mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-14 20:10:11 +03:00
RTH and Landing settings
This commit is contained in:
Pawel Spychalski (DzikuVx)
parent
fd4c1b5b6b
commit
eb4eff59fb
7 changed files with 526 additions and 93 deletions
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@ -2038,6 +2038,53 @@
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},
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},
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"wirelessModeSwitch": {
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"wirelessModeSwitch": {
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"message": "Wireless mode"
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"message": "Wireless mode"
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},
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"rthConfiguration": {
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"message": "RTH and Landing Settings"
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},
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"minRthDistance": {
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"message": "Min. RTH distance [cm]"
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},
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"minRthDistanceHelp": {
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"message": "If UAV is within this distance from Home Point, it will execute Land instead of RTH and Land"
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},
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"rthClimbFirst": {
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"message": "Climb before RTH"
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},
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"rthClimbIgnoreEmergency": {
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"message": "Climb regardless of position sensor health"
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},
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"rthTailFirst": {
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"message": "Tail first"
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},
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"rthAllowLanding": {
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"message": "Land after RTH"
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},
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"rthAltControlMode": {
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"message": "RTH Altitide mode"
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},
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"rthAbortThreshold": {
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"message": "RTH abort threshold [cm]"
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},
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"rthAbortThresholdHelp": {
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"message": "RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds the threshold defined by this parameter, instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default is 500m which is safe enough for both multirotor machines and airplanes."
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},
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"rthAltitude": {
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"message": "RTH Altitude [cm]"
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},
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"rthAltitudeHelp": {
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"message": "Used in Extra, Fixed and 'At Least' RTH altitude modes"
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},
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"landDescentRate": {
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"message": "Landing vertical speed [cm/s]"
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},
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"landSlowdownMinAlt": {
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"message": "Min. vertical landing speed at altitude [cm]"
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},
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"landSlowdownMaxAlt": {
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"message": "Vertical landing speed slowdown at altitude [cm]"
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},
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"emergencyDescentRate": {
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"message": "Emergency landing speed [cm/s]"
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}
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}
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}
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}
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238
build/script.js
238
build/script.js
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@ -7424,6 +7424,9 @@ var MSPCodes = {
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MSP_POSITION_ESTIMATION_CONFIG: 16,
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MSP_POSITION_ESTIMATION_CONFIG: 16,
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MSP_SET_POSITION_ESTIMATION_CONFIG: 17,
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MSP_SET_POSITION_ESTIMATION_CONFIG: 17,
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MSP_RTH_AND_LAND_CONFIG: 21,
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MSP_SET_RTH_AND_LAND_CONFIG: 22,
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// MSP commands for Cleanflight original features
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// MSP commands for Cleanflight original features
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MSP_CHANNEL_FORWARDING: 32,
