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Merge branch 'master' into avs-fw-autotune

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# Conflicts:
#	docs/Settings.md
#	src/main/build/debug.h
#	src/main/fc/settings.yaml
This commit is contained in:
Alexander van Saase 2021-05-01 08:42:12 +02:00
commit 261f0a63c0
22 changed files with 1088 additions and 816 deletions
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1081
docs/Settings.md
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File diff suppressed because it is too large Load diff

2
src/main/CMakeLists.txt
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@ -320,6 +320,8 @@ main_sources(COMMON_SRC
flight/imu.h
flight/kalman.c
flight/kalman.h
flight/smith_predictor.c
flight/smith_predictor.h
flight/mixer.c
flight/mixer.h
flight/pid.c

1
src/main/build/debug.h
View file

@ -83,6 +83,7 @@ typedef enum {
DEBUG_FW_D,
DEBUG_IMU2,
DEBUG_ALTITUDE,
DEBUG_SMITH_COMPENSATOR,
DEBUG_AUTOTUNE,
DEBUG_COUNT
} debugType_e;

5
src/main/drivers/display_font_metadata.h
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@ -10,12 +10,11 @@ typedef struct displayFontMetadata_s {
uint16_t charCount;
} displayFontMetadata_t;
// 'I', 'N', 'A', 'V', 1
// 'I', 'N', 'A', 'V'
#define FONT_CHR_IS_METADATA(chr) ((chr)->data[0] == 'I' && \
(chr)->data[1] == 'N' && \
(chr)->data[2] == 'A' && \
(chr)->data[3] == 'V' && \
(chr)->data[4] == 1)
(chr)->data[3] == 'V')
#define FONT_METADATA_CHR_INDEX 255
// Used for runtime detection of display drivers that might

9
src/main/drivers/osd_symbols.h
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@ -119,8 +119,9 @@
#define SYM_RPM 0x8B // 139 RPM
#define SYM_WAYPOINT 0x8C // 140 Waypoint
#define SYM_AZIMUTH 0x8D // 141 Azimuth
// 0x8E // 142 -
// 0x8F // 143 -
#define SYM_TELEMETRY_0 0x8E // 142 Antenna tracking telemetry
#define SYM_TELEMETRY_1 0x8F // 143 Antenna tracking telemetry
#define SYM_BATT_FULL 0x90 // 144 Battery full
#define SYM_BATT_5 0x91 // 145 Battery
@ -153,8 +154,8 @@
#define SYM_HEADING 0xA9 // 169 Compass Heading symbol
#define SYM_ALT 0xAA // 170 ALT
#define SYM_WH 0xAB // 171 WH
#define SYM_WH_KM_0 0xAC // 172 WH/KM left
#define SYM_WH_KM_1 0xAD // 173 WH/KM right
#define SYM_WH_KM 0xAC // 172 WH/KM
#define SYM_WH_MI 0xAD // 173 WH/MI
#define SYM_WATT 0xAE // 174 W
#define SYM_SCALE 0xAF // 175 Map scale
#define SYM_MPH 0xB0 // 176 MPH

15
src/main/fc/controlrate_profile.h
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@ -22,21 +22,6 @@
#include "config/parameter_group.h"
#define MAX_CONTROL_RATE_PROFILE_COUNT 3
/*
Max and min available values for rates are now stored as absolute
tenths of degrees-per-second [dsp/10]
That means, max. rotation rate 180 equals 1800dps
New defaults of 200dps for pitch,roll and yaw are more less
equivalent of rates 0 from previous versions of iNav, Cleanflight, Baseflight
and so on.
*/
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX 180
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN 6
#define CONTROL_RATE_CONFIG_YAW_RATE_MAX 180
#define CONTROL_RATE_CONFIG_YAW_RATE_MIN 2
#define CONTROL_RATE_CONFIG_TPA_MAX 100
typedef struct controlRateConfig_s {

14
src/main/fc/fc_msp.c
View file

@ -1799,14 +1799,14 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
for (int i = 0; i < 3; i++) {
tmp_u8 = sbufReadU8(src);
if (i == FD_YAW) {
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(tmp_u8, SETTING_YAW_RATE_MIN, SETTING_YAW_RATE_MAX);
}
else {
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(tmp_u8, SETTING_CONSTANT_ROLL_PITCH_RATE_MIN, SETTING_CONSTANT_ROLL_PITCH_RATE_MAX);
}
}
tmp_u8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->throttle.dynPID = MIN(tmp_u8, CONTROL_RATE_CONFIG_TPA_MAX);
((controlRateConfig_t*)currentControlRateProfile)->throttle.dynPID = MIN(tmp_u8, SETTING_TPA_RATE_MAX);
((controlRateConfig_t*)currentControlRateProfile)->throttle.rcMid8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->throttle.rcExpo8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->throttle.pa_breakpoint = sbufReadU16(src);
@ -1836,9 +1836,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
for (uint8_t i = 0; i < 3; ++i) {
tmp_u8 = sbufReadU8(src);
if (i == FD_YAW) {
currentControlRateProfile_p->stabilized.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
currentControlRateProfile_p->stabilized.rates[i] = constrain(tmp_u8, SETTING_YAW_RATE_MIN, SETTING_YAW_RATE_MAX);
} else {
currentControlRateProfile_p->stabilized.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
currentControlRateProfile_p->stabilized.rates[i] = constrain(tmp_u8, SETTING_CONSTANT_ROLL_PITCH_RATE_MIN, SETTING_CONSTANT_ROLL_PITCH_RATE_MAX);
}
}
@ -1848,9 +1848,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
for (uint8_t i = 0; i < 3; ++i) {
tmp_u8 = sbufReadU8(src);
if (i == FD_YAW) {
currentControlRateProfile_p->manual.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
currentControlRateProfile_p->manual.rates[i] = constrain(tmp_u8, SETTING_YAW_RATE_MIN, SETTING_YAW_RATE_MAX);
} else {
currentControlRateProfile_p->manual.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
currentControlRateProfile_p->manual.rates[i] = constrain(tmp_u8, SETTING_CONSTANT_ROLL_PITCH_RATE_MIN, SETTING_CONSTANT_ROLL_PITCH_RATE_MAX);
}
}

