mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-13 03:20:00 +03:00
9b48d45bca
implemented cli (press # in serial to enter it). no commands except exit/version yet. added uartPrint fixed bug in task switching with missing breaks - was failing baro and perhaps mag readings dynamic yaw direction, camtilt feature, camtrig feature. ported some of 2.0-pre1 features: * gyro smoothing * baro/althold cleanup git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@102 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
277 lines
11 KiB
C
Executable file
277 lines
11 KiB
C
Executable file
#pragma once
|
|
|
|
#define MINCHECK 1100
|
|
#define MAXCHECK 1900
|
|
|
|
/* this is the value for the ESCs when they are not armed
|
|
in some cases, this value must be lowered down to 900 for some specific ESCs */
|
|
// #define MINCOMMAND 1000
|
|
|
|
/* This option should be uncommented if ACC Z is accurate enough when motors are running*/
|
|
/* should now be ok with BMA020 and BMA180 ACC */
|
|
#define TRUSTED_ACCZ
|
|
|
|
/* Failsave settings - added by MIS
|
|
Failsafe check pulse on THROTTLE channel. If the pulse is OFF (on only THROTTLE or on all channels) the failsafe procedure is initiated.
|
|
After FAILSAVE_DELAY time of pulse absence, the level mode is on (if ACC or nunchuk is avaliable), PITCH, ROLL and YAW is centered
|
|
and THROTTLE is set to FAILSAVE_THR0TTLE value. You must set this value to descending about 1m/s or so for best results.
|
|
This value is depended from your configuration, AUW and some other params.
|
|
Next, afrer FAILSAVE_OFF_DELAY the copter is disarmed, and motors is stopped.
|
|
If RC pulse coming back before reached FAILSAVE_OFF_DELAY time, after the small quard time the RC control is returned to normal.
|
|
If you use serial sum PPM, the sum converter must completly turn off the PPM SUM pusles for this FailSafe functionality.*/
|
|
// #define FAILSAFE // Alex: comment this line if you want to deactivate the failsafe function
|
|
#define FAILSAVE_DELAY 10 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
|
|
#define FAILSAVE_OFF_DELAY 200 // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
|
|
#define FAILSAVE_THR0TTLE (MINTHROTTLE + 200) // Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
|
|
|
|
/* you can change the tricopter servo travel here */
|
|
#define TRI_YAW_CONSTRAINT_MIN 1020
|
|
#define TRI_YAW_CONSTRAINT_MAX 2000
|
|
|
|
/* Flying Wing: you can change change servo orientation and servo min/max values here */
|
|
/* valid for all flight modes, even passThrough mode */
|
|
/* need to setup servo directions here; no need to swap servos amongst channels at rx */
|
|
#define PITCH_DIRECTION_L 1 // left servo - pitch orientation
|
|
#define PITCH_DIRECTION_R -1 // right servo - pitch orientation (opposite sign to PITCH_DIRECTION_L, if servos are mounted in mirrored orientation)
|
|
#define ROLL_DIRECTION_L 1 // left servo - roll orientation
|
|
#define ROLL_DIRECTION_R 1 // right servo - roll orientation (same sign as ROLL_DIRECTION_L, if servos are mounted in mirrored orientation)
|
|
#define WING_LEFT_MIN 1020 // limit servo travel range must be inside [1020;2000]
|
|
#define WING_LEFT_MAX 2000 // limit servo travel range must be inside [1020;2000]
|
|
#define WING_RIGHT_MIN 1020 // limit servo travel range must be inside [1020;2000]
|
|
#define WING_RIGHT_MAX 2000 // limit servo travel range must be inside [1020;2000]
|
|
|
|
/* The following lines apply only for a pitch/roll tilt stabilization system
|
|
On promini board, it is not compatible with config with 6 motors or more
|
|
Uncomment the first line to activate it */
|
|
#define TILT_PITCH_MIN 1020 //servo travel min, don't set it below 1020
|
|
#define TILT_PITCH_MAX 2000 //servo travel max, max value=2000
|
|