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MSP_CHANNEL_FORWARDING: 32,
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MSP_SET_CHANNEL_FORWARDING: 33,
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MSP_SET_CHANNEL_FORWARDING: 33,
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@ -8487,6 +8490,25 @@ var mspHelper = (function (gui) {
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console.log('POSITION_ESTIMATOR saved');
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console.log('POSITION_ESTIMATOR saved');
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break;
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break;
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case MSPCodes.MSP_RTH_AND_LAND_CONFIG:
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RTH_AND_LAND_CONFIG.minRthDistance = data.getUint16(0, true);
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RTH_AND_LAND_CONFIG.rthClimbFirst = data.getUint8(2);
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RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency = data.getUint8(3);
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RTH_AND_LAND_CONFIG.rthTailFirst = data.getUint8(4);
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RTH_AND_LAND_CONFIG.rthAllowLanding = data.getUint8(5);
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RTH_AND_LAND_CONFIG.rthAltControlMode = data.getUint8(6);
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RTH_AND_LAND_CONFIG.rthAbortThreshold = data.getUint16(7, true);
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RTH_AND_LAND_CONFIG.rthAltitude = data.getUint16(9, true);
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RTH_AND_LAND_CONFIG.landDescentRate = data.getUint16(11, true);
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RTH_AND_LAND_CONFIG.landSlowdownMinAlt = data.getUint16(13, true);
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RTH_AND_LAND_CONFIG.landSlowdownMaxAlt = data.getUint16(15, true);
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RTH_AND_LAND_CONFIG.emergencyDescentRate = data.getUint16(17, true);
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break;
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case MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG:
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console.log('RTH_AND_LAND_CONFIG saved');
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break;
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case MSPCodes.MSP_SET_MODE_RANGE:
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case MSPCodes.MSP_SET_MODE_RANGE:
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console.log('Mode range saved');
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console.log('Mode range saved');
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break;
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break;
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@ -8839,6 +8861,35 @@ var mspHelper = (function (gui) {
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buffer.push(POSITION_ESTIMATOR.use_gps_velned);
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buffer.push(POSITION_ESTIMATOR.use_gps_velned);
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break;
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break;
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case MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG:
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.minRthDistance));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.minRthDistance));
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buffer.push(RTH_AND_LAND_CONFIG.rthClimbFirst);
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buffer.push(RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency);
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buffer.push(RTH_AND_LAND_CONFIG.rthTailFirst);
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buffer.push(RTH_AND_LAND_CONFIG.rthAllowLanding);
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buffer.push(RTH_AND_LAND_CONFIG.rthAltControlMode);
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.rthAbortThreshold));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.rthAbortThreshold));
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.rthAltitude));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.rthAltitude));
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.landDescentRate));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.landDescentRate));
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.emergencyDescentRate));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.emergencyDescentRate));
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break;
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case MSPCodes.MSP_SET_FILTER_CONFIG:
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case MSPCodes.MSP_SET_FILTER_CONFIG:
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buffer.push(FILTER_CONFIG.gyroSoftLpfHz);
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buffer.push(FILTER_CONFIG.gyroSoftLpfHz);
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@ -9589,6 +9640,22 @@ var mspHelper = (function (gui) {
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}
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}
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};
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};
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self.loadRthAndLandConfig = function (callback) {
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if (semver.gte(CONFIG.flightControllerVersion, "1.7.1")) {
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MSP.send_message(MSPCodes.MSP_RTH_AND_LAND_CONFIG, false, false, callback);
