mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-25 09:16:01 +03:00
Roman Lut
GitHub
commit
2bf420a07b
172 changed files with 3193 additions and 1023 deletions
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@ -5,7 +5,7 @@
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## Introduction
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This feature transmits your flight data information on every control loop iteration over a serial port to an external
|
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logging device to be recorded, or to a dataflash chip which is present on some flight controllers.
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logging device to be recorded, SD card, or to a dataflash chip which is present on some flight controllers.
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||||
|
||||
After your flight, you can view the resulting logs using the interactive log viewer:
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||||
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||||
|
|
@ -61,11 +61,11 @@ will work with the Blackbox, in order to reduce the number of dropped frames it
|
|||
higher performance [OpenLog Blackbox firmware][]. The special Blackbox variant of the OpenLog firmware also ensures that
|
||||
the OpenLog is using INAV compatible settings, and defaults to 115200 baud.
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||||
|
||||
You can find the Blackbox version of the OpenLog firmware [here](https://github.com/cleanflight/blackbox-firmware),
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You can find the Blackbox version of the OpenLog firmware [here](https://github.com/iNavFlight/openlog-blackbox-firmware),
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along with instructions for installing it onto your OpenLog.
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||||
|
||||
[OpenLog serial data logger]: https://www.sparkfun.com/products/9530
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[OpenLog Blackbox firmware]: https://github.com/cleanflight/blackbox-firmware
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||||
[OpenLog Blackbox firmware]: https://github.com/iNavFlight/openlog-blackbox-firmware
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|
||||
#### microSDHC
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||||
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||||
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@ -155,8 +155,6 @@ tubing instead.
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Some flight controllers have an onboard SPI NOR dataflash chip which can be used to store flight logs instead of using
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an OpenLog.
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The SPRacingF3 has a 8 megabyte dataflash chip onboard which allows for longer recording times.
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These chips are also supported:
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* Micron/ST M25P16 - 16 Mbit / 2 MByte
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@ -206,6 +204,25 @@ would result in a logging rate of about 10-20Hz and about 650 bytes/second of da
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dataflash chip can store around 50 minutes of flight data, though the level of detail is severely reduced and you could
|
||||
not diagnose flight problems like vibration or PID setting issues.
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The CLI command `blackbox` allows setting which Blackbox fields are recorded to conserve space and bandwidth. Possible fields are:
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* NAV_ACC - Navigation accelerometer readouts
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* NAV_PID - Navigation PID debug
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* NAV_POS - Current and target position and altitude
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* MAG - Magnetometer raw values
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* ACC - Accelerometer raw values
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* ATTI - Attitude as computed by INAV position estimator
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* RC_DATA - RC channels 1-4 as returned by the radio receiver
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* RC_COMMAND - RC_DATA converted to [-500:500] scale (for A,E,R) with expo and deadband
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* MOTORS - motor output
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Usage:
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* `blackbox` currently enabled Blackbox fields
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* `blackbox list` all available fields
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* `blackbox -MOTORS` disable MOTORS logging
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* `blackbox MOTOR` enable MOTORS logging
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## Usage
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The Blackbox starts recording data as soon as you arm your craft, and stops when you disarm.
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@ -259,4 +276,4 @@ another software package.
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You'll find those tools along with instructions for using them in this repository:
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||||
https://github.com/iNavFlight/blackbox-log-viewer
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https://github.com/iNavFlight/blackbox-tools
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|
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|
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@ -1,31 +1,15 @@
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# Flight controller hardware
|
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||||
### Sponsored and recommended boards
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||||
These boards come from companies that support INAV development. Buying one of these boards you make your small contribution for improving INAV as well.
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Also these boards are tested by INAV development team and usually flown on daily basis.
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| Board name | CPU Family | Target name(s) | GPS | Compass | Barometer | Telemetry | RX | Blackbox |
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|---------------------------|:----------:|:-------------------------:|:----:|:-------:|:--------------:|:---------:|:------------------------------:|:--------------------:|
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| [Airbot OMNIBUS F4 PRO](https://inavflight.com/shop/p/OMNIBUSF4PRO)| F4 | OMNIBUSF4PRO | All | All | All | All | All | SERIAL, SD |
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| [Airbot OMNIBUS F4](https://inavflight.com/shop/s/bg/1319176)| F4 | OMNIBUSF4 | All | All | All | All | All | SERIAL, SD |
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Note: In the above and following tables, the sensor columns indicates firmware support for the sensor category; it does not necessarily mean there is an on-board sensor.
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### Recommended boards
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|
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These boards are well tested with INAV and are known to be of good quality and reliability.
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| Board name | CPU Family | Target name(s) | GPS | Compass | Barometer | Telemetry | RX | Blackbox |
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|---------------------------|:----------:|:-------------------------:|:----:|:-------:|:--------------:|:---------:|:------------------------------:|:--------------------:|
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| [Matek F405-CTR](https://inavflight.com/shop/p/MATEKF405CTR) | F4 | MATEKF405 | All | All | All | All | All | SERIAL, SD |
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| [Matek F405-STD](https://inavflight.com/shop/p/MATEKF405STD) | F4 | MATEKF405 | All | All | All | All | All | SERIAL, SD |
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||||
| [Matek F405-WING](https://inavflight.com/shop/p/MATEKF405WING) | F4 | MATEKF405SE | All | All | All | All | All | SERIAL, SD |
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| [Matek F722 WING](https://inavflight.com/shop/p/MATEKF722WING) | F7 | MATEKF722SE | All | All | All | All | All | SERIAL, SD |
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| [Matek F722-SE](https://inavflight.com/shop/p/MATEKF722SE) | F7 | MATEKF722SE | All | All | All | All | All | SERIAL, SD |
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| [Matek F722-STD](https://inavflight.com/shop/p/MATEKF722STD) | F7 | MATEKF722 | All | All | All | All | All | SERIAL, SD |
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| [Matek F722-MINI](https://inavflight.com/shop/p/MATEKF722MINI) | F7 | MATEKF722SE | All | All | All | All | All | SPIFLASH |
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| [Diatone Mamba H743](https://inavflight.com/shop/s/bg/1929033) | H7 | MAMBAH743 | All | All | All | All | All | SERIAL, SD |
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| [Matek F765-WSE](https://inavflight.com/shop/s/bg/1890404) | F7 | MATEKF765SE | All | All | All | All | All | SERIAL, SD |
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| [Matek F722-SE](https://inavflight.com/shop/p/MATEKF722SE) | F7 | MATEKF722SE | All | All | All | All | All | SERIAL, SD |
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| [Holybro Kakute H7](https://inavflight.com/shop/s/bg/1914066) | H7 | KAKUTEH7 | All | All | All | All | All | SERIAL, SD |
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||||
It's possible to find more supported and tested boards [here](https://github.com/iNavFlight/inav/wiki/Welcome-to-INAV,-useful-links-and-products)
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### Boards documentation
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@ -2,13 +2,14 @@
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## ESC protocols
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INAV support following ESC protocols:
|
||||
INAV support the following ESC protocols:
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* "standard" PWM with 50-400Hz update rate
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* OneShot125
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* OneShot42
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* Multishot
|
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* Brushed motors
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* DSHOT150, DSHOT300, DSHOT600
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ESC protocol can be selected in Configurator. No special configuration is required.
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||||
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@ -24,3 +25,11 @@ higher update rates. Only high end digital servos are capable of handling 200Hz
|
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Not all outputs on a flight controller can be used for servo outputs. It is a hardware thing. Always check flight controller documentation.
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While motors are usually ordered sequentially, here is no standard output layout for servos! Some boards might not be supporting servos in _Multirotor_ configuration at all!
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## Modifying output mapping
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INAV 5 allows the limited output type mapping by allowing to change the function of *ALL* outputs at the same time. It can be done with the `output_mode` CLI setting. Allowed values:
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* `AUTO` assigns outputs according to the default mapping
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* `SERVOS` assigns all outputs to servos
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||||
* `MOTORS` assigns all outputs to motors
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@ -158,6 +158,8 @@ this reason ensure that you define enough ranges to cover the range channel's us
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|||
| 54 | TPA |
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||||
| 55 | TPA_BREAKPOINT |
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| 56 | NAV_FW_CONTROL_SMOOTHNESS |
|
||||
| 57 | FW_TPA_TIME_CONSTANT |
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||||
| 58 | FW_LEVEL_TRIM |
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||||
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||||
## Examples
|
||||
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||||
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|
|||
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@ -31,30 +31,30 @@ IPF can be edited using INAV Configurator user interface, of via CLI
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|||
|
||||
### Operations
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||||
|
||||
| Operation ID | Name | Notes |
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|---- |---- |---- |
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| 0 | TRUE | Always evaluates as true |
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||||
| 1 | EQUAL | Evaluates `false` if `false` or `0` |
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||||
| 2 | GREATER_THAN | |
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||||
| 3 | LOWER_THAN | |
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||||
| 4 | LOW | `true` if `<1333` |
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||||
| 5 | MID | `true` if `>=1333 and <=1666` |
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||||
| 6 | HIGH | `true` if `>1666` |
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||||
| 7 | AND | |
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||||
| 8 | OR | |
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||||
| 9 | XOR | |
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| 10 | NAND | |
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||||
| 11 | NOR | |
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||||
| 12 | NOT | |
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| 13 | STICKY | `Operand A` is activation operator, `Operand B` is deactivation operator. After activation, operator will return `true` until Operand B is evaluated as `true`|
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| 14 | ADD | Add `Operand A` to `Operand B` and returns the result |
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| 15 | SUB | Substract `Operand B` from `Operand A` and returns the result |
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| 16 | MUL | Multiply `Operand A` by `Operand B` and returns the result |
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| 17 | DIV | Divide `Operand A` by `Operand B` and returns the result |
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| 18 | GVAR SET | Store value from `Operand B` into the Global Variable addressed by `Operand B`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` |
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| 19 | GVAR INC | Increase the GVAR indexed by `Operand A` with value from `Operand B` |
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| 20 | GVAR DEC | Decrease the GVAR indexed by `Operand A` with value from `Operand B` |
