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Move parameter out of battery profile, in to normal settings.

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This commit is contained in:
MrD-RC 2023-11-02 12:50:12 +00:00
parent 835a2240a4
commit 298f45e7f7
7 changed files with 14 additions and 16 deletions
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2
docs/Settings.md
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@ -3698,7 +3698,7 @@ Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s.
| Default | Min | Max |
| --- | --- | --- |
| 7 | 6 | 45 |
| 7 | 6 | 50 |
---

12
src/main/fc/settings.yaml
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@ -1046,12 +1046,6 @@ groups:
default_value: 1000
min: PWM_RANGE_MIN
max: PWM_RANGE_MAX
- name: nav_min_ground_speed
description: "Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s."
default_value: 7
field: nav.min_ground_speed
min: 6
max: 45
- name: nav_mc_hover_thr
description: "Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering."
default_value: 1300
@ -2492,6 +2486,12 @@ groups:
field: general.auto_speed
min: 10
max: 2000
- name: nav_min_ground_speed
description: "Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s."
default_value: 7
field: general.min_ground_speed
min: 6
max: 50
- name: nav_max_auto_speed
description: "Maximum speed allowed in fully autonomous modes (RTH, WP) [cm/s] [Multirotor only]"
default_value: 1000

3
src/main/navigation/navigation.c
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@ -97,7 +97,7 @@ STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_rang
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 2);
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 5);
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 6);
PG_RESET_TEMPLATE(navConfig_t, navConfig,
.general = {
@ -132,6 +132,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
#endif
.waypoint_load_on_boot = SETTING_NAV_WP_LOAD_ON_BOOT_DEFAULT, // load waypoints automatically during boot
.auto_speed = SETTING_NAV_AUTO_SPEED_DEFAULT, // speed in autonomous modes (3 m/s = 10.8 km/h)
.min_ground_speed = SETTING_NAV_MIN_GROUND_SPEED_DEFAULT, // Minimum ground speed (m/s)
.max_auto_speed = SETTING_NAV_MAX_AUTO_SPEED_DEFAULT, // max allowed speed autonomous modes
.max_auto_climb_rate = SETTING_NAV_AUTO_CLIMB_RATE_DEFAULT, // 5 m/s
.max_manual_speed = SETTING_NAV_MANUAL_SPEED_DEFAULT,

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

@ -245,6 +245,7 @@ typedef struct navConfig_s {
#endif
bool waypoint_load_on_boot; // load waypoints automatically during boot
uint16_t auto_speed; // autonomous navigation speed cm/sec
uint8_t min_ground_speed; // Minimum navigation ground speed [m/s]
uint16_t max_auto_speed; // maximum allowed autonomous navigation speed cm/sec
uint16_t max_auto_climb_rate; // max vertical speed limitation cm/sec
uint16_t max_manual_speed; // manual velocity control max horizontal speed

6
src/main/navigation/navigation_fixedwing.c
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@ -60,7 +60,7 @@
#define NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ 2.0f
#define NAV_FW_BASE_ROLL_CUTOFF_FREQUENCY_HZ 10.0f
// If we are going slower than the minimum ground speed (currentBatteryProfile->nav.min_ground_speed) - boost throttle to fight against the wind
// If we are going slower than the minimum ground speed (navConfig()->general.min_ground_speed) - boost throttle to fight against the wind
#define NAV_FW_THROTTLE_SPEED_BOOST_GAIN 1.5f
// If this is enabled navigation won't be applied if velocity is below 3 m/s
@ -551,10 +551,10 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
previousTimePositionUpdate = currentTimeUs;
if (deltaMicrosPositionUpdate < MAX_POSITION_UPDATE_INTERVAL_US) {
float velThrottleBoost = ((currentBatteryProfile->nav.min_ground_speed * 100.0f) - posControl.actualState.velXY) * NAV_FW_THROTTLE_SPEED_BOOST_GAIN * US2S(deltaMicrosPositionUpdate);
float velThrottleBoost = ((navConfig()->general.min_ground_speed * 100.0f) - posControl.actualState.velXY) * NAV_FW_THROTTLE_SPEED_BOOST_GAIN * US2S(deltaMicrosPositionUpdate);
// If we are in the deadband of 50cm/s - don't update speed boost
if (fabsf(posControl.actualState.velXY - (currentBatteryProfile->nav.min_ground_speed * 100.0f)) > 50) {
if (fabsf(posControl.actualState.velXY - (navConfig()->general.min_ground_speed * 100.0f)) > 50) {
throttleSpeedAdjustment += velThrottleBoost;
}

4
src/main/sensors/battery.c
View file

@ -97,7 +97,7 @@ static int32_t mWhDrawn = 0; // energy (milliWatt hours) draw
batteryState_e batteryState;
const batteryProfile_t *currentBatteryProfile;
PG_REGISTER_ARRAY_WITH_RESET_FN(batteryProfile_t, MAX_BATTERY_PROFILE_COUNT, batteryProfiles, PG_BATTERY_PROFILES, 3);
PG_REGISTER_ARRAY_WITH_RESET_FN(batteryProfile_t, MAX_BATTERY_PROFILE_COUNT, batteryProfiles, PG_BATTERY_PROFILES, 2);
void pgResetFn_batteryProfiles(batteryProfile_t *instance)
{
@ -134,8 +134,6 @@ void pgResetFn_batteryProfiles(batteryProfile_t *instance)
.failsafe_throttle = SETTING_FAILSAFE_THROTTLE_DEFAULT, // default throttle off.
.nav = {
.min_ground_speed = SETTING_NAV_MIN_GROUND_SPEED_DEFAULT,
.mc = {
.hover_throttle = SETTING_NAV_MC_HOVER_THR_DEFAULT,
},

2
src/main/sensors/battery_config_structs.h
View file

@ -123,8 +123,6 @@ typedef struct batteryProfile_s {
uint16_t launch_throttle; // Launch throttle
} fw;
uint8_t min_ground_speed; // Minimum navigation ground speed [m/s]
} nav;
#if defined(USE_POWER_LIMITS)