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} else {
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callback();
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}
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};
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self.saveRthAndLandConfig = function (callback) {
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if (semver.gte(CONFIG.flightControllerVersion, "1.7.1")) {
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MSP.send_message(MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG), false, callback);
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} else {
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callback();
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}
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};
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return self;
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return self;
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})(GUI);
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})(GUI);
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@ -10817,50 +10884,51 @@ var CONFIGURATOR = {
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'use strict';
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'use strict';
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// define all the global variables that are uses to hold FC state
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// define all the global variables that are uses to hold FC state
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var CONFIG;
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var CONFIG,
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var BF_CONFIG;
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BF_CONFIG,
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var LED_STRIP;
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LED_STRIP,
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var LED_COLORS;
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LED_COLORS,
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var LED_MODE_COLORS;
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LED_MODE_COLORS,
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var PID;
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PID,
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var PID_names;
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PID_names,
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var PIDs;
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PIDs,
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var RC_MAP;
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RC_MAP,
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var RC;
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RC,
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var RC_tuning;
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RC_tuning,
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var AUX_CONFIG;
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AUX_CONFIG,
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var AUX_CONFIG_IDS;
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AUX_CONFIG_IDS,
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var MODE_RANGES;
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MODE_RANGES,
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var ADJUSTMENT_RANGES;
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ADJUSTMENT_RANGES,
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var SERVO_CONFIG;
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SERVO_CONFIG,
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var SERVO_RULES;
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SERVO_RULES,
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var SERIAL_CONFIG;
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SERIAL_CONFIG,
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var SENSOR_DATA;
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SENSOR_DATA,
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var MOTOR_DATA;
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MOTOR_DATA,
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var SERVO_DATA;
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SERVO_DATA,
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var GPS_DATA;
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GPS_DATA,
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var ANALOG;
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ANALOG,
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var ARMING_CONFIG;
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ARMING_CONFIG,
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var FC_CONFIG;
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FC_CONFIG,
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var MISC;
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MISC,
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var _3D;
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_3D,
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var DATAFLASH;
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DATAFLASH,
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var SDCARD;
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SDCARD,
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var BLACKBOX;
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BLACKBOX,
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var TRANSPONDER;
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TRANSPONDER,
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var RC_deadband;
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RC_deadband,