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| 21 | IO PORT SET | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
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| Operation ID | Name | Notes |
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|---------------|-------------------------------|-------|
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||||
| 0 | TRUE | Always evaluates as true |
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| 1 | EQUAL | Evaluates `false` if `false` or `0` |
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| 2 | GREATER_THAN | `true` if `Operand A` is a higher value than `Operand B` |
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| 3 | LOWER_THAN | `true` if `Operand A` is a lower value than `Operand B` |
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| 4 | LOW | `true` if `<1333` |
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| 5 | MID | `true` if `>=1333 and <=1666` |
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| 6 | HIGH | `true` if `>1666` |
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| 7 | AND | `true` if `Operand A` and `Operand B` are the same value or both `true` |
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| 8 | OR | `true` if `Operand A` and/or `OperandB` is `true` |
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||||
| 9 | XOR | `true` if `Operand A` or `Operand B` is `true`, but not both |
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| 10 | NAND | `false` if `Operand A` and `Operand B` are both `true`|
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| 11 | NOR | `true` if `Operand A` and `Operand B` are both `false` |
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| 12 | NOT | The boolean opposite to `Operand A` |
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| 13 | STICKY | `Operand A` is activation operator, `Operand B` is deactivation operator. After activation, operator will return `true` until Operand B is evaluated as `true`|
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| 14 | ADD | Add `Operand A` to `Operand B` and returns the result |
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| 15 | SUB | Substract `Operand B` from `Operand A` and returns the result |
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| 16 | MUL | Multiply `Operand A` by `Operand B` and returns the result |
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| 17 | DIV | Divide `Operand A` by `Operand B` and returns the result |
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| 18 | GVAR SET | Store value from `Operand B` into the Global Variable addressed by `Operand B`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` |
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| 19 | GVAR INC | Increase the GVAR indexed by `Operand A` with value from `Operand B` |
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| 20 | GVAR DEC | Decrease the GVAR indexed by `Operand A` with value from `Operand B` |
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| 21 | IO PORT SET | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
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| 22 | OVERRIDE_ARMING_SAFETY | Allows to arm on any angle even without GPS fix |
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| 23 | OVERRIDE_THROTTLE_SCALE | Override throttle scale to the value defined by operand. Operand type `0` and value `50` means throttle will be scaled by 50%. |
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| 24 | SWAP_ROLL_YAW | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes |
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@ -66,109 +66,114 @@ IPF can be edited using INAV Configurator user interface, of via CLI
|
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| 30 | SET_VTX_BAND | Sets VTX band. Accepted values are `1-5` |
|
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| 31 | SET_VTX_CHANNEL | Sets VTX channel. Accepted values are `1-8` |
|
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| 32 | SET_OSD_LAYOUT | Sets OSD layout. Accepted values are `0-3` |
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||||
| 33 | SIN | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
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| 34 | COS | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
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||||
| 35 | TAN | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
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| 36 | MAP_INPUT | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled |
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| 37 | MAP_OUTPUT | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled |
|
||||
| 38 | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` |
|
||||
| 39 | SET_HEADING_TARGET | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
|
||||
| 40 | MOD | Divide `Operand A` by `Operand B` and returns the remainder |
|
||||
| 41 | LOITER_RADIUS_OVERRIDE | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. If the value is lower than the loiter radius set in the **Advanced Tuning**, that will be used. |
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| 42 | SET_PROFILE | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
|
||||
| 43 | MIN | Finds the lowest value of `Operand A` and `Operand B` |
|
||||
| 44 | MAX | Finds the highest value of `Operand A` and `Operand B` |
|
||||
|
||||
| 33 | SIN | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
|
||||
| 34 | COS | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
|
||||
| 35 | TAN | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
|
||||
| 36 | MAP_INPUT | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled |
|
||||
| 37 | MAP_OUTPUT | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled |
|
||||
| 38 | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` |
|
||||
| 39 | SET_HEADING_TARGET | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
|
||||
| 40 | MOD | Divide `Operand A` by `Operand B` and returns the remainder |
|
||||
| 41 | LOITER_RADIUS_OVERRIDE | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. If the value is lower than the loiter radius set in the **Advanced Tuning**, that will be used. |
|
||||
| 42 | SET_PROFILE | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
|
||||
| 43 | MIN | Finds the lowest value of `Operand A` and `Operand B` |
|
||||
| 44 | MAX | Finds the highest value of `Operand A` and `Operand B` |
|
||||
| 45 | FLIGHT_AXIS_ANGLE_OVERRIDE | Sets the target attitude angle for axis. In other words, when active, it enforces Angle mode (Heading Hold for Yaw) on this axis (Angle mode does not have to be active). `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the angle in degrees |
|
||||
| 46 | FLIGHT_AXIS_RATE_OVERRIDE | Sets the target rate (rotation speed) for axis. `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the rate in degrees per second |
|
||||
### Operands
|
||||
|
||||
| Operand Type | Name | Notes |
|
||||
|---- |---- |---- |
|
||||
| 0 | VALUE | Value derived from `value` field |
|
||||
| 1 | GET_RC_CHANNEL | `value` points to RC channel number, indexed from 1 |
|
||||
| 2 | FLIGHT | `value` points to flight parameter table |
|
||||
| 3 | FLIGHT_MODE | `value` points to flight modes table |
|
||||
| 4 | LC | `value` points to other logic condition ID |
|
||||
| 5 | GVAR | Value stored in Global Variable indexed by `value`. `GVAR 1` means: value in GVAR 1 |
|
||||
| 5 | PID | Output of a Programming PID indexed by `value`. `PID 1` means: value in PID 1 |
|
||||
| Operand Type | Name | Notes |
|
||||
|---------------|-----------------------|-------|
|
||||
| 0 | VALUE | Value derived from `value` field |
|
||||
| 1 | GET_RC_CHANNEL | `value` points to RC channel number, indexed from 1 |
|
||||
| 2 | FLIGHT | `value` points to flight parameter table |
|
||||
| 3 | FLIGHT_MODE | `value` points to flight modes table |
|
||||
| 4 | LC | `value` points to other logic condition ID |
|
||||
| 5 | GVAR | Value stored in Global Variable indexed by `value`. `GVAR 1` means: value in GVAR 1 |
|
||||
| 5 | PID | Output of a Programming PID indexed by `value`. `PID 1` means: value in PID 1 |
|
||||
|
||||
#### FLIGHT
|
||||
|
||||
| Operand Value | Name | Notes |
|
||||
|---- |---- |---- |
|
||||
| 0 | ARM_TIMER | in `seconds` |
|
||||
| 1 | HOME_DISTANCE | in `meters` |
|
||||
| 2 | TRIP_DISTANCE | in `meters` |
|
||||
| 3 | RSSI | |
|
||||
| 4 | VBAT | in `Volts * 100`, eg. `12.1V` is `1210` |
|
||||
| 5 | CELL_VOLTAGE | in `Volts * 100`, eg. `12.1V` is `1210` |
|
||||
| 6 | CURRENT | in `Amps * 100`, eg. `9A` is `900` |
|
||||
| 7 | MAH_DRAWN | in `mAh` |
|
||||
| 8 | GPS_SATS | |
|
||||
| 9 | GROUD_SPEED | in `cm/s` |
|
||||
| 10 | 3D_SPEED | in `cm/s` |
|
||||
| 11 | AIR_SPEED | in `cm/s` |
|
||||
| 12 | ALTITUDE | in `cm` |
|
||||
| 13 | VERTICAL_SPEED | in `cm/s` |
|
||||
| 14 | TROTTLE_POS | in `%` |
|
||||
| 15 | ATTITUDE_ROLL | in `degrees` |
|
||||
| 16 | ATTITUDE_PITCH | in `degrees` |
|
||||
| 17 | IS_ARMED | boolean `0`/`1` |
|
||||
| 18 | IS_AUTOLAUNCH | boolean `0`/`1` |
|
||||
| 19 | IS_ALTITUDE_CONTROL | boolean `0`/`1` |
|
||||
| 20 | IS_POSITION_CONTROL | boolean `0`/`1` |
|
||||
| 21 | IS_EMERGENCY_LANDING | boolean `0`/`1` |
|
||||
| 22 | IS_RTH | boolean `0`/`1` |
|
||||
| 23 | IS_WP | boolean `0`/`1` |
|
||||
| 24 | IS_LANDING | boolean `0`/`1` |
|
||||
| 25 | IS_FAILSAFE | boolean `0`/`1` |
|
||||
| 26 | STABILIZED_ROLL | Roll PID controller output `[-500:500]` |
|
||||
| 27 | STABILIZED_PITCH | Pitch PID controller output `[-500:500]` |
|
||||
| 28 | STABILIZED_YAW | Yaw PID controller output `[-500:500]` |
|
||||
| 29 | ACTIVE_WAYPOINT_INDEX | Indexed from `1`. To verify WP is in progress, use `IS_WP` |
|
||||
| 30 | ACTIVE_WAYPOINT_ACTION | See ACTIVE_WAYPOINT_ACTION paragraph |
|
||||
| 31 | 3D HOME_DISTANCE | in `meters`, calculated from HOME_DISTANCE and ALTITUDE using Pythagorean theorem |
|
||||
| 32 | CROSSFIRE LQ | Crossfire Link quality as returned by the CRSF protocol |
|
||||
| 33 | CROSSFIRE SNR | Crossfire SNR as returned by the CRSF protocol |
|
||||
| 34 | GPS_VALID | boolean `0`/`1`. True when the GPS has a valid 3D Fix |
|
||||
| 35 | LOITER_RADIUS | The current loiter radius in cm. |
|
||||
| 36 | ACTIVE_PROFILE | integer for the active config profile `[1..MAX_PROFILE_COUNT]` |
|
||||
| Operand Value | Name | Notes |
|
||||
|---------------|-------------------------------|-------|
|
||||
| 0 | ARM_TIMER | in `seconds` |
|
||||
| 1 | HOME_DISTANCE | in `meters` |
|
||||
| 2 | TRIP_DISTANCE | in `meters` |
|
||||
| 3 | RSSI | |
|
||||
| 4 | VBAT | in `Volts * 100`, eg. `12.1V` is `1210` |
|
||||
| 5 | CELL_VOLTAGE | in `Volts * 100`, eg. `12.1V` is `1210` |
|
||||
| 6 | CURRENT | in `Amps * 100`, eg. `9A` is `900` |
|
||||
| 7 | MAH_DRAWN | in `mAh` |
|
||||
| 8 | GPS_SATS | |
|
||||
| 9 | GROUD_SPEED | in `cm/s` |
|
||||
| 10 | 3D_SPEED | in `cm/s` |
|
||||
| 11 | AIR_SPEED | in `cm/s` |
|
||||
| 12 | ALTITUDE | in `cm` |
|
||||
| 13 | VERTICAL_SPEED | in `cm/s` |
|
||||
| 14 | TROTTLE_POS | in `%` |
|
||||
| 15 | ATTITUDE_ROLL | in `degrees` |
|
||||
| 16 | ATTITUDE_PITCH | in `degrees` |
|
||||
| 17 | IS_ARMED | boolean `0`/`1` |
|
||||
| 18 | IS_AUTOLAUNCH | boolean `0`/`1` |
|
||||
| 19 | IS_ALTITUDE_CONTROL | boolean `0`/`1` |
|
||||
| 20 | IS_POSITION_CONTROL | boolean `0`/`1` |
|
||||
| 21 | IS_EMERGENCY_LANDING | boolean `0`/`1` |
|
||||
| 22 | IS_RTH | boolean `0`/`1` |
|
||||
| 23 | IS_WP | boolean `0`/`1` |
|
||||
| 24 | IS_LANDING | boolean `0`/`1` |
|
||||
| 25 | IS_FAILSAFE | boolean `0`/`1` |
|
||||
| 26 | STABILIZED_ROLL | Roll PID controller output `[-500:500]` |
|
||||
| 27 | STABILIZED_PITCH | Pitch PID controller output `[-500:500]` |
|
||||
| 28 | STABILIZED_YAW | Yaw PID controller output `[-500:500]` |
|
||||
| 29 | ACTIVE_WAYPOINT_INDEX | Indexed from `1`. To verify WP is in progress, use `IS_WP` |
|
||||
| 30 | ACTIVE_WAYPOINT_ACTION | See ACTIVE_WAYPOINT_ACTION paragraph |
|
||||
| 31 | 3D HOME_DISTANCE | in `meters`, calculated from HOME_DISTANCE and ALTITUDE using Pythagorean theorem |
|
||||
| 32 | CROSSFIRE LQ | Crossfire Link quality as returned by the CRSF protocol |
|
||||
| 33 | CROSSFIRE SNR | Crossfire SNR as returned by the CRSF protocol |
|
||||
| 34 | GPS_VALID | boolean `0`/`1`. True when the GPS has a valid 3D Fix |
|
||||
| 35 | LOITER_RADIUS | The current loiter radius in cm. |
|
||||
| 36 | ACTIVE_PROFILE | integer for the active config profile `[1..MAX_PROFILE_COUNT]` |
|
||||
| 37 | BATT_CELLS | Number of battery cells detected |
|
||||
| 38 | AGL_STATUS | boolean `1` when AGL can be trusted, `0` when AGL estimate can not be trusted |
|
||||
| 39 | AGL | integer Above The Groud Altitude in `cm` |
|
||||
| 40 | RANGEFINDER_RAW | integer raw distance provided by the rangefinder in `cm` |
|
||||
|
||||
#### ACTIVE_WAYPOINT_ACTION
|
||||
|
||||
| Action | Value |
|
||||
|---- |---- |
|
||||
| WAYPOINT | 1 |
|
||||
| HOLD_TIME | 3 |
|
||||
| RTH | 4 |
|
||||
| SET_POI | 5 |
|
||||
| JUMP | 6 |
|
||||
| SET_HEAD | 7 |
|
||||
| LAND | 8 |
|
||||
| Action | Value |
|
||||
|---------------|-------|
|
||||
| WAYPOINT | 1 |
|
||||
| HOLD_TIME | 3 |
|
||||
| RTH | 4 |
|
||||
| SET_POI | 5 |
|
||||
| JUMP | 6 |
|
||||
| SET_HEAD | 7 |
|
||||
| LAND | 8 |
|
||||
|
||||
|
||||
#### FLIGHT_MODE
|
||||
|
||||
| Operand Value | Name | Notes |
|
||||
|---- |---- |---- |
|
||||
| 0 | FAILSAFE | |
|
||||
| 1 | MANUAL | |
|
||||
| 2 | RTH | |
|
||||
| 3 | POSHOLD | |
|
||||
| 4 | CRUISE | |
|
||||
| 5 | ALTHOLD | |
|
||||
| 6 | ANGLE | |
|
||||
| 7 | HORIZON | |
|
||||
| 8 | AIR | |
|
||||
| 9 | USER1 | |
|
||||
| 10 | USER2 | |
|
||||
| Operand Value | Name | Notes |
|
||||
|---------------|-----------|-------|
|
||||
| 0 | FAILSAFE | |
|
||||
| 1 | MANUAL | |
|
||||
| 2 | RTH | |
|
||||
| 3 | POSHOLD | |
|
||||
| 4 | CRUISE | |
|
||||
| 5 | ALTHOLD | |
|
||||
| 6 | ANGLE | |
|
||||
| 7 | HORIZON | |
|
||||
| 8 | AIR | |
|
||||
| 9 | USER1 | |
|
||||
| 10 | USER2 | |
|
||||
|
||||
|
||||
### Flags
|
||||
|
||||
All flags are reseted on ARM and DISARM event.
|
||||
|
||||
| bit | Decimal | Function |
|
||||
|---- |---- |---- |
|
||||
| bit | Decimal | Function |
|
||||
|-------|-----------|-----------|
|
||||
| 0 | 1 | Latch - after activation LC will stay active until LATCH flag is reseted |
|
||||
|
||||
## Global variables
|
||||
|
|
@ -221,13 +226,13 @@ Inverts ROLL and PITCH input when Logic Condition `0` evaluates as `true`. Movin
|
|||
|
||||
`logic 0 1 0 29 0 1000 0 0 0`
|
||||
|
||||
Sets Thhrottle output to `0%` when Logic Condition `0` evaluates as `true`
|
||||
Sets throttle output to `0%` when Logic Condition `0` evaluates as `true`
|
||||
|
||||
### Set throttle to 50% and keep other throttle bindings active
|
||||
|
||||
`logic 0 1 0 29 0 1500 0 0 0`
|
||||
|
||||
Sets Thhrottle output to about `50%` when Logic Condition `0` evaluates as `true`
|
||||
Sets throttle output to about `50%` when Logic Condition `0` evaluates as `true`
|
||||
|
||||
### Set throttle control to different RC channel
|
||||
|
||||
|
|
|
|||
|
|
@ -45,7 +45,7 @@ http://www.lemon-rx.com/shop/index.php?route=product/product&product_id=118
|
|||
|
||||
#### Spektrum pesudo RSSI
|
||||
|
||||
As of iNav 1.6, a pseudo RSSI, based on satellite fade count is supported and reported as normal iNav RSSI (0-1023 range). In order to use this feature, the following is necessary:obj/inav_2.2.2_SPRACINGF3EVO.hex
|
||||
As of iNav 1.6, a pseudo RSSI, based on satellite fade count is supported and reported as normal iNav RSSI (0-1023 range). In order to use this feature, the following is necessary:
|
||||
|
||||
* Bind the satellite receiver using a physical RX; the bind function provided by the flight controller is not sufficient.