32
src/main/fc/rc_adjustments.c
View file

@ -39,6 +39,7 @@
#include "fc/controlrate_profile.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_curves.h"
#include "fc/settings.h"
#include "navigation/navigation.h"
@ -61,15 +62,6 @@ static uint8_t adjustmentStateMask = 0;
#define IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex) (adjustmentStateMask & (1 << adjustmentIndex))
#define RC_ADJUSTMENT_EXPO_MIN 0
#define RC_ADJUSTMENT_EXPO_MAX 100
#define RC_ADJUSTMENT_MANUAL_RATE_MIN 0
#define RC_ADJUSTMENT_MANUAL_RATE_MAX 100
#define RC_ADJUSTMENT_PID_MIN 0
#define RC_ADJUSTMENT_PID_MAX 200
// sync with adjustmentFunction_e
static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = {
{
@ -368,17 +360,17 @@ static void applyAdjustmentU16(adjustmentFunction_e adjustmentFunction, uint16_t
static void applyAdjustmentExpo(adjustmentFunction_e adjustmentFunction, uint8_t *val, int delta)
{
applyAdjustmentU8(adjustmentFunction, val, delta, RC_ADJUSTMENT_EXPO_MIN, RC_ADJUSTMENT_EXPO_MAX);
applyAdjustmentU8(adjustmentFunction, val, delta, SETTING_RC_EXPO_MIN, SETTING_RC_EXPO_MAX);
}
static void applyAdjustmentManualRate(adjustmentFunction_e adjustmentFunction, uint8_t *val, int delta)
{
return applyAdjustmentU8(adjustmentFunction, val, delta, RC_ADJUSTMENT_MANUAL_RATE_MIN, RC_ADJUSTMENT_MANUAL_RATE_MAX);
return applyAdjustmentU8(adjustmentFunction, val, delta, SETTING_CONSTANT_MANUAL_RATE_MIN, SETTING_CONSTANT_MANUAL_RATE_MAX);
}
static void applyAdjustmentPID(adjustmentFunction_e adjustmentFunction, uint16_t *val, int delta)
{
applyAdjustmentU16(adjustmentFunction, val, delta, RC_ADJUSTMENT_PID_MIN, RC_ADJUSTMENT_PID_MAX);
applyAdjustmentU16(adjustmentFunction, val, delta, SETTING_CONSTANT_RPYL_PID_MIN, SETTING_CONSTANT_RPYL_PID_MAX);
}
static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta)
@ -406,7 +398,7 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
applyAdjustmentU8(ADJUSTMENT_PITCH_RATE, &controlRateConfig->stabilized.rates[FD_PITCH], delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
applyAdjustmentU8(ADJUSTMENT_PITCH_RATE, &controlRateConfig->stabilized.rates[FD_PITCH], delta, SETTING_PITCH_RATE_MIN, SETTING_PITCH_RATE_MAX);
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
schedulePidGainsUpdate();
break;
@ -415,7 +407,7 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
FALLTHROUGH;
case ADJUSTMENT_ROLL_RATE:
applyAdjustmentU8(ADJUSTMENT_ROLL_RATE, &controlRateConfig->stabilized.rates[FD_ROLL], delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
applyAdjustmentU8(ADJUSTMENT_ROLL_RATE, &controlRateConfig->stabilized.rates[FD_ROLL], delta, SETTING_CONSTANT_ROLL_PITCH_RATE_MIN, SETTING_CONSTANT_ROLL_PITCH_RATE_MAX);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_MANUAL_PITCH_ROLL_RATE:
@ -429,7 +421,7 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
applyAdjustmentManualRate(ADJUSTMENT_MANUAL_PITCH_RATE, &controlRateConfig->manual.rates[FD_PITCH], delta);
break;
case ADJUSTMENT_YAW_RATE:
applyAdjustmentU8(ADJUSTMENT_YAW_RATE, &controlRateConfig->stabilized.rates[FD_YAW], delta, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
applyAdjustmentU8(ADJUSTMENT_YAW_RATE, &controlRateConfig->stabilized.rates[FD_YAW], delta, SETTING_YAW_RATE_MIN, SETTING_YAW_RATE_MAX);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_MANUAL_YAW_RATE:
@ -508,10 +500,10 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
schedulePidGainsUpdate();
break;
case ADJUSTMENT_NAV_FW_CRUISE_THR:
applyAdjustmentU16(ADJUSTMENT_NAV_FW_CRUISE_THR, &navConfigMutable()->fw.cruise_throttle, delta, 1000, 2000);
applyAdjustmentU16(ADJUSTMENT_NAV_FW_CRUISE_THR, &navConfigMutable()->fw.cruise_throttle, delta, SETTING_NAV_FW_CRUISE_THR_MIN, SETTING_NAV_FW_CRUISE_THR_MAX);
break;
case ADJUSTMENT_NAV_FW_PITCH2THR:
applyAdjustmentU8(ADJUSTMENT_NAV_FW_PITCH2THR, &navConfigMutable()->fw.pitch_to_throttle, delta, 0, 100);
applyAdjustmentU8(ADJUSTMENT_NAV_FW_PITCH2THR, &navConfigMutable()->fw.pitch_to_throttle, delta, SETTING_NAV_FW_PITCH2THR_MIN, SETTING_NAV_FW_PITCH2THR_MAX);
break;
case ADJUSTMENT_ROLL_BOARD_ALIGNMENT:
updateBoardAlignment(delta, 0);
@ -586,7 +578,7 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
navigationUsePIDs();
break;
case ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE:
applyAdjustmentU16(ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE, &mixerConfigMutable()->fwMinThrottleDownPitchAngle, delta, 0, FW_MIN_THROTTLE_DOWN_PITCH_ANGLE_MAX);
applyAdjustmentU16(ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE, &mixerConfigMutable()->fwMinThrottleDownPitchAngle, delta, SETTING_FW_MIN_THROTTLE_DOWN_PITCH_MIN, SETTING_FW_MIN_THROTTLE_DOWN_PITCH_MAX);
break;
#if defined(USE_VTX_SMARTAUDIO) || defined(USE_VTX_TRAMP)
case ADJUSTMENT_VTX_POWER_LEVEL:
@ -599,13 +591,13 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
break;
#endif
case ADJUSTMENT_TPA:
applyAdjustmentU8(ADJUSTMENT_TPA, &controlRateConfig->throttle.dynPID, delta, 0, CONTROL_RATE_CONFIG_TPA_MAX);
applyAdjustmentU8(ADJUSTMENT_TPA, &controlRateConfig->throttle.dynPID, delta, 0, SETTING_TPA_RATE_MAX);
break;
case ADJUSTMENT_TPA_BREAKPOINT:
applyAdjustmentU16(ADJUSTMENT_TPA_BREAKPOINT, &controlRateConfig->throttle.pa_breakpoint, delta, PWM_RANGE_MIN, PWM_RANGE_MAX);
break;
case ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS:
applyAdjustmentU8(ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS, &navConfigMutable()->fw.control_smoothness, delta, 0, 9);
applyAdjustmentU8(ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS, &navConfigMutable()->fw.control_smoothness, delta, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MIN, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MAX);
break;
default:
break;