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var SENSOR_ALIGNMENT;
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SENSOR_ALIGNMENT,
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var RX_CONFIG;
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RX_CONFIG,
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var FAILSAFE_CONFIG;
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FAILSAFE_CONFIG,
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var RXFAIL_CONFIG;
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RXFAIL_CONFIG,
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var ADVANCED_CONFIG;
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ADVANCED_CONFIG,
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var INAV_PID_CONFIG;
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INAV_PID_CONFIG,
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var PID_ADVANCED;
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PID_ADVANCED,
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var FILTER_CONFIG;
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FILTER_CONFIG,
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var SENSOR_STATUS;
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SENSOR_STATUS,
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var SENSOR_CONFIG;
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SENSOR_CONFIG,
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var NAV_POSHOLD;
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NAV_POSHOLD,
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var POSITION_ESTIMATOR;
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POSITION_ESTIMATOR,
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RTH_AND_LAND_CONFIG;
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var FC = {
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var FC = {
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isRatesInDps: function () {
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isRatesInDps: function () {
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@ -11096,6 +11164,21 @@ var FC = {
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hoverThrottle: null
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hoverThrottle: null
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};
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};
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RTH_AND_LAND_CONFIG = {
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minRthDistance: null,
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rthClimbFirst: null,
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rthClimbIgnoreEmergency: null,
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rthTailFirst: null,
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rthAllowLanding: null,
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rthAltControlMode: null,
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rthAbortThreshold: null,
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rthAltitude: null,
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landDescentRate: null,
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landSlowdownMinAlt: null,
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landSlowdownMaxAlt: null,
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emergencyDescentRate: null
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};
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_3D = {
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_3D = {
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deadband3d_low: 0,
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deadband3d_low: 0,
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deadband3d_high: 0,
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deadband3d_high: 0,
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@ -11582,6 +11665,9 @@ var FC = {
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'Velocity Z'
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'Velocity Z'
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];
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];
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}
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}
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},
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getRthAltControlMode: function () {
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return ["Current", "Extra", "Fixed", "Max", "At Least"];
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}
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}
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};
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};
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@ -14275,7 +14361,8 @@ TABS.advanced_tuning.initialize = function (callback) {
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loadChainer.setChain([
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loadChainer.setChain([
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mspHelper.loadNavPosholdConfig,
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mspHelper.loadNavPosholdConfig,
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mspHelper.loadPositionEstimationConfig
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mspHelper.loadPositionEstimationConfig,
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mspHelper.loadRthAndLandConfig
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]);
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]);
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loadChainer.setExitPoint(loadHtml);
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loadChainer.setExitPoint(loadHtml);
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loadChainer.execute();