|
||||
* The CLI variable `rssi_channel` is set to channel 9:
|
||||
|
|
@ -59,7 +59,7 @@ This pseudo-RSSI should work on all makes of Spektrum satellite RX; it is tested
|
|||
16 channels via serial currently supported. See below how to set up your transmitter.
|
||||
|
||||
* You probably need an inverter between the receiver output and the flight controller. However, some flight controllers have this built in and doesn't need one.
|
||||
* Some OpenLRS receivers produce obj/inav_2.2.2_SPRACINGF3EVO.hexa non-inverted SBUS signal. It is possible to switch SBUS inversion off using CLI command `set sbus_inversion = OFF` when using an F3 based flight controller.
|
||||
* Some OpenLRS receivers produce a non-inverted SBUS signal. It is possible to switch SBUS inversion off using CLI command `set sbus_inversion = OFF` when using an F3 based flight controller.
|
||||
* Softserial ports cannot be used with SBUS because it runs at too high of a bitrate (1Mbps). Refer to the chapter specific to your board to determine which port(s) may be used.
|
||||
* You will need to configure the channel mapping in the GUI (Receiver tab) or CLI (`map` command). Note that channels above 8 are mapped "straight", with no remapping.
|
||||
|
||||
|
|
@ -170,7 +170,7 @@ The flash is avaliable here: https://github.com/benb0jangles/FlySky-i6-Mod-
|
|||
```
|
||||
After flash "10ch Timer Mod i6 Updater", it is passible to get RSSI signal on selected Aux channel from FS-i6 Err sensor.
|
||||
|
||||
It is possible to use IBUS RX and IBUS telemetry on only one port of the hardware UART. More information in Telemetry.md.obj/inav_2.2.2_SPRACINGF3EVO.hex
|
||||
It is possible to use IBUS RX and IBUS telemetry on only one port of the hardware UART. More information in Telemetry.md.
|
||||
|
||||
### SRXL2
|
||||
|
||||
|
|
|
|||
182
docs/Settings.md
182
docs/Settings.md
|
|
@ -212,16 +212,6 @@ ADC channel to use for analog pitot tube (airspeed) sensor. If board doesn't hav
|
|||
|
||||
---
|
||||
|
||||
### align_acc
|
||||
|
||||
When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| DEFAULT | | |
|
||||
|
||||
---
|
||||
|
||||
### align_board_pitch
|
||||
|
||||
Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc
|
||||
|
|
@ -252,16 +242,6 @@ Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it side
|
|||
|
||||
---
|
||||
|
||||
### align_gyro
|
||||
|
||||
When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| DEFAULT | | |
|
||||
|
||||
---
|
||||
|
||||
### align_mag
|
||||
|
||||
When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP.
|
||||
|
|
@ -798,7 +778,7 @@ Minimum frequency for dynamic notches. Default value of `150` works best with 5"
|
|||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 50 | 30 | 1000 |
|
||||
| 50 | 30 | 250 |
|
||||
|
||||
---
|
||||
|
||||
|
|
@ -1394,11 +1374,11 @@ Reference airspeed. Set this to airspeed at which PIDs were tuned. Usually shoul
|
|||
|
||||
### fw_tpa_time_constant
|
||||
|
||||
TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. Planes with low thrust/weight ratio generally need higher time constant. Default is zero for compatibility with old setups
|
||||
TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. See **PID Attenuation and scaling** Wiki for full details.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 0 | 0 | 5000 |
|
||||
| 1500 | 0 | 5000 |
|
||||
|
||||
---
|
||||
|
||||
|
|
@ -4362,6 +4342,16 @@ Top and bottom margins for the hud area
|
|||
|
||||
---
|
||||
|
||||
### osd_hud_radar_alt_difference_display_time
|
||||
|
||||
Time in seconds to display the altitude difference in radar
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 3 | 0 | 10 |
|
||||
|
||||
---
|
||||
|
||||
### osd_hud_radar_disp
|
||||
|
||||
Maximum count of nearby aircrafts or points of interest to display in the hud, as sent from an ESP32 LoRa module. Set to 0 to disable (show nothing). The nearby aircrafts will appear as markers A, B, C, etc
|
||||
|
|
@ -4372,6 +4362,16 @@ Maximum count of nearby aircrafts or points of interest to display in the hud, a
|
|||
|
||||
---
|
||||
|
||||
### osd_hud_radar_distance_display_time
|
||||
|
||||
Time in seconds to display the distance in radar
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 3 | 1 | 10 |
|
||||
|
||||
---
|
||||
|
||||
### osd_hud_radar_range_max
|
||||
|
||||
In meters, radar aircrafts further away than this will not be displayed in the hud
|
||||
|
|
@ -4452,6 +4452,16 @@ LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50
|
|||
|
||||
---
|
||||
|
||||
### osd_mah_used_precision
|
||||
|
||||
Number of digits used to display mAh used.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 4 | 4 | 6 |
|
||||
|
||||
---
|
||||
|
||||
### osd_main_voltage_decimals
|
||||
|
||||
Number of decimals for the battery voltages displayed in the OSD [1-2].
|
||||
|
|
@ -4662,6 +4672,96 @@ Auto swap display time interval between disarm stats pages (seconds). Reverts to
|
|||
|
||||
---
|
||||
|
||||
### osd_switch_indicator_one_channel
|
||||
|
||||
RC Channel to use for OSD switch indicator 1.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 5 | 5 | MAX_SUPPORTED_RC_CHANNEL_COUNT |
|
||||
|
||||
---
|
||||
|
||||
### osd_switch_indicator_one_name
|
||||
|
||||
Character to use for OSD switch incicator 1.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| GEAR | | 5 |
|
||||
|
||||
---
|
||||
|
||||
### osd_switch_indicator_three_channel
|
||||
|
||||
RC Channel to use for OSD switch indicator 3.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 5 | 5 | MAX_SUPPORTED_RC_CHANNEL_COUNT |
|
||||
|
||||
---
|
||||
|
||||
### osd_switch_indicator_three_name
|
||||
|
||||
Character to use for OSD switch incicator 3.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| LIGT | | 5 |
|
||||
|
||||
---
|
||||
|
||||
### osd_switch_indicator_two_channel
|
||||
|
||||
RC Channel to use for OSD switch indicator 2.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 5 | 5 | MAX_SUPPORTED_RC_CHANNEL_COUNT |
|
||||
|
||||
---
|
||||
|
||||
### osd_switch_indicator_two_name
|
||||
|
||||
Character to use for OSD switch incicator 2.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| CAM | | 5 |
|
||||
|
||||
---
|
||||
|
||||
### osd_switch_indicator_zero_channel
|
||||
|
||||
RC Channel to use for OSD switch indicator 0.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 5 | 5 | MAX_SUPPORTED_RC_CHANNEL_COUNT |
|
||||
|
||||
---
|
||||
|
||||
### osd_switch_indicator_zero_name
|
||||
|
||||
Character to use for OSD switch incicator 0.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| FLAP | | 5 |
|
||||
|
||||
---
|
||||
|
||||
### osd_switch_indicators_align_left
|
||||
|
||||
Align text to left of switch indicators
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| ON | OFF | ON |
|
||||
|
||||
---
|
||||
|
||||
### osd_system_msg_display_time
|
||||
|
||||
System message display cycle time for multiple messages (milliseconds).
|
||||
|
|
@ -5294,7 +5394,7 @@ Selects the servo PWM output cutoff frequency. Value is in [Hz]
|
|||
|
||||
### servo_protocol
|
||||
|
||||
An option to chose the protocol/option that would be used to output servo data. Possible options `PWM` (FC servo outputs), `SERVO_DRIVER` (I2C PCA9685 peripheral), `SBUS` (S.Bus protocol output via a configured serial port)
|
||||
An option to chose the protocol/option that would be used to output servo data. Possible options `PWM` (FC servo outputs), `SBUS` (S.Bus protocol output via a configured serial port)
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
|
|
@ -5328,7 +5428,7 @@ Quality factor of the setpoint Kalman filter. Higher values means less filtering
|
|||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 100 | 1 | 16000 |
|
||||
| 100 | 1 | 1000 |
|
||||
|
||||
---
|
||||
|
||||
|
|
@ -5758,7 +5858,7 @@ Configure the VTX band. Set to zero to use `vtx_freq`. Bands: 1: A, 2: B, 3: E,
|
|||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 4 | VTX_SETTINGS_NO_BAND | VTX_SETTINGS_MAX_BAND |
|
||||
| 1 | VTX_SETTINGS_NO_BAND | VTX_SETTINGS_MAX_BAND |
|
||||
|
||||
---
|
||||
|
||||
|
|
@ -5772,6 +5872,16 @@ Channel to use within the configured `vtx_band`. Valid values are [1, 8].
|
|||
|
||||
---
|
||||
|
||||
### vtx_frequency_group
|
||||
|
||||
VTx Frequency group to use. Frequency groups: FREQUENCYGROUP_5G8: 5.8GHz, FREQUENCYGROUP_2G4: 2.4GHz, FREQUENCYGROUP_1G3: 1.3GHz.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| FREQUENCYGROUP_5G8 | 0 | 2 |
|
||||
|
||||
---
|
||||
|
||||
### vtx_halfduplex
|
||||
|
||||
Use half duplex UART to communicate with the VTX, using only a TX pin in the FC.
|
||||
|
|
@ -5842,6 +5952,26 @@ Enable workaround for early AKK SAudio-enabled VTX bug.
|
|||
|
||||
---
|
||||
|
||||
### vtx_smartaudio_stopbits
|
||||
|
||||
Set stopbit count for serial (TBS Sixty9 SmartAudio 2.1 require value of 1 bit)
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 2 | 1 | 2 |
|
||||
|
||||
---
|
||||
|
||||
### vtx_softserial_shortstop
|
||||
|
||||
Enable the 3x shorter stopbit on softserial. Need for some IRC Tramp VTXes.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| OFF | OFF | ON |
|
||||
|
||||
---
|
||||
|
||||
### yaw_deadband
|
||||
|
||||
These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle.
|
||||
|
|
|
|||
|
|
@ -10,10 +10,9 @@ Telemetry is enabled using the 'TELEMETRY' feature.
|
|||
feature TELEMETRY
|
||||
```
|
||||
|
||||
Multiple telemetry providers are currently supported, FrSky, Graupner
|
||||
HoTT V4, SmartPort (S.Port) and LightTelemetry (LTM)
|
||||
Multiple telemetry providers are currently supported, FrSky, Graupner HoTT V4, SmartPort (S.Port), LightTelemetry (LTM). MAVLink, IBUS, Crossfire and GSM SMS.
|
||||
|
||||
All telemetry systems use serial ports, configure serial ports to use the telemetry system required.
|
||||
All telemetry systems use serial ports, configure serial ports to use the telemetry system required. Multiple telemetry streams may be enabled, but only one of each type, e.g. Smartport + LTM or MAVLink + CRSF.
|
||||
|
||||
## SmartPort (S.Port) telemetry
|
||||
|
||||
|
|
@ -115,7 +114,7 @@ The following sensors are transmitted
|
|||
* **C** : number of satellites locked (digit C & D are the number of locked satellites)
|
||||
* **D** : number of satellites locked (if 14 satellites are locked, C = 1 & D = 4)
|
||||
* **GAlt** : GPS altitude, sea level is zero.
|
||||
* **ASpd** : true air speed, from pitot sensor.
|
||||
* **ASpd** : true air speed, from pitot sensor. This is _Knots * 10_
|
||||
* **A4** : average cell value. Warning : unlike FLVSS and MLVSS sensors, you do not get actual lowest value of a cell, but an average : (total lipo voltage) / (number of cells)
|
||||
* **0420** : distance to GPS home fix, in meters
|
||||
* **0430** : if `frsky_pitch_roll = ON` set this will be pitch degrees*10
|
||||
|
|
@ -204,50 +203,38 @@ Note: The SoftSerial ports may not be 5V tolerant on your board. Verify if you
|
|||
|
||||
## LightTelemetry (LTM)
|
||||
|
||||
LTM is a lightweight streaming telemetry protocol supported by a
|
||||
number of OSDs, ground stations and antenna trackers.
|
||||
LTM is a lightweight streaming telemetry protocol supported by a number of OSDs, ground stations and antenna trackers.
|
||||
|
||||
The INAV implementation of LTM implements the following frames:
|
||||
|
||||
* G-FRAME: GPS information (lat, long, ground speed, altitude, sat
|
||||
info)
|
||||
* G-FRAME: GPS information (lat, long, ground speed, altitude, sat info)
|
||||
* A-FRAME: Attitude (pitch, roll, heading)
|
||||
* S-FRAME: Status (voltage, current+, RSSI, airspeed+, status). Item
|
||||
suffixed '+' not implemented in INAV.
|
||||
* S-FRAME: Status (voltage, current+, RSSI, airspeed+, status). Item suffixed '+' not implemented in INAV.