198
src/main/fc/settings.yaml
View file

@ -69,9 +69,15 @@ tables:
- name: osd_stats_energy_unit
values: ["MAH", "WH"]
enum: osd_stats_energy_unit_e
- name: osd_stats_min_voltage_unit
values: ["BATTERY", "CELL"]
enum: osd_stats_min_voltage_unit_e
- name: osd_video_system
values: ["AUTO", "PAL", "NTSC"]
enum: videoSystem_e
- name: osd_telemetry
values: ["OFF", "ON","TEST"]
enum: osd_telemetry_e
- name: osd_alignment
values: ["LEFT", "RIGHT"]
enum: osd_alignment_e
@ -87,7 +93,8 @@ tables:
"FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE",
"VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
"ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
"IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "FW_D", "IMU2", "ALTITUDE", "AUTOTUNE"]
"IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "FW_D", "IMU2", "ALTITUDE",
"SMITH_COMPENSATOR", "AUTOTUNE"]
- name: async_mode
values: ["NONE", "GYRO", "ALL"]
- name: aux_operator
@ -173,6 +180,16 @@ tables:
enum: navRTHClimbFirst_e
values: ["OFF", "ON", "ON_FW_SPIRAL"]
constants:
RPYL_PID_MIN: 0
RPYL_PID_MAX: 200
MANUAL_RATE_MIN: 0
MANUAL_RATE_MAX: 100
ROLL_PITCH_RATE_MIN: 6
ROLL_PITCH_RATE_MAX: 180
groups:
- name: PG_GYRO_CONFIG
type: gyroConfig_t
@ -1203,7 +1220,7 @@ groups:
default_value: 0
field: throttle.dynPID
min: 0
max: CONTROL_RATE_CONFIG_TPA_MAX
max: 100
- name: tpa_breakpoint
description: "See tpa_rate."
default_value: 1500
@ -1234,20 +1251,20 @@ groups:
description: "Defines rotation rate on ROLL axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure."
default_value: 20
field: stabilized.rates[FD_ROLL]
min: CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN
max: CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX
min: ROLL_PITCH_RATE_MIN
max: ROLL_PITCH_RATE_MAX
- name: pitch_rate
description: "Defines rotation rate on PITCH axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure."
default_value: 20
field: stabilized.rates[FD_PITCH]
min: CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN
max: CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX
min: ROLL_PITCH_RATE_MIN
max: ROLL_PITCH_RATE_MAX
- name: yaw_rate
description: "Defines rotation rate on YAW axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure."
default_value: 20
field: stabilized.rates[FD_YAW]
min: CONTROL_RATE_CONFIG_YAW_RATE_MIN
max: CONTROL_RATE_CONFIG_YAW_RATE_MAX
min: 2
max: 180
- name: manual_rc_expo
description: "Exposition value used for the PITCH/ROLL axes by the `MANUAL` flight mode [0-100]"
default_value: 70
@ -1264,20 +1281,20 @@ groups:
description: "Servo travel multiplier for the ROLL axis in `MANUAL` flight mode [0-100]%"
default_value: 100
field: manual.rates[FD_ROLL]
min: 0
max: 100
min: MANUAL_RATE_MIN
max: MANUAL_RATE_MAX
- name: manual_pitch_rate
description: "Servo travel multiplier for the PITCH axis in `MANUAL` flight mode [0-100]%"
default_value: 100
field: manual.rates[FD_PITCH]
min: 0
max: 100
min: MANUAL_RATE_MIN
max: MANUAL_RATE_MAX
- name: manual_yaw_rate
description: "Servo travel multiplier for the YAW axis in `MANUAL` flight mode [0-100]%"
default_value: 100
field: manual.rates[FD_YAW]
min: 0
max: 100
min: MANUAL_RATE_MIN
max: MANUAL_RATE_MAX
- name: fpv_mix_degrees
field: misc.fpvCamAngleDegrees
min: 0
@ -1498,182 +1515,182 @@ groups:
description: "Multicopter rate stabilisation P-gain for PITCH"
default_value: 40
field: bank_mc.pid[PID_PITCH].P
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_i_pitch
description: "Multicopter rate stabilisation I-gain for PITCH"
default_value: 30
field: bank_mc.pid[PID_PITCH].I
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_d_pitch
description: "Multicopter rate stabilisation D-gain for PITCH"
default_value: 23
field: bank_mc.pid[PID_PITCH].D
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_cd_pitch
description: "Multicopter Control Derivative gain for PITCH"
default_value: 60
field: bank_mc.pid[PID_PITCH].FF
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_p_roll
description: "Multicopter rate stabilisation P-gain for ROLL"
default_value: 40
field: bank_mc.pid[PID_ROLL].P
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_i_roll
description: "Multicopter rate stabilisation I-gain for ROLL"
default_value: 30
field: bank_mc.pid[PID_ROLL].I
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_d_roll
description: "Multicopter rate stabilisation D-gain for ROLL"
default_value: 23
field: bank_mc.pid[PID_ROLL].D
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_cd_roll
description: "Multicopter Control Derivative gain for ROLL"
default_value: 60
field: bank_mc.pid[PID_ROLL].FF
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_p_yaw
description: "Multicopter rate stabilisation P-gain for YAW"
default_value: 85
field: bank_mc.pid[PID_YAW].P
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_i_yaw
description: "Multicopter rate stabilisation I-gain for YAW"
default_value: 45
field: bank_mc.pid[PID_YAW].I
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_d_yaw
description: "Multicopter rate stabilisation D-gain for YAW"
default_value: 0
field: bank_mc.pid[PID_YAW].D
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_cd_yaw
description: "Multicopter Control Derivative gain for YAW"
default_value: 60
field: bank_mc.pid[PID_YAW].FF
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_p_level
description: "Multicopter attitude stabilisation P-gain"
default_value: 20
field: bank_mc.pid[PID_LEVEL].P
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_i_level
description: "Multicopter attitude stabilisation low-pass filter cutoff"
default_value: 15
field: bank_mc.pid[PID_LEVEL].I
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: mc_d_level
description: "Multicopter attitude stabilisation HORIZON transition point"
default_value: 75
field: bank_mc.pid[PID_LEVEL].D
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_p_pitch
description: "Fixed-wing rate stabilisation P-gain for PITCH"
default_value: 5
field: bank_fw.pid[PID_PITCH].P
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_i_pitch
description: "Fixed-wing rate stabilisation I-gain for PITCH"
default_value: 7
field: bank_fw.pid[PID_PITCH].I
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_d_pitch
description: "Fixed wing rate stabilisation D-gain for PITCH"
default_value: 0
field: bank_fw.pid[PID_PITCH].D
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_ff_pitch
description: "Fixed-wing rate stabilisation FF-gain for PITCH"
default_value: 50
field: bank_fw.pid[PID_PITCH].FF
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_p_roll
description: "Fixed-wing rate stabilisation P-gain for ROLL"
default_value: 5
field: bank_fw.pid[PID_ROLL].P
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_i_roll
description: "Fixed-wing rate stabilisation I-gain for ROLL"
default_value: 7
field: bank_fw.pid[PID_ROLL].I
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_d_roll
description: "Fixed wing rate stabilisation D-gain for ROLL"
default_value: 0
field: bank_fw.pid[PID_ROLL].D
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_ff_roll
description: "Fixed-wing rate stabilisation FF-gain for ROLL"
default_value: 50
field: bank_fw.pid[PID_ROLL].FF
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_p_yaw
description: "Fixed-wing rate stabilisation P-gain for YAW"
default_value: 6
field: bank_fw.pid[PID_YAW].P
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_i_yaw
description: "Fixed-wing rate stabilisation I-gain for YAW"
default_value: 10
field: bank_fw.pid[PID_YAW].I
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_d_yaw
description: "Fixed wing rate stabilisation D-gain for YAW"
default_value: 0
field: bank_fw.pid[PID_YAW].D
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_ff_yaw
description: "Fixed-wing rate stabilisation FF-gain for YAW"
default_value: 60
field: bank_fw.pid[PID_YAW].FF
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_p_level
description: "Fixed-wing attitude stabilisation P-gain"
default_value: 20
field: bank_fw.pid[PID_LEVEL].P
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_i_level
description: "Fixed-wing attitude stabilisation low-pass filter cutoff"
default_value: 5
field: bank_fw.pid[PID_LEVEL].I
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: fw_d_level
description: "Fixed-wing attitude stabilisation HORIZON transition point"
default_value: 75
field: bank_fw.pid[PID_LEVEL].D
min: 0
max: 200
min: RPYL_PID_MIN
max: RPYL_PID_MAX
- name: max_angle_inclination_rll
description: "Maximum inclination in level (angle) mode (ROLL axis). 100=10°"
default_value: 300
@ -2048,6 +2065,27 @@ groups:
field: fixedWingLevelTrim
min: -10
max: 10
- name: smith_predictor_strength
description: "The strength factor of a Smith Predictor of PID measurement. In percents"
default_value: 0.5
field: smithPredictorStrength
condition: USE_SMITH_PREDICTOR
min: 0
max: 1
- name: smith_predictor_delay
description: "Expected delay of the gyro signal. In milliseconds"
default_value: 0
field: smithPredictorDelay
condition: USE_SMITH_PREDICTOR
min: 0
max: 8
- name: smith_predictor_lpf_hz
description: "Cutoff frequency for the Smith Predictor Low Pass Filter"
default_value: 50
field: smithPredictorFilterHz
condition: USE_SMITH_PREDICTOR
min: 1
max: 500
- name: PG_PID_AUTOTUNE_CONFIG
type: pidAutotuneConfig_t
@ -2902,6 +2940,12 @@ groups:
headers: ["io/osd.h", "drivers/osd.h"]
condition: USE_OSD
members:
- name: osd_telemetry
description: "To enable OSD telemetry for antenna tracker. Possible values are `OFF`, `ON` and `TEST`"
table: osd_telemetry
field: telemetry
type: uint8_t
default_value: "OFF"
- name: osd_video_system
description: "Video system used. Possible values are `AUTO`, `PAL` and `NTSC`"
default_value: "AUTO"
@ -2926,6 +2970,12 @@ groups:
field: stats_energy_unit
table: osd_stats_energy_unit
type: uint8_t
- name: osd_stats_min_voltage_unit
description: "Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats."
default_value: "BATTERY"
field: stats_min_voltage_unit
table: osd_stats_min_voltage_unit
type: uint8_t
- name: osd_rssi_alarm
description: "Value below which to make the OSD RSSI indicator blink"