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loadChainer.execute();
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@ -14283,6 +14370,7 @@ TABS.advanced_tuning.initialize = function (callback) {
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saveChainer.setChain([
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saveChainer.setChain([
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mspHelper.saveNavPosholdConfig,
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mspHelper.saveNavPosholdConfig,
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mspHelper.savePositionEstimationConfig,
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mspHelper.savePositionEstimationConfig,
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mspHelper.saveRthAndLandConfig,
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mspHelper.saveToEeprom
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mspHelper.saveToEeprom
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]);
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]);
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saveChainer.setExitPoint(reboot);
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saveChainer.setExitPoint(reboot);
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@ -14309,7 +14397,65 @@ TABS.advanced_tuning.initialize = function (callback) {
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var $userControlMode = $('#user-control-mode'),
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var $userControlMode = $('#user-control-mode'),
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$useMidThrottle = $("#use-mid-throttle"),
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$useMidThrottle = $("#use-mid-throttle"),
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$useGpsVelned = $('#use_gps_velned');
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$useGpsVelned = $('#use_gps_velned'),
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$rthClimbFirst = $('#rth-climb-first'),
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$rthClimbIgnoreEmergency = $('#rthClimbIgnoreEmergency'),
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$rthTailFirst = $('#rthTailFirst'),
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$rthAllowLanding = $('#rthAllowLanding'),
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$rthAltControlMode = $('#rthAltControlMode');
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if (semver.gte(CONFIG.flightControllerVersion, "1.7.1")) {
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$rthClimbFirst.prop("checked", RTH_AND_LAND_CONFIG.rthClimbFirst);
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$rthClimbFirst.change(function () {
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if ($(this).is(":checked")) {
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RTH_AND_LAND_CONFIG.rthClimbFirst = 1;
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} else {
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RTH_AND_LAND_CONFIG.rthClimbFirst = 0;
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}
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});
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$rthClimbFirst.change();
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$rthClimbIgnoreEmergency.prop("checked", RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency);
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$rthClimbIgnoreEmergency.change(function () {
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if ($(this).is(":checked")) {
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RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency = 1;
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} else {
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RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency = 0;
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}
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});
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$rthClimbIgnoreEmergency.change();
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$rthTailFirst.prop("checked", RTH_AND_LAND_CONFIG.rthTailFirst);
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$rthTailFirst.change(function () {
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if ($(this).is(":checked")) {
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RTH_AND_LAND_CONFIG.rthTailFirst = 1;
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} else {
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RTH_AND_LAND_CONFIG.rthTailFirst = 0;
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}
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});
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$rthTailFirst.change();
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$rthAllowLanding.prop("checked", RTH_AND_LAND_CONFIG.rthAllowLanding);
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$rthAllowLanding.change(function () {
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if ($(this).is(":checked")) {
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RTH_AND_LAND_CONFIG.rthAllowLanding = 1;
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} else {
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RTH_AND_LAND_CONFIG.rthAllowLanding = 0;
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}
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});
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$rthAllowLanding.change();
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GUI.fillSelect($rthAltControlMode, FC.getRthAltControlMode(), RTH_AND_LAND_CONFIG.rthAltControlMode);
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$rthAltControlMode.val(RTH_AND_LAND_CONFIG.rthAltControlMode);