|
||||
* O-FRAME: Origin (home position, lat, long, altitude, fix)
|
||||
|
||||
In addition, in iNav:
|
||||
|
||||
* N-FRAME: Navigation information (GPS mode, Nav mode, Nav action,
|
||||
Waypoint number, Nav Error, Nav Flags).
|
||||
* N-FRAME: Navigation information (GPS mode, Nav mode, Nav action, Waypoint number, Nav Error, Nav Flags).
|
||||
* X-FRAME: Extra information. Currently HDOP is reported.
|
||||
|
||||
LTM is transmit only, and can work at any supported baud rate. It is
|
||||
designed to operate over 2400 baud (9600 in INAV) and does not
|
||||
benefit from higher rates. It is thus usable on soft serial.
|
||||
LTM is transmit only, and can work at any supported baud rate. It is designed to operate over 2400 baud (9600 in INAV) and does not benefit from higher rates. It is thus usable on soft serial.
|
||||
|
||||
A CLI variable `ltm_update_rate` may be used to configure the update
|
||||
rate and hence band-width used by LTM, with the following enumerations:
|
||||
A CLI variable `ltm_update_rate` may be used to configure the update rate and hence band-width used by LTM, with the following enumerations:
|
||||
|
||||
* NORMAL: Legacy rate, currently 303 bytes/second (requires 4800 bps)
|
||||
* MEDIUM: 164 bytes/second (requires 2400 bps)
|
||||
* SLOW: 105 bytes/second (requires 1200 bps)
|
||||
|
||||
For many telemetry devices, there is direction correlation between the
|
||||
air-speed of the radio link and range; thus a lower value may
|
||||
facilitate longer range links.
|
||||
For many telemetry devices, there is direction correlation between the air-speed of the radio link and range; thus a lower value may facilitate longer range links.
|
||||
|
||||
More information about the fields, encoding and enumerations may be
|
||||
found at https://github.com/iNavFlight/inav/wiki/Lightweight-Telemetry-(LTM).
|
||||
More information about the fields, encoding and enumerations may be found [on the wiki](https://github.com/iNavFlight/inav/wiki/Lightweight-Telemetry-(LTM)).
|
||||
|
||||
|
||||
## MAVLink telemetry
|
||||
|
||||
MAVLink is a very lightweight, header-only message marshalling library for micro air vehicles.
|
||||
INAV supports MAVLink for compatibility with ground stations, OSDs and antenna trackers built
|
||||
for PX4, PIXHAWK, APM and Parrot AR.Drone platforms.
|
||||
MAVLink is a lightweight header-only message marshalling library for micro air vehicles. INAV supports MAVLink for compatibility with ground stations, OSDs and antenna trackers built for PX4, PIXHAWK, APM and Parrot AR.Drone platforms.
|
||||
|
||||
MAVLink implementation in INAV is transmit-only and usable on low baud rates and can be used over soft serial.
|
||||
MAVLink implementation in INAV is transmit-only and usable on low baud rates and can be used over soft serial (requires 19200 baud). MAVLink V1 and V2 are supported.
|
||||
|
||||
|
||||
## Cellular telemetry via text messages
|
||||
|
|
|
|||
19
docs/VTx.md
Normal file
19
docs/VTx.md
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
## VTx Setup
|
||||
|
||||
### IRC Tramp
|
||||
|
||||
#### Matek 1G3SE Setup
|
||||
|
||||
To use the Matek 1G3SE with IRC Tramp. You will need to enter the CLI command `set vtx_frequency_group = FREQUENCYGROUP_1G3`. You must also make sure that the initial VTx settings in the configuration tab are in a valid range. They are:
|
||||
- `vtx_band` 1 or 2
|
||||
- `vtx_channel` between 1 and 9
|
||||
|
||||
### Team BlackSheep SmartAudio
|
||||
|
||||
If you have problems getting SmartAudio working. There are a couple of CLI parameters you can try changing to see if they help.
|
||||
|
||||
- There is a workaround for early AKK VTx modules. This is enabled by default. You could try disabling this setting [`vtx_smartaudio_early_akk_workaround`](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#vtx_smartaudio_early_akk_workaround) to OFF.
|
||||
|
||||
- If you are using softserial, you can try using the alternate method by setting [`vtx_smartaudio_alternate_softserial_method`](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#vtx_smartaudio_alternate_softserial_method) to OFF.
|
||||
|
||||
- If you are using TBS Sixty9 VTX you may consider to set count of stop bits to 1, using [`set vtx_smartaudio_stopbits = 1`](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#vtx_smartaudio_stopbits)
|
||||
53
docs/Wireless Connections (BLE, TCP and UDP).md
Normal file
53
docs/Wireless Connections (BLE, TCP and UDP).md
Normal file
|
|
@ -0,0 +1,53 @@
|
|||
# Wireless connections
|
||||
|
||||
From iNav 5 onwards, the Configurator supports wireless connections via Bluetooth Low Energy (BLE) and Wifi (UDP and TCP).
|
||||
|
||||
## BLE
|
||||
|
||||
The following adapters are supported:
|
||||
|
||||
- CC2541 based modules (HM1X, HC08/09)
|
||||
- Nordic Semiconductor NRF5340 (Adafruit BLE Shield)
|
||||
- SpeedyBee adapter
|
||||
|
||||
Flightcontrollers with BLE should also work, if you have an adapter/FC that doesn't work, open an issue here on Github and we will add it.
|
||||
|
||||
### Configuring the BLE modules
|
||||
Activate MSP in iNav on a free UART port and set the Bluetooth module to the appropriate baud rate.
|
||||
|
||||
Example for a HM-10 module:
|
||||
|
||||
Connect the module to a USB/UART adapter (remember: RX to TX, TX to RX), and connect it to a serial terminal (e.g. from the Arduino IDE),
|
||||
Standard baud rate is 115200 baud, CR+LF
|
||||
|
||||
```
|
||||
AT+BAUD4
|
||||
AT+NAMEiNav
|
||||
```
|
||||
|
||||
The baud rate values:
|
||||
| Value | Baud |
|
||||
|------|------|
|
||||
| 1 | 9600 |
|
||||
| 2 | 19200 |
|
||||
| 3 | 38400 |
|
||||
| 4 | 115200 |
|
||||
|
||||
There are many counterfeits of the HC08/09 modules on the market, which work unreliably at high baud rates.
|
||||
However, it is recommended to avoid these modules and to use an original HM-10.
|
||||
|
||||
### SpeedyBee adapter
|
||||
|
||||
Just connect it to the USB port, no further configuration needed.
|
||||
|
||||
## TCP and UDP
|
||||
|
||||
Allows connections via Wifi.
|
||||
|
||||
Hardware:
|
||||
- DIY, ESP8266 based:
|
||||
This project can be used to make iNav Wifi enabled: https://github.com/Scavanger/MSPWifiBridge
|
||||
A small ESP01S module should still fit anywhere.
|
||||
|
||||
- ExpressLRS Wifi:
|
||||
Should work (via TCP, port 5761), but untested due to lack of hardware from the developer. CLI and presets do not work here, problem in ELRS, not in iNav.
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 819 KiB After Width: | Height: | Size: 718 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 666 KiB After Width: | Height: | Size: 819 KiB |
|
|
@ -71,6 +71,7 @@ More target options:
|
|||
* Integrated current meter
|
||||
* Uses target **OMNIBUSF4PRO**
|
||||
* Omnibus F4 Pro clones (Banggood, AliExpress, eBay, etc.) use **OMNIBUSF4PRO_LEDSTRIPM5** target (LED strip on M5 pin instead of incorrectly wired dedicated connection)
|
||||
* If you want to power your servos from the servo rail you will have to bridge the 5v to another 5v pad from the board or take it from the esc
|
||||
|
||||
### Omnibus F4 Pro Corner
|
||||
|
||||
|
|
|
|||
|
|
@ -46,21 +46,45 @@ Note: Tests are written in C++ and linked with with firmware's C code.
|
|||
|
||||
### Running the tests.
|
||||
|
||||
The tests and test build system is very simple and based off the googletest example files, it will be improved in due course. From the root folder of the project simply do:
|
||||
The tests and test build system is very simple and based off the googletest example files, it may be improved in due course. From the root folder of the project simply do:
|
||||
|
||||
Test are configured from the top level directory. It is recommended to use a separate test directory, here named `testing`.
|
||||
|
||||
```
|
||||
make test
|
||||
mkdir testing
|
||||
cd testing
|
||||
# define NULL toolchain ...
|
||||
cmake -DTOOLCHAIN= ..
|
||||
# Run the tests
|
||||
make check
|
||||
```
|
||||
|
||||
This will build a set of executable files in the `obj/test` folder, one for each `*_unittest.cc` file.
|
||||
This will build a set of executable files in the `src/test/unit` folder (below `testing`), one for each `*_unittest.cc` file.
|
||||
|
||||
After they have been executed by the make invocation, you can still run them on the command line to execute the tests and to see the test report.
|
||||
After they have been executed by the make invocation, you can still run them on the command line to execute the tests and to see the test report, for example:
|
||||
|
||||
You can also step-debug the tests in eclipse and you can use the GoogleTest test runner to make building and re-running the tests simple.
|
||||
```
|
||||
src/test/unit/time_unittest
|
||||
Running main() from /home/jrh/Projects/fc/inav/testing/src/test/googletest-src/googletest/src/gtest_main.cc
|
||||
[==========] Running 2 tests from 1 test suite.
|
||||
[----------] Global test environment set-up.
|
||||
[----------] 2 tests from TimeUnittest
|
||||
[ RUN ] TimeUnittest.TestMillis
|
||||
[ OK ] TimeUnittest.TestMillis (0 ms)
|
||||
[ RUN ] TimeUnittest.TestMicros
|
||||
[ OK ] TimeUnittest.TestMicros (0 ms)
|
||||
[----------] 2 tests from TimeUnittest (0 ms total)
|
||||
|
||||
[----------] Global test environment tear-down
|
||||
[==========] 2 tests from 1 test suite ran. (0 ms total)
|
||||
[ PASSED ] 2 tests.
|
||||
```
|
||||
|
||||
You can also step-debug the tests in `gdb` (or IDE debugger).
|
||||
|
||||
The tests are currently always compiled with debugging information enabled, there may be additional warnings, if you see any warnings please attempt to fix them and submit pull requests with the fixes.
|
||||
|
||||
Tests are verified and working with GCC 4.9.2.
|
||||
Tests are verified and working with (native) GCC 11.20.
