Add headtracker axis ratios

docs/Settings.md

@@ -1822,6 +1822,36 @@ This setting limits yaw rotation rate that HEADING_HOLD controller can request f
 
 ---
 
+### headtracker_pan_ratio
+
+Head pan movement vs camera movement ratio
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 1 | 0 | 3 |
+
+---
+
+### headtracker_roll_ratio
+
+Head roll movement vs camera movement ratio
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 1 | 0 | 3 |
+
+---
+
+### headtracker_tilt_ratio
+
+Head tilt movement vs camera movement ratio
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 1 | 0 | 3 |
+
+---
+
 ### headtracker_type
 
 Type of headtrackr dervice

src/main/drivers/headtracker_common.c

@@ -40,7 +40,7 @@
 
 #include "drivers/headtracker_common.h"
 
-PG_REGISTER_WITH_RESET_TEMPLATE(headTrackerConfig_t, headTrackerConfig, PG_HEADTRACKER_CONFIG, 0);
+PG_REGISTER_WITH_RESET_TEMPLATE(headTrackerConfig_t, headTrackerConfig, PG_HEADTRACKER_CONFIG, 1);
 
 PG_RESET_TEMPLATE(headTrackerConfig_t, headTrackerConfig,
     .devType = SETTING_HEADTRACKER_TYPE_DEFAULT

src/main/drivers/headtracker_common.h

@@ -70,6 +70,9 @@ typedef struct headTrackerVTable_s {
 
 typedef struct headTrackerConfig_s {
     headTrackerDevType_e devType;
+    float pan_ratio;
+    float tilt_ratio;
+    float roll_ratio;
 } headTrackerConfig_t;
 
 PG_DECLARE(headTrackerConfig_t, headTrackerConfig);

src/main/fc/settings.yaml

@@ -4251,3 +4251,24 @@ groups:
       field: devType
       type: uint8_t
       table: headtracker_dev_type
+    - name: headtracker_pan_ratio
+      description: "Head pan movement vs camera movement ratio"
+      type: float
+      default_value: 1
+      field: tilt_ratio
+      min: 0
+      max: 3
+    - name: headtracker_tilt_ratio
+      description: "Head tilt movement vs camera movement ratio"
+      type: float
+      default_value: 1
+      field: tilt_ratio
+      min: 0
+      max: 3
+    - name: headtracker_roll_ratio
+      description: "Head roll movement vs camera movement ratio"
+      type: float
+      default_value: 1
+      field: tilt_ratio
+      min: 0
+      max: 3

src/main/io/gimbal_serial.c

@@ -317,9 +317,9 @@ void gimbalSerialHeadTrackerReceive(uint16_t c, void *data)
             state->attitude.crcl = c;
             if(checkCrc(&(state->attitude))) {
                 state->expires = micros() + MAX_HEADTRACKER_DATA_AGE_US;
-                state->pan = state->attitude.pan;
+                state->pan = constrain(state->attitude.pan * headTrackerConfig()->pan_ratio) + 0.5, -2048, 2047);
-                state->tilt = state->attitude.tilt;
+                state->tilt = constrain(state->attitude.tilt * headTrackerConfig()->tilt_ratio) + 0.5, -2048, 2047);
-                state->roll = state->attitude.roll;
+                state->roll = constrain(state->attitude.roll * headTrackerConfig()->roll_ratio) + 0.5, -2048, 2047);
                 DEBUG_SET(DEBUG_HEADTRACKING, 2, pktCount++);
             } else {
                 DEBUG_SET(DEBUG_HEADTRACKING, 3, errorCount++);

src/main/io/headtracker_msp.c

@@ -73,9 +73,9 @@ void mspHeadTrackerReceiverNewData(uint8_t *data, int dataSize)
 
     headtrackerMspMessage_t *status = (headtrackerMspMessage_t *)data;
 
-    headTrackerMspDevice.pan = status->pan;
+    headTrackerMspDevice.pan = constrain((status->pan * headTrackerConfig()->pan_ratio) + 0.5, -2048, 2047);
-    headTrackerMspDevice.tilt = status->tilt;
+    headTrackerMspDevice.tilt = constrain((status->tilt * headTrackerConfig()->tilt_ratio) + 0.5, -2048, 2047);
-    headTrackerMspDevice.roll = status->roll;
+    headTrackerMspDevice.roll = constrain((status->roll * headTrackerConfig()->roll_ratio) + 0.5, -2048, 2047);
     headTrackerMspDevice.expires = micros() + MAX_HEADTRACKER_DATA_AGE_US;
 
     UNUSED(status);