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$rthAltControlMode.change(function () {
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RTH_AND_LAND_CONFIG.rthAltControlMode = $rthAltControlMode.val();
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});
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$('.requires-v1_7_1').show();
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} else {
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$('.requires-v1_7_1').hide();
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}
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GUI.fillSelect($userControlMode, FC.getUserControlMode(), NAV_POSHOLD.userControlMode);
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GUI.fillSelect($userControlMode, FC.getUserControlMode(), NAV_POSHOLD.userControlMode);
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$userControlMode.val(NAV_POSHOLD.userControlMode);
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$userControlMode.val(NAV_POSHOLD.userControlMode);
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||||||
107
js/fc.js
107
js/fc.js
|
|
@ -1,50 +1,51 @@
|
||||||
'use strict';
|
'use strict';
|
||||||
|
|
||||||
// define all the global variables that are uses to hold FC state
|
// define all the global variables that are uses to hold FC state
|
||||||
var CONFIG;
|
var CONFIG,
|
||||||
var BF_CONFIG;
|
BF_CONFIG,
|
||||||
var LED_STRIP;
|
LED_STRIP,
|
||||||
var LED_COLORS;
|
LED_COLORS,
|
||||||
var LED_MODE_COLORS;
|
LED_MODE_COLORS,
|
||||||
var PID;
|
PID,
|
||||||
var PID_names;
|
PID_names,
|
||||||
var PIDs;
|
PIDs,
|
||||||
var RC_MAP;
|
RC_MAP,
|
||||||
var RC;
|
RC,
|
||||||
var RC_tuning;
|
RC_tuning,
|
||||||
var AUX_CONFIG;
|
AUX_CONFIG,
|
||||||
var AUX_CONFIG_IDS;
|
AUX_CONFIG_IDS,
|
||||||
var MODE_RANGES;
|
MODE_RANGES,
|
||||||
var ADJUSTMENT_RANGES;
|
ADJUSTMENT_RANGES,
|
||||||
var SERVO_CONFIG;
|
SERVO_CONFIG,
|
||||||
var SERVO_RULES;
|
SERVO_RULES,
|
||||||
var SERIAL_CONFIG;
|
SERIAL_CONFIG,
|
||||||
var SENSOR_DATA;
|
SENSOR_DATA,
|
||||||
var MOTOR_DATA;
|
MOTOR_DATA,
|
||||||
var SERVO_DATA;
|
SERVO_DATA,
|
||||||
var GPS_DATA;
|
GPS_DATA,
|
||||||
var ANALOG;
|
ANALOG,
|
||||||
var ARMING_CONFIG;
|
ARMING_CONFIG,
|
||||||
var FC_CONFIG;
|
FC_CONFIG,
|
||||||
var MISC;
|
MISC,
|
||||||
var _3D;
|
_3D,
|
||||||
var DATAFLASH;
|
DATAFLASH,
|
||||||
var SDCARD;
|
SDCARD,
|
||||||
var BLACKBOX;
|
BLACKBOX,
|
||||||
var TRANSPONDER;
|
TRANSPONDER,
|
||||||
var RC_deadband;
|
RC_deadband,
|
||||||
var SENSOR_ALIGNMENT;
|
SENSOR_ALIGNMENT,
|
||||||
var RX_CONFIG;
|
RX_CONFIG,
|
||||||
var FAILSAFE_CONFIG;
|
FAILSAFE_CONFIG,
|
||||||
var RXFAIL_CONFIG;
|
RXFAIL_CONFIG,
|
||||||
var ADVANCED_CONFIG;
|
ADVANCED_CONFIG,
|
||||||
var INAV_PID_CONFIG;
|
INAV_PID_CONFIG,
|
||||||
var PID_ADVANCED;
|
PID_ADVANCED,
|
||||||
var FILTER_CONFIG;
|
FILTER_CONFIG,
|
||||||
var SENSOR_STATUS;
|
SENSOR_STATUS,
|
||||||
var SENSOR_CONFIG;
|
SENSOR_CONFIG,
|
||||||
var NAV_POSHOLD;
|
NAV_POSHOLD,
|
||||||
var POSITION_ESTIMATOR;
|
POSITION_ESTIMATOR,
|
||||||
|
RTH_AND_LAND_CONFIG;
|
||||||
|
|
||||||
var FC = {
|
var FC = {
|
||||||
isRatesInDps: function () {
|
isRatesInDps: function () {
|
||||||
|
|
@ -280,6 +281,21 @@ var FC = {
|
||||||
hoverThrottle: null
|
hoverThrottle: null
|
||||||
};
|
};
|
||||||
|
|
||||||
|
RTH_AND_LAND_CONFIG = {
|
||||||
|
minRthDistance: null,
|
||||||
|
rthClimbFirst: null,
|
||||||
|
rthClimbIgnoreEmergency: null,
|
||||||
|
rthTailFirst: null,
|
||||||
|
rthAllowLanding: null,
|
||||||
|
rthAltControlMode: null,
|
||||||
|
rthAbortThreshold: null,
|
||||||
|
rthAltitude: null,
|
||||||
|
landDescentRate: null,
|
||||||
|
landSlowdownMinAlt: null,
|
||||||
|
landSlowdownMaxAlt: null,
|
||||||
|
emergencyDescentRate: null
|
||||||
|
};
|
||||||
|
|
||||||
_3D = {
|
_3D = {
|
||||||
deadband3d_low: 0,
|
deadband3d_low: 0,
|
||||||
deadband3d_high: 0,
|
deadband3d_high: 0,
|
||||||
|
|
@ -766,5 +782,8 @@ var FC = {
|
||||||
'Velocity Z'
|
'Velocity Z'
|
||||||
];
|
];
|
||||||
}
|
}
|
||||||
|
},
|
||||||
|
getRthAltControlMode: function () {
|
||||||
|
return ["Current", "Extra", "Fixed", "Max", "At Least"];
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
|
||||||
|
|
@ -16,6 +16,9 @@ var MSPCodes = {
|
||||||
MSP_POSITION_ESTIMATION_CONFIG: 16,
|
MSP_POSITION_ESTIMATION_CONFIG: 16,
|
||||||
MSP_SET_POSITION_ESTIMATION_CONFIG: 17,
|
MSP_SET_POSITION_ESTIMATION_CONFIG: 17,
|
||||||
|
|
||||||
|
MSP_RTH_AND_LAND_CONFIG: 21,
|
||||||
|
MSP_SET_RTH_AND_LAND_CONFIG: 22,
|
||||||
|
|
||||||
// MSP commands for Cleanflight original features
|
// MSP commands for Cleanflight original features
|
||||||
MSP_CHANNEL_FORWARDING: 32,
|
MSP_CHANNEL_FORWARDING: 32,
|
||||||
MSP_SET_CHANNEL_FORWARDING: 33,
|
MSP_SET_CHANNEL_FORWARDING: 33,
|
||||||
|
|
|
||||||
|
|
@ -939,6 +939,25 @@ var mspHelper = (function (gui) {
|
||||||
console.log('POSITION_ESTIMATOR saved');
|
console.log('POSITION_ESTIMATOR saved');
|
||||||
break;
|
break;
|
||||||
|
|
||||||
|
case MSPCodes.MSP_RTH_AND_LAND_CONFIG:
|
||||||
|
RTH_AND_LAND_CONFIG.minRthDistance = data.getUint16(0, true);
|
||||||
|
RTH_AND_LAND_CONFIG.rthClimbFirst = data.getUint8(2);
|
||||||
|
RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency = data.getUint8(3);
|
||||||
|
RTH_AND_LAND_CONFIG.rthTailFirst = data.getUint8(4);
|
||||||
|
RTH_AND_LAND_CONFIG.rthAllowLanding = data.getUint8(5);
|
||||||
|
RTH_AND_LAND_CONFIG.rthAltControlMode = data.getUint8(6);
|
||||||
|
RTH_AND_LAND_CONFIG.rthAbortThreshold = data.getUint16(7, true);
|
||||||
|
RTH_AND_LAND_CONFIG.rthAltitude = data.getUint16(9, true);
|
||||||
|
RTH_AND_LAND_CONFIG.landDescentRate = data.getUint16(11, true);
|
||||||
|
RTH_AND_LAND_CONFIG.landSlowdownMinAlt = data.getUint16(13, true);
|
||||||