5
src/main/flight/mixer.h
View file

@ -25,11 +25,6 @@
#define MAX_SUPPORTED_MOTORS 12
#endif
#define YAW_JUMP_PREVENTION_LIMIT_LOW 80
#define YAW_JUMP_PREVENTION_LIMIT_HIGH 500
#define FW_MIN_THROTTLE_DOWN_PITCH_ANGLE_MAX 450
// Digital protocol has fixed values
#define DSHOT_DISARM_COMMAND 0
#define DSHOT_MIN_THROTTLE 48

42
src/main/flight/pid.c
View file

@ -48,6 +48,7 @@ FILE_COMPILE_FOR_SPEED
#include "flight/rpm_filter.h"
#include "flight/secondary_imu.h"
#include "flight/kalman.h"
#include "flight/smith_predictor.h"
#include "io/gps.h"
@ -109,6 +110,8 @@ typedef struct {
bool itermFreezeActive;
biquadFilter_t rateTargetFilter;
smithPredictor_t smithPredictor;
} pidState_t;
STATIC_FASTRAM bool pidFiltersConfigured = false;
@ -159,7 +162,7 @@ static EXTENDED_FASTRAM filterApplyFnPtr dTermLpf2FilterApplyFn;
static EXTENDED_FASTRAM bool levelingEnabled = false;
static EXTENDED_FASTRAM float fixedWingLevelTrim;
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 1);
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 2);
PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
.bank_mc = {
@ -297,6 +300,12 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
#endif
.fixedWingLevelTrim = SETTING_FW_LEVEL_PITCH_TRIM_DEFAULT,
#ifdef USE_SMITH_PREDICTOR
.smithPredictorStrength = SETTING_SMITH_PREDICTOR_STRENGTH_DEFAULT,
.smithPredictorDelay = SETTING_SMITH_PREDICTOR_DELAY_DEFAULT,
.smithPredictorFilterHz = SETTING_SMITH_PREDICTOR_LPF_HZ_DEFAULT,
#endif
);
bool pidInitFilters(void)
@ -349,6 +358,30 @@ bool pidInitFilters(void)
}
}
#ifdef USE_SMITH_PREDICTOR
smithPredictorInit(
&pidState[FD_ROLL].smithPredictor,
pidProfile()->smithPredictorDelay,
pidProfile()->smithPredictorStrength,
pidProfile()->smithPredictorFilterHz,
getLooptime()
);
smithPredictorInit(
&pidState[FD_PITCH].smithPredictor,
pidProfile()->smithPredictorDelay,
pidProfile()->smithPredictorStrength,
pidProfile()->smithPredictorFilterHz,
getLooptime()
);
smithPredictorInit(
&pidState[FD_YAW].smithPredictor,
pidProfile()->smithPredictorDelay,
pidProfile()->smithPredictorStrength,
pidProfile()->smithPredictorFilterHz,
getLooptime()
);
#endif
pidFiltersConfigured = true;
return true;
@ -1052,6 +1085,13 @@ void FAST_CODE pidController(float dT)
pidState[axis].gyroRate = gyroKalmanUpdate(axis, pidState[axis].gyroRate, pidState[axis].rateTarget);
}
#endif
#ifdef USE_SMITH_PREDICTOR
DEBUG_SET(DEBUG_SMITH_COMPENSATOR, axis, pidState[axis].gyroRate);
pidState[axis].gyroRate = applySmithPredictor(axis, &pidState[axis].smithPredictor, pidState[axis].gyroRate);
DEBUG_SET(DEBUG_SMITH_COMPENSATOR, axis + 3, pidState[axis].gyroRate);
#endif
DEBUG_SET(DEBUG_PID_MEASUREMENT, axis, pidState[axis].gyroRate);
}

5
src/main/flight/pid.h
View file

@ -161,6 +161,11 @@ typedef struct pidProfile_s {
#endif
float fixedWingLevelTrim;
#ifdef USE_SMITH_PREDICTOR
float smithPredictorStrength;
float smithPredictorDelay;
uint16_t smithPredictorFilterHz;
#endif
} pidProfile_t;
typedef struct pidAutotuneConfig_s {

70
src/main/flight/smith_predictor.c Normal file
View file

@ -0,0 +1,70 @@
/*
* This file is part of INAV Project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute 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.
*
* This file 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 this program. If not, see http://www.gnu.org/licenses/.
*
* This code is a derivative of work done in EmuFlight Project https://github.com/emuflight/EmuFlight
*
*/
#include "platform.h"
#ifdef USE_SMITH_PREDICTOR
#include <stdbool.h>
#include "common/axis.h"
#include "common/utils.h"
#include "flight/smith_predictor.h"
#include "build/debug.h"
FUNCTION_COMPILE_FOR_SPEED
float applySmithPredictor(uint8_t axis, smithPredictor_t *predictor, float sample) {
UNUSED(axis);
if (predictor->enabled) {
predictor->data[predictor->idx] = sample;
predictor->idx++;
if (predictor->idx > predictor->samples) {
predictor->idx = 0;
}
// filter the delayed data to help reduce the overall noise this prediction adds
float delayed = pt1FilterApply(&predictor->smithPredictorFilter, predictor->data[predictor->idx]);
float delayCompensatedSample = predictor->smithPredictorStrength * (sample - delayed);
sample += delayCompensatedSample;
}
return sample;
}
FUNCTION_COMPILE_FOR_SIZE
void smithPredictorInit(smithPredictor_t *predictor, float delay, float strength, uint16_t filterLpfHz, uint32_t looptime) {
if (delay > 0.1) {
predictor->enabled = true;
predictor->samples = (delay * 1000) / looptime;
predictor->idx = 0;
predictor->smithPredictorStrength = strength;
pt1FilterInit(&predictor->smithPredictorFilter, filterLpfHz, looptime * 1e-6f);
} else {
predictor->enabled = false;
}
}
#endif

