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Code Issues Wiki Activity

fixes + telemetry

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This commit is contained in:
breadoven 2023-09-14 15:20:43 +01:00
parent 0f7ecda8b7
commit 221d8fe3ad
8 changed files with 70 additions and 60 deletions
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2
src/main/fc/runtime_config.c
View file

@ -173,6 +173,8 @@ flightModeForTelemetry_e getFlightModeForTelemetry(void)
if (FLIGHT_MODE(HORIZON_MODE))
return FLM_HORIZON;
if (FLIGHT_MODE(ATTIHOLD_MODE))
return FLM_ATTIHOLD;
return STATE(AIRMODE_ACTIVE) ? FLM_ACRO_AIR : FLM_ACRO;
}

1
src/main/fc/runtime_config.h
View file

@ -162,6 +162,7 @@ typedef enum {
FLM_CRUISE,
FLM_LAUNCH,
FLM_FAILSAFE,
FLM_ATTIHOLD,
FLM_COUNT
} flightModeForTelemetry_e;

9
src/main/flight/pid.c
View file

@ -1110,8 +1110,11 @@ void FAST_CODE pidController(float dT)
// Step 3: Run control for ANGLE_MODE, HORIZON_MODE and ATTI_MODE
const float horizonRateMagnitude = FLIGHT_MODE(HORIZON_MODE) ? calcHorizonRateMagnitude() : 0.0f;
levelingEnabled = false;
static bool restartAttiMode = true;
bool attiModeActive = false;
if (!restartAttiMode) {
restartAttiMode = !FLIGHT_MODE(ATTIHOLD_MODE); // set restart flag if attihold_mode not active
}
for (uint8_t axis = FD_ROLL; axis <= FD_PITCH; axis++) {
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || FLIGHT_MODE(ATTIHOLD_MODE) || isFlightAxisAngleOverrideActive(axis)) {
@ -1120,7 +1123,6 @@ void FAST_CODE pidController(float dT)
if (FLIGHT_MODE(ATTIHOLD_MODE) && !isFlightAxisAngleOverrideActive(axis)) {
static int16_t attiHoldTarget[2];
attiModeActive = true;
if (restartAttiMode) { // set target attitude to current attitude when initialised
attiHoldTarget[FD_ROLL] = attitude.raw[FD_ROLL];
@ -1143,9 +1145,6 @@ void FAST_CODE pidController(float dT)
levelingEnabled = true;
}
}
if (!restartAttiMode) { // set restart flag if attihold_mode not active on previous loop
restartAttiMode = !attiModeActive;
}
// Apply Turn Assistance
if ((FLIGHT_MODE(TURN_ASSISTANT) || navigationRequiresTurnAssistance()) && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {

1
src/main/io/osd_dji_hd.c
View file

@ -300,6 +300,7 @@ static void djiPackBoxModeBitmask(boxBitmask_t * flightModeBitmask)
case FLM_ALTITUDE_HOLD:
case FLM_POSITION_HOLD:
case FLM_MISSION:
case FLM_ATTIHOLD:
default:
// Unsupported ATM, keep at ANGLE
bitArraySet(flightModeBitmask->bits, 1); // DJI: 1 << 1 : ANGLE

4
src/main/programming/logic_condition.c
View file

@ -835,6 +835,10 @@ static int logicConditionGetFlightModeOperandValue(int operand) {
return (bool) FLIGHT_MODE(HORIZON_MODE);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ATTIMODE:
return (bool) FLIGHT_MODE(ATTIHOLD_MODE);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_AIR:
return (bool) FLIGHT_MODE(AIRMODE_ACTIVE);
break;

1
src/main/programming/logic_condition.h
View file

@ -154,6 +154,7 @@ typedef enum {
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_USER4, // 13
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ACRO, // 14
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_WAYPOINT_MISSION, // 15
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ATTIMODE, // 16
} logicFlightModeOperands_e;
typedef enum {

2
src/main/telemetry/mavlink.c
View file

@ -191,6 +191,7 @@ static APM_COPTER_MODE inavToArduCopterMap(flightModeForTelemetry_e flightMode)
case FLM_ACRO_AIR: return COPTER_MODE_ACRO;
case FLM_ANGLE: return COPTER_MODE_STABILIZE;
case FLM_HORIZON: return COPTER_MODE_STABILIZE;
case FLM_ATTIHOLD: return COPTER_MODE_STABILIZE;
case FLM_ALTITUDE_HOLD: return COPTER_MODE_ALT_HOLD;
case FLM_POSITION_HOLD: return COPTER_MODE_POSHOLD;
case FLM_RTH: return COPTER_MODE_RTL;
@ -220,6 +221,7 @@ static APM_PLANE_MODE inavToArduPlaneMap(flightModeForTelemetry_e flightMode)
case FLM_ACRO_AIR: return PLANE_MODE_ACRO;
case FLM_ANGLE: return PLANE_MODE_FLY_BY_WIRE_A;
case FLM_HORIZON: return PLANE_MODE_STABILIZE;
case FLM_ATTIHOLD: return PLANE_MODE_STABILIZE;
case FLM_ALTITUDE_HOLD: return PLANE_MODE_FLY_BY_WIRE_B;
case FLM_POSITION_HOLD: return PLANE_MODE_LOITER;
case FLM_RTH: return PLANE_MODE_RTL;

2
src/main/telemetry/sim.c
View file

@ -122,7 +122,7 @@ static uint8_t simModuleState = SIM_MODULE_NOT_DETECTED;
static int simRssi;
static uint8_t accEvent = ACC_EVENT_NONE;
static char* accEventDescriptions[] = { "", "HIT! ", "DROP ", "HIT " };
static char* modeDescriptions[] = { "MAN", "ACR", "AIR", "ANG", "HOR", "ALH", "POS", "RTH", "WP", "CRS", "LAU", "FS" };
static char* modeDescriptions[] = { "MAN", "ACR", "AIR", "ANG", "HOR", "ALH", "POS", "RTH", "WP", "CRS", "LAU", "FS", "ATT" };
static const char gpsFixIndicators[] = { '!', '*', ' ' };
static bool checkGroundStationNumber(uint8_t* rv)