#define TILT_PITCH_MIDDLE 1500 //servo neutral value
|
|
#define TILT_ROLL_MIN 1020
|
|
#define TILT_ROLL_MAX 2000
|
|
#define TILT_ROLL_MIDDLE 1500
|
|
|
|
/* experimental
|
|
camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini */
|
|
#define CAM_SERVO_HIGH 2000 // the position of HIGH state servo
|
|
#define CAM_SERVO_LOW 1020 // the position of LOW state servo
|
|
#define CAM_TIME_HIGH 1000 // the duration of HIGH state servo expressed in ms
|
|
#define CAM_TIME_LOW 1000 // the duration of LOW state servo expressed in ms
|
|
|
|
/* for V BAT monitoring
|
|
after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
|
|
with R1=33k and R2=51k
|
|
vbat = [0;1023]*16/VBATSCALE */
|
|
#define VBATFREQ 6 // to read battery voltage - keep equal to PSENSORFREQ (6) unless you know what you are doing
|
|
#define VBATSCALE 151 // change this value if readed Battery voltage is different than real voltage
|
|
#define VBATLEVEL1_3S 107 // 10,7V
|
|
#define VBATLEVEL2_3S 103 // 10,3V
|
|
#define VBATLEVEL3_3S 99 // 9.9V
|
|
#define NO_VBAT 16 // Avoid beeping without any battery
|
|
|
|
// Moving Average Gyros by Magnetron1 (Michele Ardito) ########## beta
|
|
//#define MMGYRO // Active Moving Average Function for Gyros
|
|
//#define MMGYROVECTORLENGHT 10 // Lenght of Moving Average Vector
|
|
// Moving Average ServoGimbal Signal Output
|
|
//#define MMSERVOGIMBAL // Active Output Moving Average Function for Servos Gimbal
|
|
//#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector
|
|
|
|
#define VERSION 201
|
|
|
|
// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
|
|
typedef enum MultiType
|
|
{
|
|
MULTITYPE_TRI = 1, // XA
|
|
MULTITYPE_QUADP = 2, // XB
|
|
MULTITYPE_QUADX = 3, // XC
|
|
MULTITYPE_BI = 4, // XD
|
|
MULTITYPE_GIMBAL = 5, // XE
|
|
MULTITYPE_Y6 = 6, // XF
|
|
MULTITYPE_HEX6 = 7, // XG
|
|
MULTITYPE_FLYING_WING = 8, // XH
|
|
MULTITYPE_Y4 = 9, // XI
|
|
MULTITYPE_HEX6X = 10, // XJ
|
|
MULTITYPE_OCTOX8 = 11, // XK
|
|
MULTITYPE_OCTOFLATP = 12, // XL the GUI is the same for all 8 motor configs
|
|
MULTITYPE_OCTOFLATX = 13, // XM the GUI is the same for all 8 motor configs
|
|
MULTITYPE_AIRPLANE = 14, // XN
|
|
MULTITYPE_HELI_120_CCPM = 15, // XO simple model
|
|
MULTITYPE_HELI_90_DEG = 16, // XP simple model
|
|
MULTITYPE_VTAIL4 = 17, // XO
|
|
MULTITYPE_LAST = 18
|
|
} MultiType;
|
|
|
|
/*********** RC alias *****************/
|
|
#define ROLL 0
|
|
#define PITCH 1
|
|
#define YAW 2
|
|
#define THROTTLE 3
|
|
#define AUX1 4
|
|
#define AUX2 5
|
|
#define AUX3 6
|
|
#define AUX4 7
|
|
|
|
#define PIDALT 3
|
|
#define PIDVEL 4
|
|
#define PIDGPS 5
|
|
#define PIDLEVEL 6
|
|
#define PIDMAG 7
|
|
|
|
#define BOXACC 0
|
|
#define BOXBARO 1
|
|
#define BOXMAG 2
|
|
#define BOXCAMSTAB 3
|
|
#define BOXCAMTRIG 4
|
|
#define BOXARM 5
|
|
#define BOXGPSHOME 6
|
|
#define BOXGPSHOLD 7
|
|
#define BOXPASSTHRU 8
|
|
#define BOXHEADFREE 9
|
|
#define BOXBEEPERON 10
|
|
|
|
#define CHECKBOXITEMS 11
|
|
#define PIDITEMS 8
|
|
|
|
#define ACC_ORIENTATION(X, Y, Z) { accADC[ROLL] = Y; accADC[PITCH] = -X; accADC[YAW] = Z; }
|
|
#define GYRO_ORIENTATION(X, Y, Z) { gyroADC[ROLL] = -Y; gyroADC[PITCH] = X; gyroADC[YAW] = Z; }
|
|
|
|
#define min(a,b) ((a)<(b)?(a):(b))
|
|
#define max(a,b) ((a)>(b)?(a):(b))
|
|
#define abs(x) ((x)>0?(x):-(x))
|
|
#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
|
|
|
|
typedef struct config_t {
|
|
uint8_t version;
|
|
uint8_t mixerConfiguration;
|
|
uint32_t enabledFeatures;
|
|
|
|
uint8_t P8[8];
|
|
uint8_t I8[8];
|
|
uint8_t D8[8];
|
|
|
|
uint8_t rcRate8;
|
|
uint8_t rcExpo8;
|
|
uint8_t rollPitchRate;
|
|
uint8_t yawRate;
|
|
|
|
uint8_t dynThrPID;
|
|
int16_t accZero[3];
|
|
int16_t magZero[3];
|
|
int16_t accTrim[2];
|
|
uint32_t gyro_smoothing_factor; // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively
|
|
|
|
uint8_t activate1[CHECKBOXITEMS];
|
|
uint8_t activate2[CHECKBOXITEMS];
|
|
uint8_t powerTrigger1; // trigger for alarm based on power consumption
|
|
|
|
// Radio/ESC-related configuration
|
|
uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
|
|
uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
|
|
uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000
|
|
uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
|
|
|
|
// mixer-related configuration
|
|
int8_t yaw_direction;
|
|
uint16_t wing_left_mid; // left servo center pos. - use this for initial trim
|
|
uint16_t wing_right_mid; // right servo center pos. - use this for initial trim
|
|
uint16_t tri_yaw_middle; // tail servo center pos. - use this for initial trim
|
|
|
|
// gimbal-related configuration
|
|
int8_t tilt_pitch_prop; // servo proportional (tied to angle) ; can be negative to invert movement
|
|
int8_t tilt_roll_prop; // servo proportional (tied to angle) ; can be negative to invert movement
|
|
|
|
} config_t;
|
|
|
|
extern int16_t gyroZero[3];
|
|
extern int16_t gyroData[3];
|
|
extern int16_t angle[2];
|
|
extern int16_t axisPID[3];
|
|
extern int16_t rcCommand[4];
|
|
extern uint8_t rcOptions[CHECKBOXITEMS];
|
|
|
|
extern int16_t debug1, debug2, debug3, debug4;
|
|
extern uint8_t armed;
|
|
extern int16_t gyroADC[3], accADC[3], accSmooth[3], magADC[3];
|
|
extern uint16_t acc_1G;
|
|
extern uint32_t currentTime;
|
|
extern uint32_t previousTime;
|
|
extern uint16_t cycleTime;
|
|
extern uint8_t calibratedACC;
|
|
extern uint16_t calibratingA;
|
|
extern uint8_t calibratingM;
|
|
extern uint16_t calibratingG;
|
|
extern int16_t heading;
|
|
extern int16_t annex650_overrun_count;
|
|
extern int32_t pressure;
|
|
extern int32_t BaroAlt;
|
|
extern int32_t EstAlt;
|
|
extern int32_t AltHold;
|
|
extern int16_t errorAltitudeI;
|
|
extern int16_t BaroPID;
|
|
extern uint8_t headFreeMode;
|
|
extern int16_t headFreeModeHold;
|
|
extern uint8_t passThruMode;
|
|
extern int8_t smallAngle25;
|
|
extern int16_t zVelocity;
|
|
extern int16_t heading, magHold;
|
|
extern int16_t motor[8];
|
|
extern int16_t servo[8];
|
|
extern int16_t rcData[8];
|
|
extern uint8_t accMode;
|
|
extern uint8_t magMode;
|
|
extern uint8_t baroMode;
|
|
extern uint16_t intPowerMeterSum, intPowerTrigger1;
|
|
extern int32_t GPS_latitude, GPS_longitude;
|
|
extern int32_t GPS_latitude_home, GPS_longitude_home;
|
|
extern uint8_t GPS_fix, GPS_fix_home;
|
|
extern uint8_t GPS_numSat;
|
|
extern uint16_t GPS_distanceToHome;
|
|
extern int16_t GPS_directionToHome;
|
|
extern uint8_t GPS_update;
|
|
extern uint8_t GPSModeHome;
|
|
extern uint8_t GPSModeHold;
|
|
extern uint8_t vbat;
|
|
extern int16_t lookupRX[7]; // lookup table for expo & RC rate
|
|
|
|
extern config_t cfg;
|
|
|
|
// main
|
|
void loop(void);
|
|
|
|
// IMU
|
|
void imuInit(void);
|
|
void annexCode(void);
|
|
void computeIMU(void);
|
|
void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat);
|
|
void getEstimatedAltitude(void);
|
|
|
|
// Sensors
|
|
void sensorsAutodetect(void);
|
|
void ACC_getADC(void);
|
|
void Baro_update(void);
|
|
void Gyro_getADC(void);
|
|
void Mag_init(void);
|
|
void Mag_getADC(void);
|
|
|
|
// Output
|
|
void mixerInit(void);
|
|
void writeServos(void);
|
|
void writeMotors(void);
|
|
void mixTable(void);
|
|
|
|
// Serial
|
|
void serialCom(void);
|
|
|
|
// Config
|
|
void readEEPROM(void);
|
|
void writeParams(void);
|
|
void checkFirstTime(void);
|
|
bool sensors(uint32_t mask);
|
|
void sensorsSet(uint32_t mask);
|
|
void sensorsClear(uint32_t mask);
|
|
bool feature(uint32_t mask);
|
|
void featureSet(uint32_t mask);
|
|
void featureClear(uint32_t mask);
|
|
void featureClearAll(void);
|
|
|
|
// cli
|
|
void cliProcess(void);
|