45
src/main/flight/smith_predictor.h Normal file
View file

@ -0,0 +1,45 @@
/*
* This file is part of INAV Project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute 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.
*
* This file 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 this program. If not, see http://www.gnu.org/licenses/.
*
* This code is a derivative of work done in EmuFlight Project https://github.com/emuflight/EmuFlight
*
*/
#pragma once
#include <stdint.h>
#include "common/filter.h"
#define MAX_SMITH_SAMPLES 64
typedef struct smithPredictor_s {
bool enabled;
uint8_t samples;
uint8_t idx;
float data[MAX_SMITH_SAMPLES + 1];
pt1Filter_t smithPredictorFilter;
float smithPredictorStrength;
} smithPredictor_t;
float applySmithPredictor(uint8_t axis, smithPredictor_t *predictor, float sample);
void smithPredictorInit(smithPredictor_t *predictor, float delay, float strength, uint16_t filterLpfHz, uint32_t looptime);

113
src/main/io/osd.c
View file

@ -144,7 +144,7 @@ FILE_COMPILE_FOR_SPEED
#define OSD_CENTER_LEN(x) ((osdDisplayPort->cols - x) / 2)
#define OSD_CENTER_S(s) OSD_CENTER_LEN(strlen(s))
#define OSD_MIN_FONT_VERSION 1
#define OSD_MIN_FONT_VERSION 2
static unsigned currentLayout = 0;
static int layoutOverride = -1;
@ -193,7 +193,7 @@ static bool osdDisplayHasCanvas;
#define AH_MAX_PITCH_DEFAULT 20 // Specify default maximum AHI pitch value displayed (degrees)
PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 15);
PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 0);
PG_REGISTER_WITH_RESET_FN(osdLayoutsConfig_t, osdLayoutsConfig, PG_OSD_LAYOUTS_CONFIG, 0);
static int digitCount(int32_t value)
@ -534,7 +534,7 @@ static uint16_t osdConvertRSSI(void)
return constrain(getRSSI() * 100 / RSSI_MAX_VALUE, 0, 99);
}
static uint16_t osdGetLQ(void)
static uint16_t osdGetCrsfLQ(void)
{
int16_t statsLQ = rxLinkStatistics.uplinkLQ;
int16_t scaledLQ = scaleRange(constrain(statsLQ, 0, 100), 0, 100, 170, 300);
@ -545,7 +545,7 @@ static uint16_t osdGetLQ(void)
}
}
static uint16_t osdGetdBm(void)
static int16_t osdGetCrsfdBm(void)
{
return rxLinkStatistics.uplinkRSSI;
}
@ -1183,6 +1183,67 @@ static void osdDrawRadar(uint16_t *drawn, uint32_t *usedScale)
osdDrawMap(reference, 0, SYM_ARROW_UP, GPS_distanceToHome, poiDirection, SYM_HOME, drawn, usedScale);
}
static uint16_t crc_accumulate(uint8_t data, uint16_t crcAccum)
{
uint8_t tmp;
tmp = data ^ (uint8_t)(crcAccum & 0xff);
tmp ^= (tmp << 4);
crcAccum = (crcAccum >> 8) ^ (tmp << 8) ^ (tmp << 3) ^ (tmp >> 4);
return crcAccum;
}
static void osdDisplayTelemetry(void)
{
uint32_t trk_data;
uint16_t trk_crc = 0;
char trk_buffer[31];
static int16_t trk_elevation = 127;
static uint16_t trk_bearing = 0;
if (ARMING_FLAG(ARMED)) {
if (STATE(GPS_FIX)){
if (GPS_distanceToHome > 5) {
trk_bearing = GPS_directionToHome;
trk_bearing += 360 + 180;
trk_bearing %= 360;
int32_t alt = CENTIMETERS_TO_METERS(osdGetAltitude());
float at = atan2(alt, GPS_distanceToHome);
trk_elevation = (float)at * 57.2957795; // 57.2957795 = 1 rad
trk_elevation += 37; // because elevation in telemetry should be from -37 to 90
if (trk_elevation < 0) {
trk_elevation = 0;
}
}
}
}
else{
trk_elevation = 127;
trk_bearing = 0;
}
trk_data = 0; // bit 0 - packet type 0 = bearing/elevation, 1 = 2 byte data packet
trk_data = trk_data | (uint32_t)(0x7F & trk_elevation) << 1; // bits 1-7 - elevation angle to target. NOTE number is abused. constrained value of -37 to 90 sent as 0 to 127.
trk_data = trk_data | (uint32_t)trk_bearing << 8; // bits 8-17 - bearing angle to target. 0 = true north. 0 to 360
trk_crc = crc_accumulate(0xFF & trk_data, trk_crc); // CRC First Byte bits 0-7
trk_crc = crc_accumulate(0xFF & trk_bearing, trk_crc); // CRC Second Byte bits 8-15
trk_crc = crc_accumulate(trk_bearing >> 8, trk_crc); // CRC Third Byte bits 16-17
trk_data = trk_data | (uint32_t)trk_crc << 17; // bits 18-29 CRC & 0x3FFFF
for (uint8_t t_ctr = 0; t_ctr < 30; t_ctr++) { // Prepare screen buffer and write data line.
if (trk_data & (uint32_t)1 << t_ctr){
trk_buffer[29 - t_ctr] = SYM_TELEMETRY_0;
}
else{
trk_buffer[29 - t_ctr] = SYM_TELEMETRY_1;
}
}
trk_buffer[30] = 0;
displayWrite(osdDisplayPort, 0, 0, trk_buffer);
if (osdConfig()->telemetry>1){
displayWrite(osdDisplayPort, 0, 3, trk_buffer); // Test display because normal telemetry line is not visible
}
}
#endif
static void osdFormatPidControllerOutput(char *buff, const char *label, const pidController_t *pidController, uint8_t scale, bool showDecimal) {
@ -1710,7 +1771,7 @@ static bool osdDrawSingleElement(uint8_t item)
else if (FLIGHT_MODE(MANUAL_MODE))
p = "MANU";
else if (FLIGHT_MODE(NAV_RTH_MODE))
p = "RTH ";
p = isWaypointMissionRTHActive() ? "WRTH" : "RTH ";
else if (FLIGHT_MODE(NAV_POSHOLD_MODE))
p = "HOLD";
else if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE))
@ -2304,9 +2365,8 @@ static bool osdDrawSingleElement(uint8_t item)
} else {
buff[0] = buff[1] = buff[2] = '-';
}
buff[3] = SYM_WH_KM_0;
buff[4] = SYM_WH_KM_1;
buff[5] = '\0';
buff[3] = SYM_WH_KM;
buff[4] = '\0';
break;
}
@ -2692,8 +2752,11 @@ void osdDrawNextElement(void)
elementIndex = osdIncElementIndex(elementIndex);
} while(!osdDrawSingleElement(elementIndex) && index != elementIndex);
// Draw artificial horizon last
// Draw artificial horizon + tracking telemtry last
osdDrawSingleElement(OSD_ARTIFICIAL_HORIZON);
if (osdConfig()->telemetry>0){
osdDisplayTelemetry();
}
}
PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
@ -2774,7 +2837,8 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
.force_grid = SETTING_OSD_FORCE_GRID_DEFAULT,
.stats_energy_unit = SETTING_OSD_STATS_ENERGY_UNIT_DEFAULT
.stats_energy_unit = SETTING_OSD_STATS_ENERGY_UNIT_DEFAULT,
.stats_min_voltage_unit = SETTING_OSD_STATS_MIN_VOLTAGE_UNIT_DEFAULT
);
void pgResetFn_osdLayoutsConfig(osdLayoutsConfig_t *osdLayoutsConfig)
@ -3023,9 +3087,8 @@ static void osdCompleteAsyncInitialization(void)
osdFormatCentiNumber(string_buffer, avg_efficiency / 10, 0, 2, 0, 3);
} else
strcpy(string_buffer, "---");
string_buffer[3] = SYM_WH_KM_0;
string_buffer[4] = SYM_WH_KM_1;
string_buffer[5] = '\0';
string_buffer[3] = SYM_WH_KM;
string_buffer[4] = '\0';
displayWrite(osdDisplayPort, STATS_VALUE_X_POS-3, y, string_buffer);
}
#endif // USE_ADC
@ -3095,11 +3158,11 @@ static void osdUpdateStats(void)
if (stats.min_rssi > value)
stats.min_rssi = value;
value = osdGetLQ();
value = osdGetCrsfLQ();
if (stats.min_lq > value)
stats.min_lq = value;
value = osdGetdBm();
value = osdGetCrsfdBm();
if (stats.min_rssi_dbm > value)
stats.min_rssi_dbm = value;
@ -3185,8 +3248,13 @@ static void osdShowStatsPage2(void)
displayWrite(osdDisplayPort, statNameX, top++, "--- STATS --- <- 2/2");
if (osdConfig()->stats_min_voltage_unit == OSD_STATS_MIN_VOLTAGE_UNIT_BATTERY) {
displayWrite(osdDisplayPort, statNameX, top, "MIN BATTERY VOLT :");
osdFormatCentiNumber(buff, stats.min_voltage, 0, osdConfig()->main_voltage_decimals, 0, osdConfig()->main_voltage_decimals + 2);
} else {
displayWrite(osdDisplayPort, statNameX, top, "MIN CELL VOLTAGE :");
osdFormatCentiNumber(buff, stats.min_voltage/getBatteryCellCount(), 0, 2, 0, 3);
}
tfp_sprintf(buff, "%s%c", buff, SYM_VOLT);
displayWrite(osdDisplayPort, statValuesX, top++, buff);
@ -3220,9 +3288,8 @@ static void osdShowStatsPage2(void)
SYM_MAH_KM_0, SYM_MAH_KM_1);
else {
osdFormatCentiNumber(buff, getMWhDrawn() * 10000 / totalDistance, 0, 2, 0, 3);
buff[3] = SYM_WH_KM_0;
buff[4] = SYM_WH_KM_1;
buff[5] = '\0';
buff[3] = SYM_WH_KM;
buff[4] = '\0';
}
// If traveled distance is less than 100 meters efficiency numbers are useless and unreliable so display --- instead
if (totalDistance < 10000) {
@ -3232,9 +3299,8 @@ static void osdShowStatsPage2(void)
buff[4] = SYM_MAH_KM_1;
buff[5] = '\0';
} else {
buff[3] = SYM_WH_KM_0;
buff[4] = SYM_WH_KM_1;
buff[5] = '\0';
buff[3] = SYM_WH_KM;
buff[4] = '\0';
}
}
displayWrite(osdDisplayPort, statValuesX, top++, buff);
@ -3610,6 +3676,11 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
}
} else {
if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
if (isWaypointMissionRTHActive()) {
// if RTH activated whilst WP mode selected, remind pilot to cancel WP mode to exit RTH
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL);
}
if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) {
// Countdown display for remaining Waypoints
tfp_sprintf(messageBuf, "TO WP %u/%u", posControl.activeWaypointIndex + 1, posControl.waypointCount);

