Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity
betaflight/src/main/mw.c
borisbstyle ea67304a1a Fix mw.c
2016-08-09 23:38:07 +02:00

1033 lines
31 KiB
C
Raw Blame History

/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdlib.h>
#include <stdint.h>
#include <math.h>
#include "platform.h"
#include "debug.h"
#include "common/maths.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/utils.h"
#include "common/filter.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/light_led.h"
#include "drivers/gpio.h"
#include "drivers/system.h"
#include "drivers/serial.h"
#include "drivers/timer.h"
#include "drivers/pwm_rx.h"
#include "drivers/gyro_sync.h"
#include "sensors/sensors.h"
#include "sensors/boardalignment.h"
#include "sensors/sonar.h"
#include "sensors/compass.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/gyro.h"
#include "sensors/battery.h"
#include "io/beeper.h"
#include "io/display.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "io/rc_curves.h"
#include "io/gimbal.h"
#include "io/gps.h"
#include "io/ledstrip.h"
#include "io/serial.h"
#include "io/serial_cli.h"
#include "io/serial_msp.h"
#include "io/statusindicator.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/transponder_ir.h"
#include "io/osd.h"
#include "io/vtx.h"
#include "rx/rx.h"
#include "rx/msp.h"
#include "telemetry/telemetry.h"
#include "blackbox/blackbox.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/altitudehold.h"
#include "flight/failsafe.h"
#include "flight/gtune.h"
#include "flight/navigation.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "scheduler/scheduler.h"
#include "scheduler/scheduler_tasks.h"
// June 2013 V2.2-dev
enum {
ALIGN_GYRO = 0,
ALIGN_ACCEL = 1,
ALIGN_MAG = 2
};
/* VBAT monitoring interval (in microseconds) - 1s*/
#define VBATINTERVAL (6 * 3500)
/* IBat monitoring interval (in microseconds) - 6 default looptimes */
#define IBATINTERVAL (6 * 3500)
#define GYRO_WATCHDOG_DELAY 80 // delay for gyro sync
#define AIRMODE_THOTTLE_THRESHOLD 1350 // Make configurable in the future. ~35% throttle should be fine
uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
int16_t magHold;
int16_t headFreeModeHold;
uint8_t motorControlEnable = false;
int16_t telemTemperature1; // gyro sensor temperature
static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
extern uint32_t currentTime;
extern uint8_t PIDweight[3];
uint16_t filteredCycleTime;
static bool isRXDataNew;
static bool armingCalibrationWasInitialised;
float setpointRate[3];
float rcInput[3];
extern pidControllerFuncPtr pid_controller;
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
{
masterConfig.accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;
masterConfig.accelerometerTrims.values.pitch += rollAndPitchTrimsDelta->values.pitch;
saveConfigAndNotify();
}
#ifdef GTUNE
void updateGtuneState(void)
{
static bool GTuneWasUsed = false;
if (IS_RC_MODE_ACTIVE(BOXGTUNE)) {
if (!FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
ENABLE_FLIGHT_MODE(GTUNE_MODE);
init_Gtune(&currentProfile->pidProfile);
GTuneWasUsed = true;
}
if (!FLIGHT_MODE(GTUNE_MODE) && !ARMING_FLAG(ARMED) && GTuneWasUsed) {
saveConfigAndNotify();
GTuneWasUsed = false;
}
} else {
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
DISABLE_FLIGHT_MODE(GTUNE_MODE);
}
}
}
#endif
bool isCalibrating()
{
#ifdef BARO
if (sensors(SENSOR_BARO) && !isBaroCalibrationComplete()) {
return true;
}
#endif
// Note: compass calibration is handled completely differently, outside of the main loop, see f.CALIBRATE_MAG
return (!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
}
float calculateSetpointRate(int axis, int16_t rc) {
float angleRate;
if (isSuperExpoActive()) {