|
||||
|
||||
## Using git and github
|
||||
|
||||
|
|
|
|||
|
|
@ -180,8 +180,6 @@ main_sources(COMMON_SRC
|
|||
drivers/flash_m25p16.h
|
||||
drivers/io.c
|
||||
drivers/io.h
|
||||
drivers/io_pca9685.c
|
||||
drivers/io_pca9685.h
|
||||
drivers/io_pcf8574.c
|
||||
drivers/io_pcf8574.h
|
||||
drivers/io_port_expander.c
|
||||
|
|
@ -354,8 +352,6 @@ main_sources(COMMON_SRC
|
|||
io/lights.h
|
||||
io/piniobox.c
|
||||
io/piniobox.h
|
||||
io/pwmdriver_i2c.c
|
||||
io/pwmdriver_i2c.h
|
||||
io/serial.c
|
||||
io/serial.h
|
||||
io/serial_4way.c
|
||||
|
|
|
|||
|
|
@ -304,11 +304,6 @@ static const OSD_Entry cmsx_menuRateProfileEntries[] =
|
|||
{
|
||||
OSD_LABEL_DATA_ENTRY("-- RATE --", profileIndexString),
|
||||
|
||||
#if 0
|
||||
{ "RC RATE", OME_FLOAT, NULL, &(OSD_FLOAT_t){ &rateProfile.rcRate8, 0, 255, 1, 10 }, 0 },
|
||||
{ "RC YAW RATE", OME_FLOAT, NULL, &(OSD_FLOAT_t){ &rateProfile.rcYawRate8, 0, 255, 1, 10 }, 0 },
|
||||
#endif
|
||||
|
||||
OSD_SETTING_ENTRY_TYPE("ROLL RATE", SETTING_ROLL_RATE, CMS_DATA_TYPE_ANGULAR_RATE),
|
||||
OSD_SETTING_ENTRY_TYPE("PITCH RATE", SETTING_PITCH_RATE, CMS_DATA_TYPE_ANGULAR_RATE),
|
||||
OSD_SETTING_ENTRY_TYPE("YAW RATE", SETTING_YAW_RATE, CMS_DATA_TYPE_ANGULAR_RATE),
|
||||
|
|
|
|||
|
|
@ -71,6 +71,12 @@
|
|||
|
||||
#define C_TO_KELVIN(temp) (temp + 273.15f)
|
||||
|
||||
// Standard Sea Level values
|
||||
// Ref:https://en.wikipedia.org/wiki/Standard_sea_level
|
||||
#define SSL_AIR_DENSITY 1.225f // kg/m^3
|
||||
#define SSL_AIR_PRESSURE 101325.01576f // Pascal
|
||||
#define SSL_AIR_TEMPERATURE 288.15f // K
|
||||
|
||||
// copied from https://code.google.com/p/cxutil/source/browse/include/cxutil/utility.h#70
|
||||
#define _CHOOSE2(binoper, lexpr, lvar, rexpr, rvar) \
|
||||
( __extension__ ({ \
|
||||
|
|
|
|||
|
|
@ -78,11 +78,6 @@ http://resnet.uoregon.edu/~gurney_j/jmpc/bitwise.html
|
|||
+ LOG2_32BIT((v)*1L >>16*((v)/2L>>31 > 0) \
|
||||
>>16*((v)/2L>>31 > 0)))
|
||||
|
||||
#if 0
|
||||
// ISO C version, but no type checking
|
||||
#define container_of(ptr, type, member) \
|
||||
((type *) ((char *)(ptr) - offsetof(type, member)))
|
||||
#else
|
||||
// non ISO variant from linux kernel; checks ptr type, but triggers 'ISO C forbids braced-groups within expressions [-Wpedantic]'
|
||||
// __extension__ is here to disable this warning
|
||||
#define container_of(ptr, type, member) ( __extension__ ({ \
|
||||
|
|
@ -102,9 +97,6 @@ static inline void memcpy_fn ( void * destination, const void * source, size_t
|
|||
void * memcpy_fn ( void * destination, const void * source, size_t num ) asm("memcpy");
|
||||
#endif
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
#if __GNUC__ > 6
|
||||
#define FALLTHROUGH __attribute__ ((fallthrough))
|
||||
#else
|
||||
|
|
|
|||
|
|
@ -183,14 +183,6 @@ extern const uint8_t __pg_resetdata_end[];
|
|||
PG_REGISTER_ARRAY_I(_type, _size, _name, _pgn, _version, .reset = {.fn = (pgResetFunc*)&pgResetFn_ ## _name}) \
|
||||
/**/
|
||||
|
||||
#if 0
|
||||
// ARRAY reset mechanism is not implemented yet, only few places in code would benefit from it - See pgResetInstance
|
||||
#define PG_REGISTER_ARRAY_WITH_RESET_TEMPLATE(_type, _size, _name, _pgn, _version) \
|
||||
extern const _type pgResetTemplate_ ## _name; \
|
||||
PG_REGISTER_ARRAY_I(_type, _size, _name, _pgn, _version, .reset = {.ptr = (void*)&pgResetTemplate_ ## _name}) \
|
||||
/**/
|
||||
#endif
|
||||
|
||||
#ifdef UNIT_TEST
|
||||
# define _PG_PROFILE_CURRENT_DECL(_type, _name) \
|
||||
_type *_name ## _ProfileCurrent = &_name ## _Storage[0];
|
||||
|
|
|
|||
|
|
@ -139,7 +139,6 @@ typedef enum {
|
|||
|
||||
/* Other hardware */
|
||||
DEVHW_MS4525, // Pitot meter
|
||||
DEVHW_PCA9685, // PWM output device
|
||||
DEVHW_M25P16, // SPI NOR flash
|
||||
DEVHW_UG2864, // I2C OLED display
|
||||
DEVHW_SDCARD, // Generic SD-Card
|
||||
|
|
|
|||
|
|
@ -69,7 +69,13 @@ typedef struct SPIDevice_s {
|
|||
ioTag_t mosi;
|
||||
ioTag_t miso;
|
||||
rccPeriphTag_t rcc;
|
||||
#if defined(STM32F7) || defined(STM32H7)
|
||||
uint8_t sckAF;
|
||||
uint8_t misoAF;
|
||||
uint8_t mosiAF;
|
||||
#else
|
||||
uint8_t af;
|
||||
#endif
|
||||
const uint32_t * divisorMap;
|
||||
volatile uint16_t errorCount;
|
||||
bool initDone;
|
||||
|
|
|
|||
|
|
@ -91,22 +91,53 @@ static const uint32_t spiDivisorMapSlow[] = {
|
|||
#if defined(STM32H7)
|
||||
static spiDevice_t spiHardwareMap[SPIDEV_COUNT] = {
|
||||
#ifdef USE_SPI_DEVICE_1
|
||||
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = GPIO_AF5_SPI1, .divisorMap = spiDivisorMapFast },
|
||||
#if defined(SPI1_SCK_AF) || defined(SPI1_MISO_AF) || defined(SPI1_MOSI_AF)
|
||||
#if !defined(SPI1_SCK_AF) || !defined(SPI1_MISO_AF) || !defined(SPI1_MOSI_AF)
|
||||
#error SPI1: SCK, MISO and MOSI AFs should be defined together in target.h!
|
||||
#endif
|
||||
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = SPI1_SCK_AF, .misoAF = SPI1_MISO_AF, .mosiAF = SPI1_MOSI_AF, .divisorMap = spiDivisorMapFast },
|
||||
#else
|
||||
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = GPIO_AF5_SPI1, .misoAF = GPIO_AF5_SPI1, .mosiAF = GPIO_AF5_SPI1, .divisorMap = spiDivisorMapFast },
|
||||
#endif
|
||||
#else
|
||||
{ .dev = NULL }, // No SPI1
|
||||
#endif
|
||||
|
||||
#ifdef USE_SPI_DEVICE_2
|
||||
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1L(SPI2), .af = GPIO_AF5_SPI2, .divisorMap = spiDivisorMapSlow },
|
||||
#if defined(SPI2_SCK_AF) || defined(SPI2_MISO_AF) || defined(SPI2_MOSI_AF)
|
||||
#if !defined(SPI2_SCK_AF) || !defined(SPI2_MISO_AF) || !defined(SPI2_MOSI_AF)
|
||||
#error SPI2: SCK, MISO and MOSI AFs should be defined together in target.h!
|
||||
#endif
|
||||
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1L(SPI2), .sckAF = SPI2_SCK_AF, .misoAF = SPI2_MISO_AF, .mosiAF = SPI2_MOSI_AF, .divisorMap = spiDivisorMapSlow },
|
||||
#else
|
||||
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1L(SPI2), .sckAF = GPIO_AF5_SPI2, .misoAF = GPIO_AF5_SPI2, .mosiAF = GPIO_AF5_SPI2, .divisorMap = spiDivisorMapSlow },
|
||||
#endif
|
||||
#else
|
||||
{ .dev = NULL }, // No SPI2
|
||||
#endif
|
||||
|
||||
#ifdef USE_SPI_DEVICE_3
|
||||
{ .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1L(SPI3), .af = GPIO_AF6_SPI3, .divisorMap = spiDivisorMapSlow },
|
||||
#if defined(SPI3_SCK_AF) || defined(SPI3_MISO_AF) || defined(SPI3_MOSI_AF)
|
||||
#if !defined(SPI3_SCK_AF) || !defined(SPI3_MISO_AF) || !defined(SPI3_MOSI_AF)
|
||||
#error SPI3: SCK, MISO and MOSI AFs should be defined together in target.h!
|
||||
#endif
|
||||
{ .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1L(SPI3), .sckAF = SPI3_SCK_AF, .misoAF = SPI3_MISO_AF, .mosiAF = SPI3_MOSI_AF, .divisorMap = spiDivisorMapSlow },
|
||||
#else
|
||||
{ .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1L(SPI3), .sckAF = GPIO_AF6_SPI3, .misoAF = GPIO_AF6_SPI3, .mosiAF = GPIO_AF6_SPI3, .divisorMap = spiDivisorMapSlow },
|
||||
#endif
|
||||
#else
|
||||
{ .dev = NULL }, // No SPI3
|
||||
#endif
|
||||
|
||||
#ifdef USE_SPI_DEVICE_4
|
||||
{ .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .af = GPIO_AF5_SPI4, .divisorMap = spiDivisorMapSlow }
|
||||
#if defined(SPI4_SCK_AF) || defined(SPI4_MISO_AF) || defined(SPI4_MOSI_AF)
|
||||
#if !defined(SPI4_SCK_AF) || !defined(SPI4_MISO_AF) || !defined(SPI4_MOSI_AF)
|
||||
#error SPI4: SCK, MISO and MOSI AFs should be defined together in target.h!
|
||||
#endif
|
||||
{ .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .sckAF = SPI4_SCK_AF, .misoAF = SPI4_MISO_AF, .mosiAF = SPI4_MOSI_AF, .divisorMap = spiDivisorMapSlow }
|
||||
#else
|
||||
{ .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .sckAF = GPIO_AF5_SPI4, .misoAF = GPIO_AF5_SPI4, .mosiAF = GPIO_AF5_SPI4, .divisorMap = spiDivisorMapSlow }
|
||||
#endif
|
||||
#else
|
||||
{ .dev = NULL } // No SPI4
|
||||
#endif
|
||||
|
|
@ -114,22 +145,53 @@ static spiDevice_t spiHardwareMap[SPIDEV_COUNT] = {
|
|||
#else
|
||||
static spiDevice_t spiHardwareMap[] = {
|
||||
#ifdef USE_SPI_DEVICE_1
|
||||
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = GPIO_AF5_SPI1, .divisorMap = spiDivisorMapFast },
|
||||
#if defined(SPI1_SCK_AF) || defined(SPI1_MISO_AF) || defined(SPI1_MOSI_AF)
|
||||
#if !defined(SPI1_SCK_AF) || !defined(SPI1_MISO_AF) || !defined(SPI1_MOSI_AF)
|
||||
#error SPI1: SCK, MISO and MOSI AFs should be defined together in target.h!
|
||||
#endif
|
||||
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = SPI1_SCK_AF, .misoAF = SPI1_MISO_AF, .mosiAF = SPI1_MOSI_AF, .divisorMap = spiDivisorMapFast },
|
||||
#else
|
||||
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = GPIO_AF5_SPI1, .misoAF = GPIO_AF5_SPI1, .mosiAF = GPIO_AF5_SPI1, .divisorMap = spiDivisorMapFast },
|
||||
#endif
|
||||
#else
|
||||
{ .dev = NULL }, // No SPI1
|
||||
#endif
|
||||
|
||||
#ifdef USE_SPI_DEVICE_2
|
||||
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .af = GPIO_AF5_SPI2, .divisorMap = spiDivisorMapSlow },
|
||||
#if defined(SPI2_SCK_AF) || defined(SPI2_MISO_AF) || defined(SPI2_MOSI_AF)
|
||||
#if !defined(SPI2_SCK_AF) || !defined(SPI2_MISO_AF) || !defined(SPI2_MOSI_AF)
|
||||
#error SPI2: SCK, MISO and MOSI AFs should be defined together in target.h!
|
||||
#endif
|
||||
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .sckAF = SPI2_SCK_AF, .misoAF = SPI2_MISO_AF, .mosiAF = SPI2_MOSI_AF, .divisorMap = spiDivisorMapSlow },
|
||||
#else
|
||||
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .sckAF = GPIO_AF5_SPI2, .misoAF = GPIO_AF5_SPI2, .mosiAF = GPIO_AF5_SPI2, .divisorMap = spiDivisorMapSlow },
|
||||
#endif
|
||||
#else
|
||||
{ .dev = NULL }, // No SPI2
|
||||
#endif
|
||||
|
||||
#ifdef USE_SPI_DEVICE_3
|
||||
{ .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1(SPI3), .af = GPIO_AF6_SPI3, .divisorMap = spiDivisorMapSlow },
|
||||
#if defined(SPI3_SCK_AF) || defined(SPI3_MISO_AF) || defined(SPI3_MOSI_AF)
|
||||
#if !defined(SPI3_SCK_AF) || !defined(SPI3_MISO_AF) || !defined(SPI3_MOSI_AF)
|
||||
#error SPI3: SCK, MISO and MOSI AFs should be defined together in target.h!
|
||||
#endif
|
||||
{ .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1(SPI3), .sckAF = SPI3_SCK_AF, .misoAF = SPI3_MISO_AF, .mosiAF = SPI3_MOSI_AF, .divisorMap = spiDivisorMapSlow },
|
||||
#else
|
||||
{ .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1(SPI3), .sckAF = GPIO_AF6_SPI3, .misoAF = GPIO_AF6_SPI3, .mosiAF = GPIO_AF6_SPI3, .divisorMap = spiDivisorMapSlow },
|
||||
#endif
|
||||
#else
|
||||
{ .dev = NULL }, // No SPI3
|
||||
#endif
|
||||
|
||||
#ifdef USE_SPI_DEVICE_4
|
||||
{ .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .af = GPIO_AF5_SPI4, .divisorMap = spiDivisorMapSlow }
|
||||
#if defined(SPI4_SCK_AF) || defined(SPI4_MISO_AF) || defined(SPI4_MOSI_AF)
|
||||
#if !defined(SPI4_SCK_AF) || !defined(SPI4_MISO_AF) || !defined(SPI4_MOSI_AF)
|
||||
#error SPI3: SCK, MISO and MOSI AFs should be defined together in target.h!