8
src/main/io/osd.h Executable file → Normal file
View file

@ -87,6 +87,7 @@
#define OSD_MSG_HOLDING_WAYPOINT "HOLDING WAYPOINT"
#define OSD_MSG_TO_WP "TO WP"
#define OSD_MSG_PREPARE_NEXT_WP "PREPARING FOR NEXT WAYPOINT"
#define OSD_MSG_WP_RTH_CANCEL "CANCEL WP MODE TO EXIT RTH"
#define OSD_MSG_EMERG_LANDING "EMERGENCY LANDING"
#define OSD_MSG_LANDING "LANDING"
#define OSD_MSG_LOITERING_HOME "LOITERING AROUND HOME"
@ -243,6 +244,11 @@ typedef enum {
OSD_STATS_ENERGY_UNIT_WH,
} osd_stats_energy_unit_e;
typedef enum {
OSD_STATS_MIN_VOLTAGE_UNIT_BATTERY,
OSD_STATS_MIN_VOLTAGE_UNIT_CELL,
} osd_stats_min_voltage_unit_e;
typedef enum {
OSD_CROSSHAIRS_STYLE_DEFAULT,
OSD_CROSSHAIRS_STYLE_AIRCRAFT,
@ -339,6 +345,7 @@ typedef struct osdConfig_s {
uint8_t units; // from osd_unit_e
uint8_t stats_energy_unit; // from osd_stats_energy_unit_e
uint8_t stats_min_voltage_unit; // from osd_stats_min_voltage_unit_e
#ifdef USE_WIND_ESTIMATOR
bool estimations_wind_compensation; // use wind compensation for estimated remaining flight/distance
@ -362,6 +369,7 @@ typedef struct osdConfig_s {
uint8_t pan_servo_index; // Index of the pan servo used for home direction offset
int8_t pan_servo_pwm2centideg; // Centidegrees of servo rotation per us pwm
uint8_t crsf_lq_format;
uint8_t telemetry; // use telemetry on displayed pixel line 0
} osdConfig_t;