rcInput[axis] = (axis == YAW) ? (ABS(rc) / (500.0f * (currentControlRateProfile->rcYawRate8 / 100.0f))) : (ABS(rc) / (500.0f * (currentControlRateProfile->rcRate8 / 100.0f)));
float rcFactor = 1.0f / (constrainf(1.0f - (rcInput[axis] * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
angleRate = rcFactor * ((27 * rc) / 16.0f);
} else {
angleRate = (float)((currentControlRateProfile->rates[axis] + 27) * rc) / 16.0f;
}
if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LEGACY)
return constrainf(angleRate, -8190.0f, 8190.0f); // Rate limit protection
else
return constrainf(angleRate / 4.1f, -1997.0f, 1997.0f); // Rate limit protection (deg/sec)
}
void scaleRcCommandToFpvCamAngle(void) {
//recalculate sin/cos only when masterConfig.rxConfig.fpvCamAngleDegrees changed
static uint8_t lastFpvCamAngleDegrees = 0;
static float cosFactor = 1.0;
static float sinFactor = 0.0;
if (lastFpvCamAngleDegrees != masterConfig.rxConfig.fpvCamAngleDegrees){
lastFpvCamAngleDegrees = masterConfig.rxConfig.fpvCamAngleDegrees;
cosFactor = cos_approx(masterConfig.rxConfig.fpvCamAngleDegrees * RAD);
sinFactor = sin_approx(masterConfig.rxConfig.fpvCamAngleDegrees * RAD);
}
int16_t roll = setpointRate[ROLL];
int16_t yaw = setpointRate[YAW];
setpointRate[ROLL] = constrain(roll * cosFactor - yaw * sinFactor, -500, 500);
setpointRate[YAW] = constrain(yaw * cosFactor + roll * sinFactor, -500, 500);
}
void processRcCommand(void)
{
static int16_t lastCommand[4] = { 0, 0, 0, 0 };
static int16_t deltaRC[4] = { 0, 0, 0, 0 };
static int16_t factor, rcInterpolationFactor;
uint16_t rxRefreshRate;
bool readyToCalculateRate = false;
if (masterConfig.rxConfig.rcInterpolation || flightModeFlags) {
if (isRXDataNew) {
// Set RC refresh rate for sampling and channels to filter
switch (masterConfig.rxConfig.rcInterpolation) {
case(RC_SMOOTHING_AUTO):
rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps
break;
case(RC_SMOOTHING_MANUAL):
rxRefreshRate = 1000 * masterConfig.rxConfig.rcInterpolationInterval;
break;
case(RC_SMOOTHING_OFF):
case(RC_SMOOTHING_DEFAULT):
default:
initRxRefreshRate(&rxRefreshRate);
}
rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;
if (debugMode == DEBUG_RC_INTERPOLATION) {
for (int axis = 0; axis < 2; axis++) debug[axis] = rcCommand[axis];
debug[3] = rxRefreshRate;
}
for (int channel=0; channel < 4; channel++) {
deltaRC[channel] = rcCommand[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
lastCommand[channel] = rcCommand[channel];
}
factor = rcInterpolationFactor - 1;
} else {
factor--;
}
// Interpolate steps of rcCommand
if (factor > 0) {
for (int channel=0; channel < 4; channel++) rcCommand[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
} else {
factor = 0;
}
readyToCalculateRate = true;
} else {
factor = 0; // reset factor in case of level modes flip flopping
}
if (readyToCalculateRate || isRXDataNew) {
for (int axis = 0; axis < 3; axis++) setpointRate[axis] = calculateSetpointRate(axis, rcCommand[axis]);
isRXDataNew = false;
// Scaling of AngleRate to camera angle (Mixing Roll and Yaw)
if (masterConfig.rxConfig.fpvCamAngleDegrees && IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX) && !FLIGHT_MODE(HEADFREE_MODE))
scaleRcCommandToFpvCamAngle();
}
}
static void updateRcCommands(void)
{
// PITCH & ROLL only dynamic PID adjustment, depending on throttle value
int32_t prop;
if (rcData[THROTTLE] < currentControlRateProfile->tpa_breakpoint) {
prop = 100;
} else {
if (rcData[THROTTLE] < 2000) {
prop = 100 - (uint16_t)currentControlRateProfile->dynThrPID * (rcData[THROTTLE] - currentControlRateProfile->tpa_breakpoint) / (2000 - currentControlRateProfile->tpa_breakpoint);
} else {
prop = 100 - currentControlRateProfile->dynThrPID;
}
}
for (int axis = 0; axis < 3; axis++) {
// non coupled PID reduction scaler used in PID controller 1 and PID controller 2.