|
||||
#endif
|
||||
{ .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .sckAF = SPI4_SCK_AF, .misoAF = SPI4_MISO_AF, .mosiAF = SPI4_MOSI_AF, .divisorMap = spiDivisorMapSlow }
|
||||
#else
|
||||
{ .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .sckAF = GPIO_AF5_SPI4, .misoAF = GPIO_AF5_SPI4, .mosiAF = GPIO_AF5_SPI4, .divisorMap = spiDivisorMapSlow }
|
||||
#endif
|
||||
#else
|
||||
{ .dev = NULL } // No SPI4
|
||||
#endif
|
||||
|
|
@ -184,12 +246,13 @@ bool spiInitDevice(SPIDevice device, bool leadingEdge)
|
|||
IOInit(IOGetByTag(spi->mosi), OWNER_SPI, RESOURCE_SPI_MOSI, device + 1);
|
||||
|
||||
if (leadingEdge) {
|
||||
IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_LOW, spi->af);
|
||||
IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_LOW, spi->sckAF);
|
||||
} else {
|
||||
IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_HIGH, spi->af);
|
||||
IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_HIGH, spi->sckAF);
|
||||
}
|
||||
IOConfigGPIOAF(IOGetByTag(spi->miso), SPI_IO_AF_MISO_CFG, spi->af);
|
||||
IOConfigGPIOAF(IOGetByTag(spi->mosi), SPI_IO_AF_CFG, spi->af);
|
||||
IOConfigGPIOAF(IOGetByTag(spi->miso), SPI_IO_AF_MISO_CFG, spi->misoAF);
|
||||
|
||||
IOConfigGPIOAF(IOGetByTag(spi->mosi), SPI_IO_AF_CFG, spi->mosiAF);
|
||||
|
||||
if (spi->nss) {
|
||||
IOInit(IOGetByTag(spi->nss), OWNER_SPI, RESOURCE_SPI_CS, device + 1);
|
||||
|
|
|
|||
|
|
@ -90,29 +90,6 @@ void flashEraseCompletely(void)
|
|||
#endif
|
||||
}
|
||||
|
||||
#if 0
|
||||
void flashPageProgramBegin(uint32_t address)
|
||||
{
|
||||
#ifdef USE_FLASH_M25P16
|
||||
return m25p16_pageProgramBegin(address);
|
||||
#endif
|
||||
}
|
||||
|
||||
void flashPageProgramContinue(const uint8_t *data, int length)
|
||||
{
|
||||
#ifdef USE_FLASH_M25P16
|
||||
return m25p16_pageProgramContinue(data, length);
|
||||
#endif
|
||||
}
|
||||
|
||||
void flashPageProgramFinish(void)
|
||||
{
|
||||
#ifdef USE_FLASH_M25P16
|
||||
return m25p16_pageProgramFinish();
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
uint32_t flashPageProgram(uint32_t address, const uint8_t *data, int length)
|
||||
{
|
||||
#ifdef USE_FLASH_M25P16
|
||||
|
|
|
|||
|
|
@ -42,11 +42,6 @@ bool flashIsReady(void);
|
|||
bool flashWaitForReady(timeMs_t timeoutMillis);
|
||||
void flashEraseSector(uint32_t address);
|
||||
void flashEraseCompletely(void);
|
||||
#if 0
|
||||
void flashPageProgramBegin(uint32_t address);
|
||||
void flashPageProgramContinue(const uint8_t *data, int length);
|
||||
void flashPageProgramFinish(void);
|
||||
#endif
|
||||
uint32_t flashPageProgram(uint32_t address, const uint8_t *data, int length);
|
||||
int flashReadBytes(uint32_t address, uint8_t *buffer, int length);
|
||||
void flashFlush(void);
|
||||
|
|
|
|||
|
|
@ -56,6 +56,8 @@
|
|||
#define JEDEC_ID_SPANSION_S25FL116 0x014015
|
||||
#define JEDEC_ID_EON_W25Q64 0x1C3017
|
||||
#define JEDEC_ID_CYPRESS_S25FL128L 0x016018
|
||||
#define JEDEC_ID_WINBOND_W25Q128_2 0xEF7018
|
||||
|
||||
|
||||
// The timeout we expect between being able to issue page program instructions
|
||||
#define DEFAULT_TIMEOUT_MILLIS 6
|
||||
|
|
@ -190,7 +192,8 @@ static bool m25p16_readIdentification(void)
|
|||
|
||||
case JEDEC_ID_MICRON_N25Q128:
|
||||
case JEDEC_ID_WINBOND_W25Q128:
|
||||
case JEDEC_ID_CYPRESS_S25FL128L:
|
||||
case JEDEC_ID_CYPRESS_S25FL128L:
|
||||
case JEDEC_ID_WINBOND_W25Q128_2:
|
||||
geometry.sectors = 256;
|
||||
geometry.pagesPerSector = 256;
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -1,147 +0,0 @@
|
|||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "build/build_config.h"
|
||||
|
||||
#ifdef USE_PWM_DRIVER_PCA9685
|
||||
|
||||
#include "common/time.h"
|
||||
#include "common/maths.h"
|
||||
|
||||
#include "drivers/io.h"
|
||||
#include "drivers/time.h"
|
||||
#include "drivers/bus.h"
|
||||
#include "drivers/bus_i2c.h"
|
||||
|
||||
#define PCA9685_MODE1 0x00
|
||||
#define PCA9685_PRESCALE 0xFE
|
||||
|
||||
#define LED0_ON_L 0x06
|
||||
#define LED0_ON_H 0x07
|
||||
#define LED0_OFF_L 0x08
|
||||
#define LED0_OFF_H 0x09
|
||||
|
||||
#define PCA9685_SERVO_FREQUENCY 60
|
||||
#define PCA9685_SERVO_COUNT 16
|
||||
#define PCA9685_SYNC_THRESHOLD 5
|
||||
|
||||
static busDevice_t * busDev;
|
||||
static uint16_t currentOutputState[PCA9685_SERVO_COUNT] = {0};
|
||||
static uint16_t temporaryOutputState[PCA9685_SERVO_COUNT] = {0};
|
||||
|
||||
void pca9685setPWMOn(uint8_t servoIndex, uint16_t on) {
|
||||
if (servoIndex < PCA9685_SERVO_COUNT) {
|
||||
busWrite(busDev, LED0_ON_L + (servoIndex * 4), on);
|
||||
busWrite(busDev, LED0_ON_H + (servoIndex * 4), on>>8);
|
||||
}
|
||||
}
|
||||
|
||||
void pca9685setPWMOff(uint8_t servoIndex, uint16_t off) {
|
||||
if (servoIndex < PCA9685_SERVO_COUNT) {
|
||||
busWrite(busDev, LED0_OFF_L + (servoIndex * 4), off);
|
||||
busWrite(busDev, LED0_OFF_H + (servoIndex * 4), off>>8);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
Writing new state every cycle for each servo is extremely time consuming
|
||||
and does not makes sense.
|
||||
Trying to sync 5 servos every 2000us extends looptime
|
||||
to 3500us. Very, very bad...
|
||||
Instead of that, write desired values to temporary
|
||||
table and write it to PCA9685 only when there a need.
|
||||
Also, because of resultion of PCA9685 internal counter of about 5us, do not write
|
||||
small changes, since thwy will only clog the bandwidch and will not
|
||||
be represented on output
|
||||
PWM Driver runs at 200Hz, every cycle every 4th servo output is updated:
|
||||
cycle 0: servo 0, 4, 8, 12
|
||||
cycle 1: servo 1, 5, 9, 13
|
||||
cycle 2: servo 2, 6, 10, 14
|
||||
cycle 3: servo3, 7, 11, 15
|
||||
*/
|
||||
void pca9685sync(uint8_t cycleIndex) {
|
||||
uint8_t i;
|
||||
|
||||
for (i = 0; i < PCA9685_SERVO_COUNT; i++) {
|
||||
if (cycleIndex == i % 4 && ABS(temporaryOutputState[i] - currentOutputState[i]) > PCA9685_SYNC_THRESHOLD) {
|
||||
pca9685setPWMOff(i, temporaryOutputState[i]);
|
||||
currentOutputState[i] = temporaryOutputState[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void pca9685setServoPulse(uint8_t servoIndex, uint16_t pulse) {
|
||||
|
||||
static double pulselength = 0;
|
||||
|
||||
if (pulselength == 0) {
|
||||
pulselength = 1000000; // 1,000,000 us per second
|
||||
pulselength /= PCA9685_SERVO_FREQUENCY;
|
||||
pulselength /= 4096; // 12 bits of resolution
|
||||
}
|
||||
pulse /= pulselength;
|
||||
|
||||
temporaryOutputState[servoIndex] = pulse;
|
||||
}
|
||||
|
||||
void pca9685setPWMFreq(uint16_t freq) {
|
||||
|
||||
uint32_t prescaleval = 25000000;
|
||||
prescaleval /= 4096;
|
||||
prescaleval /= freq;
|
||||
prescaleval -= 1;
|
||||
|
||||
busWrite(busDev, PCA9685_MODE1, 16);
|
||||
delay(1);
|
||||
busWrite(busDev, PCA9685_PRESCALE, (uint8_t) prescaleval);
|
||||
delay(1);
|
||||
busWrite(busDev, PCA9685_MODE1, 128);
|
||||
}
|
||||
|
||||
static bool deviceDetect(busDevice_t * busDev)
|
||||
{
|
||||
for (int retry = 0; retry < 5; retry++) {
|
||||
uint8_t sig;
|
||||
|
||||
delay(150);
|
||||
|
||||
bool ack = busRead(busDev, PCA9685_MODE1, &sig);
|
||||
if (ack) {
|
||||
return true;
|
||||
}
|
||||
};
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
bool pca9685Initialize(void)
|
||||
{
|
||||
busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_PCA9685, 0, 0);
|
||||
if (busDev == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!deviceDetect(busDev)) {
|
||||
busDeviceDeInit(busDev);
|
||||
return false;
|
||||
}
|
||||
|
||||
/* Reset device */
|
||||
busWrite(busDev, PCA9685_MODE1, 0x00);
|
||||
|
||||
/* Set refresh rate */
|
||||
pca9685setPWMFreq(PCA9685_SERVO_FREQUENCY);
|
||||
|
||||
delay(1);
|
||||
|
||||
for (uint8_t i = 0; i < PCA9685_SERVO_COUNT; i++) {
|
||||
pca9685setPWMOn(i, 0);
|
||||
pca9685setPWMOff(i, 1500);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -1,6 +0,0 @@
|
|||
bool pca9685Initialize(void);
|
||||
void pca9685setPWMOn(uint8_t servoIndex, uint16_t on);
|
||||
void pca9685setPWMOff(uint8_t servoIndex, uint16_t off);
|
||||
void pca9685setPWMFreq(uint16_t freq);
|
||||
void pca9685setServoPulse(uint8_t servoIndex, uint16_t pulse);
|
||||
void pca9685sync(uint8_t cycleIndex);
|
||||
|
|
@ -3,11 +3,10 @@
|
|||
|
||||
#ifdef USE_LIGHTS
|
||||
|
||||
#if (!defined(LIGHTS_USE_PCA9685_OUTPUT)) && (!defined(LIGHTS_OUTPUT_MODE))
|
||||
#ifndef LIGHTS_OUTPUT_MODE
|
||||
#define LIGHTS_OUTPUT_MODE IOCFG_OUT_PP
|
||||
#endif
|
||||
|
||||
|
||||
static IO_t lightsIO = DEFIO_IO(NONE);
|
||||
|
||||
bool lightsHardwareInit(void)
|
||||
|
|
|
|||
|
|
@ -161,7 +161,10 @@
|
|||
#define SYM_HEADING_LINE 0xCD // 205 Heading Graphic
|
||||
#define SYM_MAX 0xCE // 206 MAX symbol
|
||||
#define SYM_PROFILE 0xCF // 207 Profile symbol
|
||||
|
||||
#define SYM_SWITCH_INDICATOR_LOW 0xD0 // 208 Switch High
|
||||
#define SYM_SWITCH_INDICATOR_MID 0xD1 // 209 Switch Mid
|
||||
#define SYM_SWITCH_INDICATOR_HIGH 0xD2 // 210 Switch Low
|
||||
#define SYM_AH 0xD3 // 211 Amphours symbol
|
||||
|
||||
#define SYM_LOGO_START 0x101 // 257 to 280, INAV logo
|
||||
#define SYM_LOGO_WIDTH 6
|
||||
|
|
|
|||
|
|
@ -22,6 +22,7 @@
|
|||
|
||||
#include "build/build_config.h"
|
||||
|
||||
#include "common/maths.h"
|
||||
#include "common/utils.h"
|
||||
|
||||
#include "drivers/pitotmeter/pitotmeter.h"
|
||||
|
|
@ -34,6 +35,7 @@
|
|||
* NXP MPXV7002DP differential pressure sensor
|
||||
*
|
||||
*/
|
||||
|
||||
#define PITOT_ADC_VOLTAGE_SCALER (2.0f / 1.0f) // MPXV7002DP is 5V device, assumed resistive divider 1K:1K
|
||||
#define PITOT_ADC_VOLTAGE_ZERO (2.5f) // Pressure offset is 2.5V
|
||||
#define PITOT_ADC_VOLTAGE_TO_PRESSURE (1000.0f) // 1V/kPa = 1000 Pa/V
|
||||
|
|
@ -59,7 +61,7 @@ static void adcPitotCalculate(pitotDev_t *pitot, float *pressure, float *tempera
|
|||
if (pressure)
|
||||
*pressure = (voltage * PITOT_ADC_VOLTAGE_SCALER - PITOT_ADC_VOLTAGE_ZERO) * PITOT_ADC_VOLTAGE_TO_PRESSURE;
|
||||
if (temperature)
|
||||