89
src/main/navigation/navigation.c Executable file → Normal file
View file

@ -238,6 +238,7 @@ void calculateNewCruiseTarget(fpVector3_t * origin, int32_t yaw, int32_t distanc
static bool isWaypointPositionReached(const fpVector3_t * pos, const bool isWaypointHome);
static void mapWaypointToLocalPosition(fpVector3_t * localPos, const navWaypoint_t * waypoint);
static navigationFSMEvent_t nextForNonGeoStates(void);
static bool isWaypointMissionValid(void);
void initializeRTHSanityChecker(const fpVector3_t * pos);
bool validateRTHSanityChecker(void);
@ -273,7 +274,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME(navi
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_NEXT(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS(navigationFSMState_t previousState);
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED(navigationFSMState_t previousState);
@ -669,6 +669,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_IN_PROGRESS,
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED] = NAV_STATE_WAYPOINT_FINISHED,
}
},
@ -708,7 +709,6 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME] = NAV_STATE_WAYPOINT_HOLD_TIME,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED] = NAV_STATE_WAYPOINT_FINISHED,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND] = NAV_STATE_WAYPOINT_RTH_LAND,
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOVER_ABOVE_HOME] = NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
@ -794,27 +794,6 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}
},
[NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME] = {
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_HOVER_ABOVE_HOME,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.mwState = MW_NAV_STATE_HOVER_ABOVE_HOME,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME, // re-process state
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_FINISHED,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE,
}
},
/** EMERGENCY LANDING ************************************************/
[NAV_STATE_EMERGENCY_LANDING_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE,
@ -1331,18 +1310,11 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LAND
// If position ok OR within valid timeout - continue
if ((posControl.flags.estPosStatus >= EST_USABLE) || !checkForPositionSensorTimeout()) {
// Wait until target heading is reached (with 15 deg margin for error)
if (STATE(FIXED_WING_LEGACY)) {
// Wait until target heading is reached for MR (with 15 deg margin for error), or continue for Fixed Wing
if ((ABS(wrap_18000(posControl.rthState.homePosition.yaw - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) || STATE(FIXED_WING_LEGACY)) {
resetLandingDetector();
updateClimbRateToAltitudeController(0, ROC_TO_ALT_RESET);
return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME;
}
else {
if (ABS(wrap_18000(posControl.rthState.homePosition.yaw - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) {
resetLandingDetector();
updateClimbRateToAltitudeController(0, ROC_TO_ALT_RESET);
return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME;
return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME; // success = land
}
else if (!validateRTHSanityChecker()) {
// Continue to check for RTH sanity during pre-landing hover
@ -1353,8 +1325,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LAND
setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
return NAV_FSM_EVENT_NONE;
}
}
} else {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
@ -1549,10 +1519,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(nav
return nextForNonGeoStates();
case NAV_WP_ACTION_RTH:
posControl.rthState.rthInitialDistance = posControl.homeDistance;
initializeRTHSanityChecker(&navGetCurrentActualPositionAndVelocity()->pos);
calculateAndSetActiveWaypointToLocalPosition(rthGetHomeTargetPosition(RTH_HOME_ENROUTE_INITIAL));
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_IN_PROGRESS
return NAV_FSM_EVENT_SWITCH_TO_RTH;
};
UNREACHABLE();
@ -1598,21 +1565,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
case NAV_WP_ACTION_JUMP:
case NAV_WP_ACTION_SET_HEAD:
case NAV_WP_ACTION_SET_POI:
UNREACHABLE();
case NAV_WP_ACTION_RTH:
if (isWaypointReached(&posControl.activeWaypoint, true) || isWaypointMissed(&posControl.activeWaypoint)) {
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_REACHED
}
else {
if(navConfig()->general.flags.rth_tail_first && !STATE(FIXED_WING_LEGACY))
setDesiredPosition(&posControl.activeWaypoint.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING_TAIL_FIRST);
else
setDesiredPosition(&posControl.activeWaypoint.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING);
setDesiredPosition(rthGetHomeTargetPosition(RTH_HOME_ENROUTE_PROPORTIONAL), 0, NAV_POS_UPDATE_Z);
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms
}
break;
UNREACHABLE();
}
}
/* No pos sensor available for NAV_WAIT_FOR_GPS_TIMEOUT_MS - land */
@ -1637,15 +1591,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_REACHED(naviga
case NAV_WP_ACTION_JUMP:
case NAV_WP_ACTION_SET_HEAD:
case NAV_WP_ACTION_SET_POI:
UNREACHABLE();
case NAV_WP_ACTION_RTH:
if (posControl.waypointList[posControl.activeWaypointIndex].p1 != 0) {
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND;
}
else {
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOVER_ABOVE_HOME;
}
UNREACHABLE();
case NAV_WP_ACTION_LAND:
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND;
@ -1725,14 +1672,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED(navig
}
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME(navigationFSMState_t previousState)
{
UNUSED(previousState);
const navigationFSMEvent_t hoverEvent = navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(previousState);
return hoverEvent;
}
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE(navigationFSMState_t previousState)
{
// TODO:
@ -3656,6 +3595,11 @@ rthState_e getStateOfForcedRTH(void)
}
}
bool isWaypointMissionRTHActive(void)
{
return FLIGHT_MODE(NAV_RTH_MODE) && IS_RC_MODE_ACTIVE(BOXNAVWP) && !(IS_RC_MODE_ACTIVE(BOXNAVRTH) || posControl.flags.forcedRTHActivated);
}
bool navigationIsExecutingAnEmergencyLanding(void)
{
return navGetCurrentStateFlags() & NAV_CTL_EMERG;
@ -3681,9 +3625,12 @@ bool navigationIsFlyingAutonomousMode(void)
bool navigationRTHAllowsLanding(void)
{
if (posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_LAND)
return true;
// WP mission RTH landing setting
if (isWaypointMissionRTHActive() && isWaypointMissionValid()) {
return posControl.waypointList[posControl.waypointCount - 1].p1 > 0;
}
// normal RTH landing setting
navRTHAllowLanding_e allow = navConfig()->general.flags.rth_allow_landing;
return allow == NAV_RTH_ALLOW_LANDING_ALWAYS ||
(allow == NAV_RTH_ALLOW_LANDING_FS_ONLY && FLIGHT_MODE(FAILSAFE_MODE));

1
src/main/navigation/navigation.h
View file

@ -520,6 +520,7 @@ bool navigationIsExecutingAnEmergencyLanding(void);
* or if it's NAV_RTH_ALLOW_LANDING_FAILSAFE and failsafe mode is active.
*/
bool navigationRTHAllowsLanding(void);
bool isWaypointMissionRTHActive(void);
bool isNavLaunchEnabled(void);
bool isFixedWingLaunchDetected(void);

4
src/main/navigation/navigation_private.h
View file

@ -141,7 +141,6 @@ typedef enum {
NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND = NAV_FSM_EVENT_STATE_SPECIFIC_1,
NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED = NAV_FSM_EVENT_STATE_SPECIFIC_2,
NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME = NAV_FSM_EVENT_STATE_SPECIFIC_3,
NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOVER_ABOVE_HOME,
NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD,
NAV_FSM_EVENT_SWITCH_TO_CRUISE,
@ -200,7 +199,7 @@ typedef enum {
NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME = 35,
NAV_PERSISTENT_ID_RTH_HOVER_ABOVE_HOME = 36,
NAV_PERSISTENT_ID_WAYPOINT_HOVER_ABOVE_HOME = 37,
NAV_PERSISTENT_ID_UNUSED_4 = 37, // was NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME
} navigationPersistentId_e;
@ -232,7 +231,6 @@ typedef enum {
NAV_STATE_WAYPOINT_NEXT,
NAV_STATE_WAYPOINT_FINISHED,
NAV_STATE_WAYPOINT_RTH_LAND,
NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME,
NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,

1
src/main/target/common.h
View file

@ -86,6 +86,7 @@
#define USE_DYNAMIC_FILTERS
#define USE_GYRO_KALMAN
#define USE_SMITH_PREDICTOR
#define USE_EXTENDED_CMS_MENUS
#define USE_HOTT_TEXTMODE