PIDweight[axis] = prop;
int32_t tmp = MIN(ABS(rcData[axis] - masterConfig.rxConfig.midrc), 500);
if (axis == ROLL || axis == PITCH) {
if (tmp > masterConfig.rcControlsConfig.deadband) {
tmp -= masterConfig.rcControlsConfig.deadband;
} else {
tmp = 0;
}
rcCommand[axis] = rcLookup(tmp, currentControlRateProfile->rcExpo8, currentControlRateProfile->rcRate8);
} else if (axis == YAW) {
if (tmp > masterConfig.rcControlsConfig.yaw_deadband) {
tmp -= masterConfig.rcControlsConfig.yaw_deadband;
} else {
tmp = 0;
}
rcCommand[axis] = rcLookup(tmp, currentControlRateProfile->rcYawExpo8, currentControlRateProfile->rcYawRate8) * -masterConfig.yaw_control_direction;;
}
if (rcData[axis] < masterConfig.rxConfig.midrc) {
rcCommand[axis] = -rcCommand[axis];
}
}
int32_t tmp;
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);
}
rcCommand[THROTTLE] = rcLookupThrottle(tmp);
if (feature(FEATURE_3D) && 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)) {
const float radDiff = degreesToRadians(DECIDEGREES_TO_DEGREES(attitude.values.yaw) - headFreeModeHold);
const float cosDiff = cos_approx(radDiff);
const float sinDiff = sin_approx(radDiff);
const int16_t rcCommand_PITCH = rcCommand[PITCH] * cosDiff + rcCommand[ROLL] * sinDiff;
rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
rcCommand[PITCH] = rcCommand_PITCH;
}
}
static void updateLEDs(void)
{
if (ARMING_FLAG(ARMED)) {
LED0_ON;
} else {
if (IS_RC_MODE_ACTIVE(BOXARM) == 0 || armingCalibrationWasInitialised) {
ENABLE_ARMING_FLAG(OK_TO_ARM);
}
if (!STATE(SMALL_ANGLE)) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (isCalibrating() || (averageSystemLoadPercent > 100)) {
warningLedFlash();
DISABLE_ARMING_FLAG(OK_TO_ARM);
} else {
if (ARMING_FLAG(OK_TO_ARM)) {
warningLedDisable();
} else {
warningLedFlash();
}
}
warningLedUpdate();
}
}
void mwDisarm(void)
{
armingCalibrationWasInitialised = false;
if (ARMING_FLAG(ARMED)) {
DISABLE_ARMING_FLAG(ARMED);
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
finishBlackbox();
}
#endif
beeper(BEEPER_DISARMING); // emit disarm tone
}
}
#define TELEMETRY_FUNCTION_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_SMARTPORT)
void releaseSharedTelemetryPorts(void) {
serialPort_t *sharedPort = findSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
while (sharedPort) {
mspReleasePortIfAllocated(sharedPort);
sharedPort = findNextSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
}
}
void mwArm(void)
{
static bool firstArmingCalibrationWasCompleted;
if (masterConfig.gyro_cal_on_first_arm && !firstArmingCalibrationWasCompleted) {
gyroSetCalibrationCycles();
armingCalibrationWasInitialised = true;
firstArmingCalibrationWasCompleted = true;
}
if (!isGyroCalibrationComplete()) return; // prevent arming before gyro is calibrated
if (ARMING_FLAG(OK_TO_ARM)) {
if (ARMING_FLAG(ARMED)) {
return;
}
if (IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
return;
}
if (!ARMING_FLAG(PREVENT_ARMING)) {
ENABLE_ARMING_FLAG(ARMED);
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
if (sharedBlackboxAndMspPort) {
mspReleasePortIfAllocated(sharedBlackboxAndMspPort);
}
startBlackbox();
}
#endif
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
//beep to indicate arming
#ifdef GPS
if (feature(FEATURE_GPS) && STATE(GPS_FIX) && GPS_numSat >= 5)
beeper(BEEPER_ARMING_GPS_FIX);
else
beeper(BEEPER_ARMING);
#else
beeper(BEEPER_ARMING);
#endif
return;
}
}
if (!ARMING_FLAG(ARMED)) {
beeperConfirmationBeeps(1);
}
}
// Automatic ACC Offset Calibration