*temperature = 288.15f; // Temperature at standard sea level (288.15 K)
|
||||
*temperature = SSL_AIR_TEMPERATURE; // Temperature at standard sea level
|
||||
}
|
||||
|
||||
bool adcPitotDetect(pitotDev_t *pitot)
|
||||
|
|
|
|||
|
|
@ -74,10 +74,9 @@ static void virtualPitotCalculate(pitotDev_t *pitot, float *pressure, float *tem
|
|||
}
|
||||
}
|
||||
if (pressure)
|
||||
//*pressure = sq(airSpeed / 100) * AIR_DENSITY_SEA_LEVEL_15C / 2 + P0;
|
||||
*pressure = sq(airSpeed) * AIR_DENSITY_SEA_LEVEL_15C / 20000.0f + P0;
|
||||
*pressure = sq(airSpeed) * SSL_AIR_DENSITY / 20000.0f + SSL_AIR_PRESSURE;
|
||||
if (temperature)
|
||||
*temperature = 288.15f; // Temperature at standard sea level (288.15 K)
|
||||
*temperature = SSL_AIR_TEMPERATURE; // Temperature at standard sea level
|
||||
}
|
||||
|
||||
bool virtualPitotDetect(pitotDev_t *pitot)
|
||||
|
|
|
|||
|
|
@ -48,7 +48,6 @@ typedef enum {
|
|||
|
||||
typedef enum {
|
||||
SERVO_TYPE_PWM = 0,
|
||||
SERVO_TYPE_SERVO_DRIVER,
|
||||
SERVO_TYPE_SBUS,
|
||||
SERVO_TYPE_SBUS_PWM
|
||||
} servoProtocolType_e;
|
||||
|
|
|
|||
|
|
@ -34,9 +34,6 @@ FILE_COMPILE_FOR_SPEED
|
|||
#include "drivers/timer.h"
|
||||
#include "drivers/pwm_mapping.h"
|
||||
#include "drivers/pwm_output.h"
|
||||
#include "drivers/io_pca9685.h"
|
||||
|
||||
#include "io/pwmdriver_i2c.h"
|
||||
#include "io/servo_sbus.h"
|
||||
#include "sensors/esc_sensor.h"
|
||||
|
||||
|
|
@ -60,7 +57,7 @@ FILE_COMPILE_FOR_SPEED
|
|||
|
||||
#define DSHOT_DMA_BUFFER_SIZE 18 /* resolution + frame reset (2us) */
|
||||
|
||||
#define DSHOT_COMMAND_INTERVAL_US 1000
|
||||
#define DSHOT_COMMAND_INTERVAL_US 10000
|
||||
#define DSHOT_COMMAND_QUEUE_LENGTH 8
|
||||
#define DHSOT_COMMAND_QUEUE_SIZE DSHOT_COMMAND_QUEUE_LENGTH * sizeof(dshotCommands_e)
|
||||
#endif
|
||||
|
|
@ -98,11 +95,6 @@ static pwmWriteFuncPtr motorWritePtr = NULL; // Function to write val
|
|||
static pwmOutputPort_t * servos[MAX_SERVOS];
|
||||
static pwmWriteFuncPtr servoWritePtr = NULL; // Function to write value to motors
|
||||
|
||||
#if defined(USE_DSHOT)
|
||||
static timeUs_t digitalMotorUpdateIntervalUs = 0;
|
||||
static timeUs_t digitalMotorLastUpdateUs;
|
||||
#endif
|
||||
|
||||
static pwmOutputPort_t beeperPwmPort;
|
||||
static pwmOutputPort_t *beeperPwm;
|
||||
static uint16_t beeperFrequency = 0;
|
||||
|
|
@ -112,6 +104,10 @@ static uint8_t allocatedOutputPortCount = 0;
|
|||
static bool pwmMotorsEnabled = true;
|
||||
|
||||
#ifdef USE_DSHOT
|
||||
static timeUs_t digitalMotorUpdateIntervalUs = 0;
|
||||
static timeUs_t digitalMotorLastUpdateUs;
|
||||
static timeUs_t lastCommandSent = 0;
|
||||
|
||||
static circularBuffer_t commandsCircularBuffer;
|
||||
static uint8_t commandsBuff[DHSOT_COMMAND_QUEUE_SIZE];
|
||||
static currentExecutingCommand_t currentExecutingCommand;
|
||||
|
|
@ -368,28 +364,26 @@ static int getDShotCommandRepeats(dshotCommands_e cmd) {
|
|||
|
||||
static void executeDShotCommands(void){
|
||||
|
||||
timeUs_t tNow = micros();
|
||||
|
||||
if(currentExecutingCommand.remainingRepeats == 0) {
|
||||
|
||||
const int isTherePendingCommands = !circularBufferIsEmpty(&commandsCircularBuffer);
|
||||
|
||||
if (isTherePendingCommands) {
|
||||
const int isTherePendingCommands = !circularBufferIsEmpty(&commandsCircularBuffer);
|
||||
if (isTherePendingCommands && (tNow - lastCommandSent > DSHOT_COMMAND_INTERVAL_US)){
|
||||
//Load the command
|
||||
dshotCommands_e cmd;
|
||||
circularBufferPopHead(&commandsCircularBuffer, (uint8_t *) &cmd);
|
||||
|
||||
currentExecutingCommand.cmd = cmd;
|
||||
currentExecutingCommand.remainingRepeats = getDShotCommandRepeats(cmd);
|
||||
}
|
||||
else {
|
||||
return;
|
||||
} else {
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
for (uint8_t i = 0; i < getMotorCount(); i++) {
|
||||
motors[i].requestTelemetry = true;
|
||||
motors[i].value = currentExecutingCommand.cmd;
|
||||
motors[i].requestTelemetry = true;
|
||||
motors[i].value = currentExecutingCommand.cmd;
|
||||
}
|
||||
currentExecutingCommand.remainingRepeats--;
|
||||
lastCommandSent = tNow;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
@ -538,16 +532,6 @@ static void sbusPwmWriteStandard(uint8_t index, uint16_t value)
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_PWM_SERVO_DRIVER
|
||||
static void pwmServoWriteExternalDriver(uint8_t index, uint16_t value)
|
||||
{
|
||||
// If PCA9685 is not detected, we do not want to write servo output anywhere
|
||||
if (STATE(PWM_DRIVER_AVAILABLE)) {
|
||||
pwmDriverSetPulse(index, value);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
void pwmServoPreconfigure(void)
|
||||
{
|
||||
// Protocol-specific configuration
|
||||
|
|
@ -557,13 +541,6 @@ void pwmServoPreconfigure(void)
|
|||
servoWritePtr = pwmServoWriteStandard;
|
||||
break;
|
||||
|
||||
#ifdef USE_PWM_SERVO_DRIVER
|
||||
case SERVO_TYPE_SERVO_DRIVER:
|
||||
pwmDriverInitialize();
|
||||
servoWritePtr = pwmServoWriteExternalDriver;
|
||||
break;
|
||||
#endif
|
||||
|
||||
#ifdef USE_SERVO_SBUS
|
||||
case SERVO_TYPE_SBUS:
|
||||
sbusServoInitialize();
|
||||
|
|
|
|||
|
|
@ -38,6 +38,8 @@ typedef enum portOptions_t {
|
|||
SERIAL_PARITY_EVEN = 1 << 2,
|
||||
SERIAL_UNIDIR = 0 << 3,
|
||||
SERIAL_BIDIR = 1 << 3,
|
||||
SERIAL_LONGSTOP = 0 << 4,
|
||||
SERIAL_SHORTSTOP = 1 << 4,
|
||||
|
||||
/*
|
||||
* Note on SERIAL_BIDIR_PP
|
||||
|
|
|
|||
|
|
@ -381,7 +381,9 @@ void processTxState(softSerial_t *softSerial)
|
|||
serialOutputPortActivate(softSerial);
|
||||
}
|
||||
|
||||
return;
|
||||
if ((softSerial->port.options & SERIAL_SHORTSTOP) == 0) {
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
if (softSerial->bitsLeftToTransmit) {
|
||||
|
|
@ -390,7 +392,10 @@ void processTxState(softSerial_t *softSerial)
|
|||
|
||||
setTxSignal(softSerial, mask);
|
||||
softSerial->bitsLeftToTransmit--;
|
||||
return;
|
||||
|
||||
if (((softSerial->port.options & SERIAL_SHORTSTOP) == 0) || softSerial->bitsLeftToTransmit) {
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
softSerial->isTransmittingData = false;
|
||||
|
|
|
|||
|
|
@ -66,6 +66,12 @@ typedef enum {
|
|||
VTXDEV_UNKNOWN = 0xFF,
|
||||
} vtxDevType_e;
|
||||
|
||||
typedef enum {
|
||||
FREQUENCYGROUP_5G8 = 0,
|
||||
FREQUENCYGROUP_2G4 = 1,
|
||||
FREQUENCYGROUP_1G3 = 2,
|
||||
} vtxFrequencyGroups_e;
|
||||
|
||||
struct vtxVTable_s;
|
||||
|
||||
typedef struct vtxDeviceCapability_s {
|
||||
|
|
|
|||
|
|
@ -140,6 +140,7 @@ static uint8_t cliWriteBuffer[sizeof(*cliWriter) + 128];
|
|||
|
||||
static char cliBuffer[64];
|
||||
static uint32_t bufferIndex = 0;
|
||||
static uint16_t cliDelayMs = 0;
|
||||
|
||||
#if defined(USE_ASSERT)
|
||||
static void cliAssert(char *cmdline);
|
||||
|
|
@ -222,6 +223,9 @@ static void cliPrint(const char *str)
|
|||
static void cliPrintLinefeed(void)
|
||||
{
|
||||
cliPrint("\r\n");
|
||||
if (cliDelayMs) {
|
||||
delay(cliDelayMs);
|
||||
}
|
||||
}
|
||||
|
||||
static void cliPrintLine(const char *str)
|
||||
|
|
@ -1672,6 +1676,25 @@ static void cliModeColor(char *cmdline)
|
|||
}
|
||||
#endif
|
||||
|
||||
static void cliDelay(char* cmdLine) {
|
||||
int ms = 0;
|
||||
if (isEmpty(cmdLine)) {
|
||||
cliDelayMs = 0;
|
||||
cliPrintLine("CLI delay deactivated");
|
||||
return;
|
||||
}
|
||||
|
||||
ms = fastA2I(cmdLine);
|
||||
if (ms) {
|
||||
cliDelayMs = ms;
|
||||
cliPrintLinef("CLI delay set to %d ms", ms);
|
||||
|
||||
} else {
|
||||
cliShowParseError();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
static void printServo(uint8_t dumpMask, const servoParam_t *servoParam, const servoParam_t *defaultServoParam)
|
||||
{
|
||||
// print out servo settings
|
||||
|
|
@ -3869,6 +3892,7 @@ const clicmd_t cmdTable[] = {
|
|||
CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
|
||||
CLI_COMMAND_DEF("mode_color", "configure mode and special colors", NULL, cliModeColor),
|
||||
#endif
|
||||
CLI_COMMAND_DEF("cli_delay", "CLI Delay", "Delay in ms", cliDelay),
|
||||
CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults),
|
||||
CLI_COMMAND_DEF("dfu", "DFU mode on reboot", NULL, cliDfu),
|
||||
CLI_COMMAND_DEF("diff", "list configuration changes from default",
|
||||
|
|
|
|||
|
|
@ -217,12 +217,6 @@ void validateAndFixConfig(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifndef USE_PWM_SERVO_DRIVER
|
||||
if (servoConfig()->servo_protocol == SERVO_TYPE_SERVO_DRIVER) {
|
||||
servoConfigMutable()->servo_protocol = SERVO_TYPE_PWM;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifndef USE_SERVO_SBUS
|
||||
if (servoConfig()->servo_protocol == SERVO_TYPE_SBUS || servoConfig()->servo_protocol == SERVO_TYPE_SBUS_PWM) {
|
||||
servoConfigMutable()->servo_protocol = SERVO_TYPE_PWM;
|
||||
|
|
@ -239,7 +233,7 @@ void validateAndFixConfig(void)
|
|||
// Limitations of different protocols
|
||||
#if !defined(USE_DSHOT)
|
||||
if (motorConfig()->motorPwmProtocol > PWM_TYPE_BRUSHED) {
|
||||
motorConfigMutable()->motorPwmProtocol = PWM_TYPE_STANDARD;
|
||||
motorConfigMutable()->motorPwmProtocol = PWM_TYPE_MULTISHOT;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
|
|||
|
|
@ -53,7 +53,6 @@
|
|||
#include "drivers/exti.h"
|
||||
#include "drivers/flash_m25p16.h"
|
||||
#include "drivers/io.h"
|
||||
#include "drivers/io_pca9685.h"
|
||||
#include "drivers/flash.h"
|
||||
#include "drivers/light_led.h"
|
||||
#include "drivers/nvic.h"
|
||||
|
|
@ -75,7 +74,6 @@
|
|||
#include "drivers/uart_inverter.h"
|
||||
#include "drivers/io.h"
|
||||
#include "drivers/exti.h"
|
||||
#include "drivers/io_pca9685.h"
|
||||
#include "drivers/vtx_common.h"
|
||||
#ifdef USE_USB_MSC
|
||||
#include "drivers/usb_msc.h"
|
||||
|
|
@ -114,7 +112,6 @@
|
|||
#include "io/flashfs.h"
|
||||
#include "io/gps.h"
|
||||
#include "io/ledstrip.h"
|
||||
#include "io/pwmdriver_i2c.h"
|
||||
#include "io/osd.h"
|
||||
#include "io/osd_dji_hd.h"
|
||||
#include "io/rcdevice_cam.h"
|
||||
|
|
|
|||
|
|
@ -1159,8 +1159,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
|
|||
break;
|
||||
