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Merge branch 'development' into dzikuvx-nav-yaw-adjustments

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-12-25 11:45:38 +01:00
commit 243220ab37
130 changed files with 457820 additions and 494 deletions
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25
src/main/navigation/navigation.c
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@ -80,7 +80,7 @@ radar_pois_t radar_pois[RADAR_MAX_POIS];
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0);
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 4);
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 5);
PG_RESET_TEMPLATE(navConfig_t, navConfig,
.general = {
@ -115,7 +115,9 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.rth_home_altitude = 0, // altitude in centimeters
.rth_abort_threshold = 50000, // centimeters - 500m should be safe for all aircraft
.max_terrain_follow_altitude = 100, // max altitude in centimeters in terrain following mode
},
.rth_home_offset_distance = 0, // Distance offset from GPS established home to "safe" position used for RTH (cm, 0 disables)
.rth_home_offset_direction = 0, // Direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance)
},
// MC-specific
.mc = {
@ -129,7 +131,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.braking_boost_timeout = 750, // Timout boost after 750ms
.braking_boost_speed_threshold = 150, // Boost can happen only above 1.5m/s
.braking_boost_disengage_speed = 100, // Disable boost at 1m/s
.braking_bank_angle = 40, // Max braking angle
.braking_bank_angle = 40, // Max braking angle
.posDecelerationTime = 120, // posDecelerationTime * 100
.posResponseExpo = 10, // posResponseExpo * 100
},
@ -2084,7 +2086,8 @@ float getFinalRTHAltitude(void)
static void updateDesiredRTHAltitude(void)
{
if (ARMING_FLAG(ARMED)) {
if (!(navGetStateFlags(posControl.navState) & NAV_AUTO_RTH)) {
if (!((navGetStateFlags(posControl.navState) & NAV_AUTO_RTH)
|| ((navGetStateFlags(posControl.navState) & NAV_AUTO_WP) && posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_RTH))) {
switch (navConfig()->general.flags.rth_alt_control_mode) {
case NAV_RTH_NO_ALT:
posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
@ -2246,7 +2249,15 @@ void updateHomePosition(void)
break;
}
if (setHome) {
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
if (navConfig()->general.rth_home_offset_distance != 0) { // apply user defined offset
fpVector3_t offsetHome;
offsetHome.x = posControl.actualState.abs.pos.x + navConfig()->general.rth_home_offset_distance * cos_approx(DEGREES_TO_RADIANS(navConfig()->general.rth_home_offset_direction));
offsetHome.y = posControl.actualState.abs.pos.y + navConfig()->general.rth_home_offset_distance * sin_approx(DEGREES_TO_RADIANS(navConfig()->general.rth_home_offset_direction));
offsetHome.z = posControl.actualState.abs.pos.z;
setHomePosition(&offsetHome, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
} else {
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
}
}
}
}
@ -3139,7 +3150,7 @@ void navigationUsePIDs(void)
// Initialize position hold P-controller
for (int axis = 0; axis < 2; axis++) {
navPidInit(
&posControl.pids.pos[axis],
&posControl.pids.pos[axis],
(float)pidProfile()->bank_mc.pid[PID_POS_XY].P / 100.0f,
0.0f,
0.0f,
@ -3157,7 +3168,7 @@ void navigationUsePIDs(void)
// Initialize altitude hold PID-controllers (pos_z, vel_z, acc_z
navPidInit(
&posControl.pids.pos[Z],
&posControl.pids.pos[Z],
(float)pidProfile()->bank_mc.pid[PID_POS_Z].P / 100.0f,
0.0f,
0.0f,