bool AccInflightCalibrationArmed = false;
bool AccInflightCalibrationMeasurementDone = false;
bool AccInflightCalibrationSavetoEEProm = false;
bool AccInflightCalibrationActive = false;
uint16_t InflightcalibratingA = 0;
void handleInflightCalibrationStickPosition(void)
{
if (AccInflightCalibrationMeasurementDone) {
// trigger saving into eeprom after landing
AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = true;
} else {
AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
if (AccInflightCalibrationArmed) {
beeper(BEEPER_ACC_CALIBRATION);
} else {
beeper(BEEPER_ACC_CALIBRATION_FAIL);
}
}
}
static void updateInflightCalibrationState(void)
{
if (AccInflightCalibrationArmed && ARMING_FLAG(ARMED) && rcData[THROTTLE] > masterConfig.rxConfig.mincheck && !IS_RC_MODE_ACTIVE(BOXARM)) { // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = false;
}
if (IS_RC_MODE_ACTIVE(BOXCALIB)) { // Use the Calib Option to activate : Calib = TRUE measurement started, Land and Calib = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
InflightcalibratingA = 50;
AccInflightCalibrationActive = true;
} else if (AccInflightCalibrationMeasurementDone && !ARMING_FLAG(ARMED)) {
AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = true;
}
}
void updateMagHold(void)
{
if (ABS(rcCommand[YAW]) < 15 && FLIGHT_MODE(MAG_MODE)) {
int16_t dif = DECIDEGREES_TO_DEGREES(attitude.values.yaw) - magHold;
if (dif <= -180)
dif += 360;
if (dif >= +180)
dif -= 360;
dif *= -masterConfig.yaw_control_direction;
if (STATE(SMALL_ANGLE))
rcCommand[YAW] -= dif * currentProfile->pidProfile.P8[PIDMAG] / 30; // 18 deg
} else
magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
void processRx(void)
{
static bool armedBeeperOn = false;
static bool airmodeIsActivated;
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
mwDisarm();
}
updateRSSI(currentTime);
if (feature(FEATURE_FAILSAFE)) {
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
}
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
if (rcCommand[THROTTLE] >= masterConfig.rxConfig.airModeActivateThreshold) airmodeIsActivated = true; // Prevent Iterm from being reset
} else {
airmodeIsActivated = false;
}
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
pidResetErrorGyroState();
if (currentProfile->pidProfile.pidAtMinThrottle)
pidStabilisationState(PID_STABILISATION_ON);
else
pidStabilisationState(PID_STABILISATION_OFF);
} else {
pidStabilisationState(PID_STABILISATION_ON);
}
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (masterConfig.auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
mwDisarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (masterConfig.auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
} else {
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateActivatedModes(masterConfig.modeActivationConditions);
if (!cliMode) {
updateAdjustmentStates(masterConfig.adjustmentRanges);
processRcAdjustments(currentControlRateProfile, &masterConfig.rxConfig);
}
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
} else {
LED1_OFF;
}
#ifdef MAG
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // acquire new heading
}
}
#endif
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if ((!masterConfig.telemetryConfig.telemetry_switch && ARMING_FLAG(ARMED)) ||
(masterConfig.telemetryConfig.telemetry_switch && IS_RC_MODE_ACTIVE(BOXTELEMETRY))) {
releaseSharedTelemetryPorts();
} else {
// the telemetry state must be checked immediately so that shared serial ports are released.