33
src/utils/settings.rb
View file

@ -301,6 +301,7 @@ class Generator
check_member_default_values_presence
sanitize_fields
resolv_min_max_and_default_values_if_possible
initialize_name_encoder
initialize_value_encoder
validate_default_values
@ -359,6 +360,7 @@ class Generator
@data = YAML.load_file(@settings_file)
initialize_tables
initialize_constants
check_conditions
end
@ -415,6 +417,11 @@ class Generator
buf << "extern const char * const #{table_variable_name(name)}[];\n"
end
# Write setting constants from settings file
@constants.each do |name, value|
buf << "#define SETTING_CONSTANT_#{name.upcase} #{value.inspect}\n"
end
# Write #define'd constants for referencing each setting
ii = 0
foreach_enabled_member do |group, member|
@ -715,6 +722,10 @@ class Generator
end
end
def initialize_constants
@constants = @data["constants"]
end
def ordered_table_names
@enabled_tables.to_a().sort()
end
@ -877,6 +888,8 @@ class Generator
foreach_enabled_member do |_, member|
name = member["name"]
type = member["type"]
min = member["min"] || 0
max = member["max"]
default_value = member["default_value"]
next if %i[ zero target ].include? default_value
@ -894,13 +907,17 @@ class Generator
unsigned = !$~[:unsigned].empty?
bitsize = $~[:bitsize].to_i
type_range = unsigned ? 0..(2**bitsize-1) : (-2**(bitsize-1)+1)..(2**(bitsize-1)-1)
raise "Numeric member #{name} doesn't have maximum value defined" unless member.has_key? 'max'
min = type_range.min if min =~ /\AU?INT\d+_MIN\Z/
max = type_range.max if max =~ /\AU?INT\d+_MAX\Z/
raise "Member #{name} default value has an invalid type, integer or symbol expected" unless default_value.is_a? Integer or default_value.is_a? Symbol
raise "Member #{name} default value is outside type's storage range, min #{type_range.min}, max #{type_range.max}" unless default_value.is_a? Symbol or type_range === default_value
raise "Numeric member #{name} doesn't have maximum value defined" unless member.has_key? 'max'
raise "Member #{name} default value is outside of the allowed range" if default_value.is_a? Numeric and min.is_a? Numeric and max.is_a? Numeric and not (min..max) === default_value
when type == "float"
raise "Numeric member #{name} doesn't have maximum value defined" unless member.has_key? 'max'
raise "Member #{name} default value has an invalid type, numeric or symbol expected" unless default_value.is_a? Numeric or default_value.is_a? Symbol
raise "Numeric member #{name} doesn't have maximum value defined" unless member.has_key? 'max'
raise "Member #{name} default value is outside of the allowed range" if default_value.is_a? Numeric and min.is_a? Numeric and max.is_a? Numeric and not (min..max) === default_value
when type == "string"
max = member["max"].to_i
@ -1041,6 +1058,18 @@ class Generator
raise "Missing default value for #{missing_default_value_names.count} member#{"s" unless missing_default_value_names.one?}: #{missing_default_value_names * ", "}" unless missing_default_value_names.empty?
end
def resolv_min_max_and_default_values_if_possible
foreach_member do |_, member|
%w[ min max default_value ].each do |value_type|
member_value = member[value_type]
if member_value.is_a? String
constant_value = @constants[member_value]
member[value_type] = constant_value unless constant_value.nil?
end
end
end
end
def resolve_constants(constants)
return nil unless constants.length > 0
s = Set.new

65
src/utils/update_cli_docs.py
View file

@ -22,6 +22,16 @@ DEFAULTS_BLACKLIST = [
'serialrx_provider',
]
MIN_MAX_REPLACEMENTS = {
'INT16_MIN': -32768,
'INT16_MAX': 32767,
'INT32_MIN': -2147483648,
'INT32_MAX': 2147483647,
'UINT8_MAX': 255,
'UINT16_MAX': 65535,
'UINT32_MAX': 4294967295,
}
def parse_settings_yaml():
"""Parse the YAML settings specs"""
@ -32,42 +42,59 @@ def generate_md_table_from_yaml(settings_yaml):
"""Generate a sorted markdown table with description & default value for each setting"""
params = {}
# Extract description and default value of each setting from the YAML specs (if present)
# Extract description, default/min/max values of each setting from the YAML specs (if present)
for group in settings_yaml['groups']:
for member in group['members']:
if not any(key in member for key in ["description", "default_value"]) and not options.quiet:
print("Setting \"{}\" has no description or default value specified".format(member['name']))
# Handle edge cases of YAML autogeneration
if "default_value" in member:
if not any(key in member for key in ["description", "default_value", "min", "max"]) and not options.quiet:
print("Setting \"{}\" has an incomplete specification".format(member['name']))
# Handle default/min/max fields for each setting
for key in ["default_value", "min", "max"]:
# Basing on the check above, not all fields may be present
if key in member:
### Fetch actual values from the `constants` block if present
if ('constants' in settings_yaml) and (member[key] in settings_yaml['constants']):
member[key] = settings_yaml['constants'][member[key]]
### Fetch actual values from hardcoded min/max replacements
elif member[key] in MIN_MAX_REPLACEMENTS:
member[key] = MIN_MAX_REPLACEMENTS[member[key]]
### Handle edge cases of YAML autogeneration and prettify some values
# Replace booleans with "ON"/"OFF"
if type(member["default_value"]) == bool:
member["default_value"] = "ON" if member["default_value"] else "OFF"
if type(member[key]) == bool:
member[key] = "ON" if member[key] else "OFF"
# Replace zero placeholder with actual zero
elif member["default_value"] == ":zero":
member["default_value"] = 0
elif member[key] == ":zero":
member[key] = 0
# Replace target-default placeholder with extended definition
elif member["default_value"] == ":target":
member["default_value"] = "_target default_"
elif member[key] == ":target":
member[key] = "_target default_"
# Replace empty strings with more evident marker
elif member["default_value"] == "":
member["default_value"] = "_empty_"
elif member[key] == "":
member[key] = "_empty_"
# Reformat direct code references
elif str(member["default_value"])[0] == ":":
member["default_value"] = f'`{member["default_value"][1:]}`'
elif str(member[key])[0] == ":":
member[key] = f'`{member[key][1:]}`'
params[member['name']] = {
"description": member["description"] if "description" in member else "",
"default": member["default_value"] if "default_value" in member else ""
"default": member["default_value"] if "default_value" in member else "",
"min": member["min"] if "min" in member else "",
"max": member["max"] if "max" in member else ""
}
# MD table header
md_table_lines = [
"| Variable Name | Default Value | Description |\n",
"| ------------- | ------------- | ----------- |\n",
"| Variable Name | Default Value | Min | Max | Description |\n",
"| ------------- | ------------- | --- | --- | ----------- |\n",
]
# Sort the settings by name and build the rows of the table
for param in sorted(params.items()):
md_table_lines.append("| {} | {} | {} |\n".format(param[0], param[1]['default'], param[1]['description']))
md_table_lines.append("| {} | {} | {} | {} | {} |\n".format(
param[0], param[1]['default'], param[1]['min'], param[1]['max'], param[1]['description']
))
# Return the assembled table
return md_table_lines