|
RTH_AND_LAND_CONFIG.landSlowdownMaxAlt = data.getUint16(15, true);
|
||||||
|
RTH_AND_LAND_CONFIG.emergencyDescentRate = data.getUint16(17, true);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG:
|
||||||
|
console.log('RTH_AND_LAND_CONFIG saved');
|
||||||
|
break;
|
||||||
|
|
||||||
case MSPCodes.MSP_SET_MODE_RANGE:
|
case MSPCodes.MSP_SET_MODE_RANGE:
|
||||||
console.log('Mode range saved');
|
console.log('Mode range saved');
|
||||||
break;
|
break;
|
||||||
|
|
@ -1291,6 +1310,35 @@ var mspHelper = (function (gui) {
|
||||||
buffer.push(POSITION_ESTIMATOR.use_gps_velned);
|
buffer.push(POSITION_ESTIMATOR.use_gps_velned);
|
||||||
break;
|
break;
|
||||||
|
|
||||||
|
case MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG:
|
||||||
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.minRthDistance));
|
||||||
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.minRthDistance));
|
||||||
|
|
||||||
|
buffer.push(RTH_AND_LAND_CONFIG.rthClimbFirst);
|
||||||
|
buffer.push(RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency);
|
||||||
|
buffer.push(RTH_AND_LAND_CONFIG.rthTailFirst);
|
||||||
|
buffer.push(RTH_AND_LAND_CONFIG.rthAllowLanding);
|
||||||
|
buffer.push(RTH_AND_LAND_CONFIG.rthAltControlMode);
|
||||||
|
|
||||||
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.rthAbortThreshold));
|
||||||
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.rthAbortThreshold));
|
||||||
|
|
||||||
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.rthAltitude));
|
||||||
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.rthAltitude));
|
||||||
|
|
||||||
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.landDescentRate));
|
||||||
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.landDescentRate));
|
||||||
|
|
||||||
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
|
||||||
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
|
||||||
|
|
||||||
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
|
||||||
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
|
||||||
|
|
||||||
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.emergencyDescentRate));
|
||||||
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.emergencyDescentRate));
|
||||||
|
break;
|
||||||
|
|
||||||
case MSPCodes.MSP_SET_FILTER_CONFIG:
|
case MSPCodes.MSP_SET_FILTER_CONFIG:
|
||||||
buffer.push(FILTER_CONFIG.gyroSoftLpfHz);
|
buffer.push(FILTER_CONFIG.gyroSoftLpfHz);
|
||||||
|
|
||||||
|
|
@ -2041,5 +2089,21 @@ var mspHelper = (function (gui) {
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
|
self.loadRthAndLandConfig = function (callback) {
|
||||||
|
if (semver.gte(CONFIG.flightControllerVersion, "1.7.1")) {
|
||||||
|
MSP.send_message(MSPCodes.MSP_RTH_AND_LAND_CONFIG, false, false, callback);
|
||||||
|
} else {
|
||||||
|
callback();
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
self.saveRthAndLandConfig = function (callback) {
|
||||||
|
if (semver.gte(CONFIG.flightControllerVersion, "1.7.1")) {
|
||||||
|
MSP.send_message(MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG), false, callback);
|
||||||
|
} else {
|
||||||
|
callback();
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
return self;
|
return self;
|
||||||
})(GUI);
|
})(GUI);
|
||||||
|
|
|
||||||
|
|
@ -56,6 +56,100 @@
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
<div class="config-section gui_box grey requires-v1_7_1">
|
||||||
|
<div class="gui_box_titlebar">
|
||||||
|
<div class="spacer_box_title" data-i18n="rthConfiguration"></div>
|
||||||
|
</div>
|
||||||
|
<div class="spacer_box">
|
||||||
|
|
||||||
|
<div class="select">
|
||||||
|
<select id="rthAltControlMode"></select>
|
||||||
|
<label for="rthAltControlMode"> <span data-i18n="rthAltControlMode"></span></label>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div class="number">
|
||||||
|
<input id="rthAltitude" type="number" data-simple-bind="RTH_AND_LAND_CONFIG.rthAltitude" step="1" min="0" max="65000">
|
||||||
|
<label for="rthAltitude">
|
||||||
|
<span data-i18n="rthAltitude"></span>
|
||||||
|
</label>
|
||||||
|
<div class="helpicon cf_tip" data-i18n_title="rthAltitudeHelp"></div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div class="checkbox">
|
||||||
|
<input type="checkbox" id="rth-climb-first" class="toggle" />
|
||||||
|
<label for="rth-climb-first">
|
||||||
|
<span data-i18n="rthClimbFirst"></span>
|
||||||
|
</label>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div class="checkbox">
|
||||||
|
<input type="checkbox" id="rthClimbIgnoreEmergency" class="toggle" />
|
||||||
|
<label for="rthClimbIgnoreEmergency">
|
||||||
|
<span data-i18n="rthClimbIgnoreEmergency"></span>
|
||||||
|
</label>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div class="checkbox">
|
||||||
|
<input type="checkbox" id="rthTailFirst" class="toggle" />
|
||||||
|
<label for="rthTailFirst">
|
||||||
|
<span data-i18n="rthTailFirst"></span>
|
||||||
|
</label>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div class="checkbox">
|
||||||
|
<input type="checkbox" id="rthAllowLanding" class="toggle" />
|
||||||
|
<label for="rthAllowLanding">
|
||||||
|
<span data-i18n="rthAllowLanding"></span>
|
||||||
|
</label>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div class="number">
|
||||||
|
<input id="landDescentRate" type="number" data-simple-bind="RTH_AND_LAND_CONFIG.landDescentRate" step="1" min="100" max="2000">
|
||||||
|
<label for="landDescentRate">
|
||||||
|
<span data-i18n="landDescentRate"></span>
|
||||||
|
</label>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div class="number">
|
||||||
|
<input id="landSlowdownMinAlt" type="number" data-simple-bind="RTH_AND_LAND_CONFIG.landSlowdownMinAlt" step="1" min="50" max="1000">
|
||||||
|
<label for="landSlowdownMinAlt">
|
||||||
|
<span data-i18n="landSlowdownMinAlt"></span>