telemetryCheckState();
mspAllocateSerialPorts(&masterConfig.serialConfig);
}
}
#endif
#ifdef VTX
vtxUpdateActivatedChannel();
#endif
}
void subTaskPidController(void)
{
const uint32_t startTime = micros();
// PID - note this is function pointer set by setPIDController()
pid_controller(
&currentProfile->pidProfile,
masterConfig.max_angle_inclination,
&masterConfig.accelerometerTrims,
&masterConfig.rxConfig
);
if (debugMode == DEBUG_PIDLOOP) {debug[2] = micros() - startTime;}
}
void subTaskMainSubprocesses(void) {
const uint32_t startTime = micros();
// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
if (gyro.temperature) {
gyro.temperature(&telemTemperature1);
}
#ifdef MAG
if (sensors(SENSOR_MAG)) {
updateMagHold();
}
#endif
#ifdef GTUNE
updateGtuneState();
#endif
#if defined(BARO) || defined(SONAR)
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
applyAltHold(&masterConfig.airplaneConfig);
}
}
#endif
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
if (isUsingSticksForArming() && rcData[THROTTLE] <= masterConfig.rxConfig.mincheck
#ifndef USE_QUAD_MIXER_ONLY
#ifdef USE_SERVOS
&& !((masterConfig.mixerMode == MIXER_TRI || masterConfig.mixerMode == MIXER_CUSTOM_TRI) && masterConfig.mixerConfig.tri_unarmed_servo)
#endif
&& masterConfig.mixerMode != MIXER_AIRPLANE
&& masterConfig.mixerMode != MIXER_FLYING_WING
#endif
) {
rcCommand[YAW] = 0;
setpointRate[YAW] = 0;
}
if (masterConfig.throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(masterConfig.throttle_correction_value);
}
processRcCommand();
#ifdef GPS
if (sensors(SENSOR_GPS)) {
if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
updateGpsStateForHomeAndHoldMode();
}
}
#endif
#ifdef USE_SDCARD
afatfs_poll();
#endif
#ifdef BLACKBOX
if (!cliMode && feature(FEATURE_BLACKBOX)) {
handleBlackbox();
}
#endif
#ifdef TRANSPONDER
updateTransponder();
#endif
if (debugMode == DEBUG_PIDLOOP) {debug[1] = micros() - startTime;}
}
void subTaskMotorUpdate(void)
{
const uint32_t startTime = micros();
if (debugMode == DEBUG_CYCLETIME) {
static uint32_t previousMotorUpdateTime;
const uint32_t currentDeltaTime = startTime - previousMotorUpdateTime;
debug[2] = currentDeltaTime;
debug[3] = currentDeltaTime - targetPidLooptime;
previousMotorUpdateTime = startTime;
}
mixTable(&currentProfile->pidProfile);
#ifdef USE_SERVOS
filterServos();
writeServos();
#endif
if (motorControlEnable) {
writeMotors();
}
if (debugMode == DEBUG_PIDLOOP) {debug[3] = micros() - startTime;}
}
uint8_t setPidUpdateCountDown(void) {
if (masterConfig.gyro_soft_lpf_hz) {
return masterConfig.pid_process_denom - 1;
} else {
return 1;
}
}
// Function for loop trigger
void taskMainPidLoopCheck(void)
{
static uint32_t previousTime;
static bool runTaskMainSubprocesses;
const uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
cycleTime = micros() - previousTime;
previousTime = micros();
if (debugMode == DEBUG_CYCLETIME) {
debug[0] = cycleTime;
debug[1] = averageSystemLoadPercent;
}
const uint32_t startTime = micros();
while (true) {
if (gyroSyncCheckUpdate(&gyro) || ((currentDeltaTime + (micros() - previousTime)) >= (gyro.targetLooptime + GYRO_WATCHDOG_DELAY))) {
