPort implementation.
Replacing calls to isUartTransmitEmpty with isSoftSerialTransmitBufferEmpty. Replacing remaing calls to uartWrite with serialWrite. Adding isSoftSerialTransmitBufferEmpty to the serial API. Adding serialSet/GetBaudRate to the serial API. Since softSerial does not implement serialSetBaudRate some GPS serial initialisation code has been updated.
At this point it is probably possible to switch around all the ports and use a software serial implementation if desired.
By Dominic Clifton / https://github.com/hydra/baseflight/
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@423 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
mw2.2-merged stuff:
* implemented profiles 0-2 (called 'setting' in mwiigui)
* merged in MSP changes including profile switch
* cleaned up rc / aux switch stuff in mw.c based on 2.2 rewrite
* main loop switch for baro/sonar shit adjusted
todo: basically the rest of 2.2 changes (i think some minor imu/gps/baro updates)
baseflight-specific stuff:
* made boxitems transmission dynamic, based on enabled features. no more GPS / camstab trash if it's not enabled
* cleaned up gyro drivers to return scale factor to imu code
* set gyro_lpf now controls every supported gyro - not all take same values, see driver files for allowed ranges, in case of invalid lpf, defaults to something reasonable (around 30-40hz)
maybe couple other things I forgot. this is all 100% experimental, untested, and not even flown. thats why there's no hex.
merge is still ongoing.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@294 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
added sending cell voltages (faked) via frsky telemetry by fiendie
two additional cli commands (aux and dump) from jef79m - aux allows setting switches from command line, dump creates a copy-pasteable config which can be sent to a new board.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@283 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
fixed pwm init for airplane mode mistakenly deleting motors from the mix. flyingwing should really work now.
removed led debug from althold
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@223 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
synced angle/horizon mode stuff from mwc. no idea what it does.
perhaps the most important part of this update:
-errorAngle = constrain(2 * rcCommand[axis] - GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
+errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
(which means GPS might actually work).
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@209 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
removed camtrig stuff since it wasnt possible. somewhat replaced with aux forwarding (see below)
2.1 buzzer code changed, untested.
removed flying wing mixer. nobody used that.
added alt_hold_throttle_neutral, nav_slew_rate and looptime configuration to cli. default looptime set to 3000. changed default gyro_cmpf to 400 to sync with 2.1.
increased bmp085 oversampling
added gimbal_flags (bit 4 set) flag which, in PPM mode, forwards AUX1..4 to the lower 4 PWM outputs instead of using them as motors. set gimbal_flags=8 to test it out. output is fixed to 50Hz.
merged 2.1 gps changes (not many)
casting in gyro smoothing (nobody uses that anyway)
calibrate accel in gimbal mode, set smallangle in gyro-only mode
vtail4 mixer fix
flight tested on quadx w/ppm.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@182 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
added a modifier for set (type "set *") to see min/max values for each parameter. this is for gui stuff
bumped config VERSION
fixed 0xffff - now stuff in drv_pwm, after it was mentioned to me for the 3rd time :p
replaced some uint8_t -> uint32_t for loop counters - saving 4 to 8 bytes of flash each time. thanks goes to thee 35+ years of C experience kicad guy.
turned bitfiends into a regular struct - instant 100byte flash size reduction
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@174 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