|
||||||
|
</label>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div class="number">
|
||||||
|
<input id="landSlowdownMaxAlt" type="number" data-simple-bind="RTH_AND_LAND_CONFIG.landSlowdownMaxAlt" step="1" min="500" max="4000">
|
||||||
|
<label for="landSlowdownMaxAlt">
|
||||||
|
<span data-i18n="landSlowdownMaxAlt"></span>
|
||||||
|
</label>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div class="number">
|
||||||
|
<input id="rth-min-distance" type="number" data-simple-bind="RTH_AND_LAND_CONFIG.minRthDistance" step="1" min="0" max="5000">
|
||||||
|
<label for="rth-min-distance">
|
||||||
|
<span data-i18n="minRthDistance"></span>
|
||||||
|
</label>
|
||||||
|
<div class="helpicon cf_tip" data-i18n_title="minRthDistanceHelp"></div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div class="number">
|
||||||
|
<input id="rthAbortThreshold" type="number" data-simple-bind="RTH_AND_LAND_CONFIG.rthAbortThreshold" step="1" min="0" max="65000">
|
||||||
|
<label for="rthAbortThreshold">
|
||||||
|
<span data-i18n="rthAbortThreshold"></span>
|
||||||
|
</label>
|
||||||
|
<div class="helpicon cf_tip" data-i18n_title="rthAbortThresholdHelp"></div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div class="number">
|
||||||
|
<input id="emergencyDescentRate" type="number" data-simple-bind="RTH_AND_LAND_CONFIG.emergencyDescentRate" step="1" min="10" max="2000">
|
||||||
|
<label for="emergencyDescentRate">
|
||||||
|
<span data-i18n="emergencyDescentRate"></span>
|
||||||
|
</label>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div class="rightWrapper">
|
<div class="rightWrapper">
|
||||||
|
|
|
||||||
|
|
@ -14,7 +14,8 @@ TABS.advanced_tuning.initialize = function (callback) {
|
||||||
|
|
||||||
loadChainer.setChain([
|
loadChainer.setChain([
|
||||||
mspHelper.loadNavPosholdConfig,
|
mspHelper.loadNavPosholdConfig,
|
||||||
mspHelper.loadPositionEstimationConfig
|
mspHelper.loadPositionEstimationConfig,
|
||||||
|
mspHelper.loadRthAndLandConfig
|
||||||
]);
|
]);
|
||||||
loadChainer.setExitPoint(loadHtml);
|
loadChainer.setExitPoint(loadHtml);
|
||||||
loadChainer.execute();
|
loadChainer.execute();
|
||||||
|
|
@ -22,6 +23,7 @@ TABS.advanced_tuning.initialize = function (callback) {
|
||||||
saveChainer.setChain([
|
saveChainer.setChain([
|
||||||
mspHelper.saveNavPosholdConfig,
|
mspHelper.saveNavPosholdConfig,
|
||||||
mspHelper.savePositionEstimationConfig,
|
mspHelper.savePositionEstimationConfig,
|
||||||
|
mspHelper.saveRthAndLandConfig,
|
||||||
mspHelper.saveToEeprom
|
mspHelper.saveToEeprom
|
||||||
]);
|
]);
|
||||||
saveChainer.setExitPoint(reboot);
|
saveChainer.setExitPoint(reboot);
|
||||||
|
|
@ -48,7 +50,65 @@ TABS.advanced_tuning.initialize = function (callback) {
|
||||||
|
|
||||||
var $userControlMode = $('#user-control-mode'),
|
var $userControlMode = $('#user-control-mode'),
|
||||||
$useMidThrottle = $("#use-mid-throttle"),
|
$useMidThrottle = $("#use-mid-throttle"),
|
||||||
$useGpsVelned = $('#use_gps_velned');
|
$useGpsVelned = $('#use_gps_velned'),
|
||||||
|
$rthClimbFirst = $('#rth-climb-first'),
|
||||||
|
$rthClimbIgnoreEmergency = $('#rthClimbIgnoreEmergency'),
|
||||||
|
$rthTailFirst = $('#rthTailFirst'),
|
||||||
|
$rthAllowLanding = $('#rthAllowLanding'),
|
||||||
|
$rthAltControlMode = $('#rthAltControlMode');
|
||||||
|
|
||||||
|
if (semver.gte(CONFIG.flightControllerVersion, "1.7.1")) {
|
||||||
|
|
||||||
|
$rthClimbFirst.prop("checked", RTH_AND_LAND_CONFIG.rthClimbFirst);
|
||||||
|
$rthClimbFirst.change(function () {
|
||||||
|
if ($(this).is(":checked")) {
|
||||||
|
RTH_AND_LAND_CONFIG.rthClimbFirst = 1;
|
||||||
|
} else {
|
||||||
|
RTH_AND_LAND_CONFIG.rthClimbFirst = 0;
|
||||||
|
}
|
||||||
|
});
|
||||||
|
$rthClimbFirst.change();
|
||||||
|
|
||||||
|
$rthClimbIgnoreEmergency.prop("checked", RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency);
|
||||||
|
$rthClimbIgnoreEmergency.change(function () {
|
||||||
|
if ($(this).is(":checked")) {
|
||||||
|
RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency = 1;
|
||||||
|
} else {
|
||||||
|
RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency = 0;
|
||||||
|
}
|
||||||
|
});
|
||||||
|
$rthClimbIgnoreEmergency.change();
|
||||||
|
|
||||||
|
$rthTailFirst.prop("checked", RTH_AND_LAND_CONFIG.rthTailFirst);
|
||||||
|
$rthTailFirst.change(function () {
|
||||||
|
if ($(this).is(":checked")) {
|
||||||
|
RTH_AND_LAND_CONFIG.rthTailFirst = 1;
|
||||||
|
} else {
|
||||||
|
RTH_AND_LAND_CONFIG.rthTailFirst = 0;
|
||||||
|
}
|
||||||
|
});
|
||||||
|
$rthTailFirst.change();
|
||||||
|
|
||||||
|
$rthAllowLanding.prop("checked", RTH_AND_LAND_CONFIG.rthAllowLanding);
|
||||||
|
$rthAllowLanding.change(function () {
|
||||||
|
if ($(this).is(":checked")) {
|
||||||
|
RTH_AND_LAND_CONFIG.rthAllowLanding = 1;
|
||||||
|
} else {
|
||||||
|
RTH_AND_LAND_CONFIG.rthAllowLanding = 0;
|
||||||
|
}
|
||||||
|
});
|
||||||
|
$rthAllowLanding.change();
|
||||||
|
|
||||||
|
GUI.fillSelect($rthAltControlMode, FC.getRthAltControlMode(), RTH_AND_LAND_CONFIG.rthAltControlMode);
|
||||||
|
$rthAltControlMode.val(RTH_AND_LAND_CONFIG.rthAltControlMode);
|
||||||
|
$rthAltControlMode.change(function () {
|
||||||
|
RTH_AND_LAND_CONFIG.rthAltControlMode = $rthAltControlMode.val();
|
||||||
|
});
|
||||||
|
|
||||||
|
$('.requires-v1_7_1').show();
|
||||||
|
} else {
|
||||||
|
$('.requires-v1_7_1').hide();
|
||||||
|
}
|
||||||
|
|
||||||
GUI.fillSelect($userControlMode, FC.getUserControlMode(), NAV_POSHOLD.userControlMode);
|
GUI.fillSelect($userControlMode, FC.getUserControlMode(), NAV_POSHOLD.userControlMode);
|
||||||
$userControlMode.val(NAV_POSHOLD.userControlMode);
|
$userControlMode.val(NAV_POSHOLD.userControlMode);
|
||||||
|
|
|
||||||
Loading…
Add table
Add a link
Reference in a new issue