static uint8_t pidUpdateCountdown;
if (debugMode == DEBUG_PIDLOOP) {debug[0] = micros() - startTime;} // time spent busy waiting
if (runTaskMainSubprocesses) {
subTaskMainSubprocesses();
runTaskMainSubprocesses = false;
}
gyroUpdate();
if (pidUpdateCountdown) {
pidUpdateCountdown--;
} else {
pidUpdateCountdown = setPidUpdateCountDown();
subTaskPidController();
subTaskMotorUpdate();
runTaskMainSubprocesses = true;
}
break;
}
}
}
void taskUpdateAccelerometer(void)
{
imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
}
void taskUpdateAttitude(void) {
imuUpdateAttitude();
}
void taskHandleSerial(void)
{
handleSerial();
}
void taskUpdateBeeper(void)
{
beeperUpdate(); //call periodic beeper handler
}
void taskUpdateBattery(void)
{
#ifdef USE_ADC
static uint32_t vbatLastServiced = 0;
if (feature(FEATURE_VBAT)) {
if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTime;
updateBattery();
}
}
#endif
static uint32_t ibatLastServiced = 0;
if (feature(FEATURE_CURRENT_METER)) {
int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTime;
updateCurrentMeter(ibatTimeSinceLastServiced, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
}
}
}
bool taskUpdateRxCheck(uint32_t currentDeltaTime)
{
UNUSED(currentDeltaTime);
updateRx(currentTime);
return shouldProcessRx(currentTime);
}
void taskUpdateRxMain(void)
{
processRx();
isRXDataNew = true;
#if !defined(BARO) && !defined(SONAR)
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
#endif
updateLEDs();
#ifdef BARO
if (sensors(SENSOR_BARO)) {
updateAltHoldState();
}
#endif
#ifdef SONAR
if (sensors(SENSOR_SONAR)) {
updateSonarAltHoldState();
}
#endif
}
#ifdef GPS
void taskProcessGPS(void)
{
// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
// change this based on available hardware
if (feature(FEATURE_GPS)) {
gpsThread();
}
if (sensors(SENSOR_GPS)) {
updateGpsIndicator(currentTime);
}
}
#endif
#ifdef MAG
void taskUpdateCompass(void)
{
if (sensors(SENSOR_MAG)) {
updateCompass(&masterConfig.magZero);
}
}
#endif
#ifdef BARO
void taskUpdateBaro(void)
{
if (sensors(SENSOR_BARO)) {
uint32_t newDeadline = baroUpdate();
rescheduleTask(TASK_SELF, newDeadline);
}
}
#endif
#ifdef SONAR
void taskUpdateSonar(void)
{
if (sensors(SENSOR_SONAR)) {
sonarUpdate();
}
}
#endif
#if defined(BARO) || defined(SONAR)
void taskCalculateAltitude(void)
{
if (false
#if defined(BARO)
|| (sensors(SENSOR_BARO) && isBaroReady())
#endif
#if defined(SONAR)
|| sensors(SENSOR_SONAR)
#endif
) {
calculateEstimatedAltitude(currentTime);
}}
#endif
#ifdef DISPLAY
void taskUpdateDisplay(void)
{
if (feature(FEATURE_DISPLAY)) {
updateDisplay();
}
}
#endif
#ifdef TELEMETRY
void taskTelemetry(void)
{
telemetryCheckState();
if (!cliMode && feature(FEATURE_TELEMETRY)) {
telemetryProcess(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
}
}
#endif
#ifdef LED_STRIP
void taskLedStrip(void)
{
if (feature(FEATURE_LED_STRIP)) {
updateLedStrip();
}
}
#endif
#ifdef TRANSPONDER
void taskTransponder(void)
{
if (feature(FEATURE_TRANSPONDER)) {
updateTransponder();
}
}
#endif
#ifdef OSD
void taskUpdateOsd(void)
{
if (feature(FEATURE_OSD)) {
updateOsd();
}
}
#endif
Reference in a new issue View git blame Copy permalink