|
||||
case MSP_SENSOR_ALIGNMENT:
|
||||
sbufWriteU8(dst, gyroConfig()->gyro_align);
|
||||
sbufWriteU8(dst, accelerometerConfig()->acc_align);
|
||||
sbufWriteU8(dst, 0); // was gyroConfig()->gyro_align
|
||||
sbufWriteU8(dst, 0); // was accelerometerConfig()->acc_align
|
||||
#ifdef USE_MAG
|
||||
sbufWriteU8(dst, compassConfig()->mag_align);
|
||||
#else
|
||||
|
|
@ -1553,6 +1553,23 @@ static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
|
|||
}
|
||||
}
|
||||
|
||||
static mspResult_e mspFcLogicConditionCommand(sbuf_t *dst, sbuf_t *src) {
|
||||
const uint8_t idx = sbufReadU8(src);
|
||||
if (idx < MAX_LOGIC_CONDITIONS) {
|
||||
sbufWriteU8(dst, logicConditions(idx)->enabled);
|
||||
sbufWriteU8(dst, logicConditions(idx)->activatorId);
|
||||
sbufWriteU8(dst, logicConditions(idx)->operation);
|
||||
sbufWriteU8(dst, logicConditions(idx)->operandA.type);
|
||||
sbufWriteU32(dst, logicConditions(idx)->operandA.value);
|
||||
sbufWriteU8(dst, logicConditions(idx)->operandB.type);
|
||||
sbufWriteU32(dst, logicConditions(idx)->operandB.value);
|
||||
sbufWriteU8(dst, logicConditions(idx)->flags);
|
||||
return MSP_RESULT_ACK;
|
||||
} else {
|
||||
return MSP_RESULT_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
static void mspFcWaypointOutCommand(sbuf_t *dst, sbuf_t *src)
|
||||
{
|
||||
const uint8_t msp_wp_no = sbufReadU8(src); // get the wp number
|
||||
|
|
@ -2049,8 +2066,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
|
||||
case MSP_SET_SENSOR_ALIGNMENT:
|
||||
if (dataSize == 4) {
|
||||
gyroConfigMutable()->gyro_align = sbufReadU8(src);
|
||||
accelerometerConfigMutable()->acc_align = sbufReadU8(src);
|
||||
sbufReadU8(src); // was gyroConfigMutable()->gyro_align
|
||||
sbufReadU8(src); // was accelerometerConfigMutable()->acc_align
|
||||
#ifdef USE_MAG
|
||||
compassConfigMutable()->mag_align = sbufReadU8(src);
|
||||
#else
|
||||
|
|
@ -3237,6 +3254,11 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
|
|||
break;
|
||||
#endif
|
||||
|
||||
#ifdef USE_PROGRAMMING_FRAMEWORK
|
||||
case MSP2_INAV_LOGIC_CONDITIONS_SINGLE:
|
||||
*ret = mspFcLogicConditionCommand(dst, src);
|
||||
break;
|
||||
#endif
|
||||
case MSP2_INAV_SAFEHOME:
|
||||
*ret = mspFcSafeHomeOutCommand(dst, src);
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -49,13 +49,13 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
|
|||
{ BOXARM, "ARM", 0 },
|
||||
{ BOXANGLE, "ANGLE", 1 },
|
||||
{ BOXHORIZON, "HORIZON", 2 },
|
||||
{ BOXNAVALTHOLD, "NAV ALTHOLD", 3 }, // old BARO
|
||||
{ BOXNAVALTHOLD, "NAV ALTHOLD", 3 },
|
||||
{ BOXHEADINGHOLD, "HEADING HOLD", 5 },
|
||||
{ BOXHEADFREE, "HEADFREE", 6 },
|
||||
{ BOXHEADADJ, "HEADADJ", 7 },
|
||||
{ BOXCAMSTAB, "CAMSTAB", 8 },
|
||||
{ BOXNAVRTH, "NAV RTH", 10 }, // old GPS HOME
|
||||
{ BOXNAVPOSHOLD, "NAV POSHOLD", 11 }, // old GPS HOLD
|
||||
{ BOXNAVRTH, "NAV RTH", 10 },
|
||||
{ BOXNAVPOSHOLD, "NAV POSHOLD", 11 },
|
||||
{ BOXMANUAL, "MANUAL", 12 },
|
||||
{ BOXBEEPERON, "BEEPER", 13 },
|
||||
{ BOXLEDLOW, "LEDS OFF", 15 },
|
||||
|
|
@ -368,14 +368,12 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
|
|||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_ALTHOLD_MODE)), BOXNAVALTHOLD);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_POSHOLD_MODE)), BOXNAVPOSHOLD);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_COURSE_HOLD_MODE)), BOXNAVCOURSEHOLD);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) && IS_ENABLED(FLIGHT_MODE(NAV_ALTHOLD_MODE)), BOXNAVCRUISE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) && IS_ENABLED(FLIGHT_MODE(NAV_ALTHOLD_MODE)), BOXNAVCRUISE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_RTH_MODE)), BOXNAVRTH);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_WP_MODE)), BOXNAVWP);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)), BOXAIRMODE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGCSNAV)), BOXGCSNAV);
|
||||
#ifdef USE_FLM_FLAPERON
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(FLAPERON)), BOXFLAPERON);
|
||||
#endif
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(TURN_ASSISTANT)), BOXTURNASSIST);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_LAUNCH_MODE)), BOXNAVLAUNCH);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(AUTO_TUNE)), BOXAUTOTUNE);
|
||||
|
|
|
|||
|
|
@ -61,7 +61,6 @@
|
|||
#include "io/gps.h"
|
||||
#include "io/ledstrip.h"
|
||||
#include "io/osd.h"
|
||||
#include "io/pwmdriver_i2c.h"
|
||||
#include "io/serial.h"
|
||||
#include "io/rcdevice_cam.h"
|
||||
#include "io/smartport_master.h"
|
||||
|
|
@ -294,9 +293,6 @@ void taskSyncServoDriver(timeUs_t currentTimeUs)
|
|||
sbusServoSendUpdate();
|
||||
#endif
|
||||
|
||||
#ifdef USE_PWM_SERVO_DRIVER
|
||||
pwmDriverSync();
|
||||
#endif
|
||||
}
|
||||
|
||||
#ifdef USE_OSD
|
||||
|
|
@ -370,8 +366,8 @@ void fcTasksInit(void)
|
|||
#ifdef STACK_CHECK
|
||||
setTaskEnabled(TASK_STACK_CHECK, true);
|
||||
#endif
|
||||
#if defined(USE_PWM_SERVO_DRIVER) || defined(USE_SERVO_SBUS)
|
||||
setTaskEnabled(TASK_PWMDRIVER, (servoConfig()->servo_protocol == SERVO_TYPE_SERVO_DRIVER) || (servoConfig()->servo_protocol == SERVO_TYPE_SBUS) || (servoConfig()->servo_protocol == SERVO_TYPE_SBUS_PWM));
|
||||
#if defined(USE_SERVO_SBUS)
|
||||
setTaskEnabled(TASK_PWMDRIVER, (servoConfig()->servo_protocol == SERVO_TYPE_SBUS) || (servoConfig()->servo_protocol == SERVO_TYPE_SBUS_PWM));
|
||||
#endif
|
||||
#ifdef USE_CMS
|
||||
#ifdef USE_MSP_DISPLAYPORT
|
||||
|
|
@ -561,7 +557,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
|
|||
},
|
||||
#endif
|
||||
|
||||
#if defined(USE_PWM_SERVO_DRIVER) || defined(USE_SERVO_SBUS)
|
||||
#if defined(USE_SERVO_SBUS)
|
||||
[TASK_PWMDRIVER] = {
|
||||
.taskName = "SERVOS",
|
||||
.taskFunc = taskSyncServoDriver,
|
||||
|
|
|
|||
|
|
@ -289,6 +289,14 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
|
|||
.adjustmentFunction = ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
}, {
|
||||
.adjustmentFunction = ADJUSTMENT_FW_TPA_TIME_CONSTANT,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 5 }}
|
||||
}, {
|
||||
.adjustmentFunction = ADJUSTMENT_FW_LEVEL_TRIM,
|
||||
.mode = ADJUSTMENT_MODE_STEP,
|
||||
.data = { .stepConfig = { .step = 1 }}
|
||||
}
|
||||
};
|
||||
|
||||
|
|
@ -327,24 +335,6 @@ static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFu
|
|||
#endif
|
||||
}
|
||||
|
||||
#if 0
|
||||
static void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue)
|
||||
{
|
||||
#ifndef USE_BLACKBOX
|
||||
UNUSED(adjustmentFunction);
|
||||
UNUSED(newFloatValue);
|
||||
#else
|
||||
if (feature(FEATURE_BLACKBOX)) {
|
||||
flightLogEvent_inflightAdjustment_t eventData;
|
||||
eventData.adjustmentFunction = adjustmentFunction;
|
||||
eventData.newFloatValue = newFloatValue;
|
||||
eventData.floatFlag = true;
|
||||
blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
static void applyAdjustmentU8(adjustmentFunction_e adjustmentFunction, uint8_t *val, int delta, int low, int high)
|
||||
{
|
||||
int newValue = constrain((int)(*val) + delta, low, high);
|
||||
|
|
@ -597,9 +587,21 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
|
|||
case ADJUSTMENT_TPA_BREAKPOINT:
|
||||
applyAdjustmentU16(ADJUSTMENT_TPA_BREAKPOINT, &controlRateConfig->throttle.pa_breakpoint, delta, PWM_RANGE_MIN, PWM_RANGE_MAX);
|
||||
break;
|
||||
case ADJUSTMENT_FW_TPA_TIME_CONSTANT:
|
||||
applyAdjustmentU16(ADJUSTMENT_FW_TPA_TIME_CONSTANT, &controlRateConfig->throttle.fixedWingTauMs, delta, SETTING_FW_TPA_TIME_CONSTANT_MIN, SETTING_FW_TPA_TIME_CONSTANT_MAX);
|
||||
break;
|
||||
case ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS:
|
||||
applyAdjustmentU8(ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS, &navConfigMutable()->fw.control_smoothness, delta, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MIN, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MAX);
|
||||
break;
|
||||
case ADJUSTMENT_FW_LEVEL_TRIM:
|
||||
{
|
||||
float newValue = pidProfileMutable()->fixedWingLevelTrim + (delta / 10.0f);
|
||||
if (newValue > SETTING_FW_LEVEL_PITCH_TRIM_MAX) {newValue = (float)SETTING_FW_LEVEL_PITCH_TRIM_MAX;}
|
||||
else if (newValue < SETTING_FW_LEVEL_PITCH_TRIM_MIN) {newValue = (float)SETTING_FW_LEVEL_PITCH_TRIM_MIN;}
|
||||
pidProfileMutable()->fixedWingLevelTrim = newValue;
|
||||
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_FW_LEVEL_TRIM, (int)(newValue * 10.0f));
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -25,63 +25,65 @@
|
|||
//#define USE_INFLIGHT_PROFILE_ADJUSTMENT - not currently enabled
|
||||
|
||||
typedef enum {
|
||||
ADJUSTMENT_NONE = 0,
|
||||
ADJUSTMENT_RC_RATE = 1,
|
||||
ADJUSTMENT_RC_EXPO = 2,
|
||||
ADJUSTMENT_THROTTLE_EXPO = 3,
|
||||
ADJUSTMENT_PITCH_ROLL_RATE = 4,
|
||||
ADJUSTMENT_YAW_RATE = 5,
|
||||
ADJUSTMENT_PITCH_ROLL_P = 6,
|
||||
ADJUSTMENT_PITCH_ROLL_I = 7,
|
||||
ADJUSTMENT_PITCH_ROLL_D = 8,
|
||||
ADJUSTMENT_PITCH_ROLL_FF = 9,
|
||||
ADJUSTMENT_PITCH_P = 10,
|
||||
ADJUSTMENT_PITCH_I = 11,
|
||||
ADJUSTMENT_PITCH_D = 12,
|
||||
ADJUSTMENT_PITCH_FF = 13,
|
||||
ADJUSTMENT_ROLL_P = 14,
|
||||
ADJUSTMENT_ROLL_I = 15,
|
||||
ADJUSTMENT_ROLL_D = 16,
|
||||
ADJUSTMENT_ROLL_FF = 17,
|
||||
ADJUSTMENT_YAW_P = 18,
|
||||
ADJUSTMENT_YAW_I = 19,
|
||||
ADJUSTMENT_YAW_D = 20,
|
||||
ADJUSTMENT_YAW_FF = 21,
|
||||
ADJUSTMENT_RATE_PROFILE = 22, // Unused, placeholder for compatibility
|
||||
ADJUSTMENT_PITCH_RATE = 23,
|
||||
ADJUSTMENT_ROLL_RATE = 24,
|
||||
ADJUSTMENT_RC_YAW_EXPO = 25,
|
||||
ADJUSTMENT_MANUAL_RC_EXPO = 26,
|
||||
ADJUSTMENT_MANUAL_RC_YAW_EXPO = 27,
|
||||
ADJUSTMENT_MANUAL_PITCH_ROLL_RATE = 28,
|
||||
ADJUSTMENT_MANUAL_ROLL_RATE = 29,
|
||||
ADJUSTMENT_MANUAL_PITCH_RATE = 30,
|
||||
ADJUSTMENT_MANUAL_YAW_RATE = 31,
|
||||
ADJUSTMENT_NAV_FW_CRUISE_THR = 32,
|
||||
ADJUSTMENT_NAV_FW_PITCH2THR = 33,
|
||||
ADJUSTMENT_ROLL_BOARD_ALIGNMENT = 34,
|
||||
ADJUSTMENT_PITCH_BOARD_ALIGNMENT = 35,
|
||||
ADJUSTMENT_LEVEL_P = 36,
|
||||
ADJUSTMENT_LEVEL_I = 37,
|
||||
ADJUSTMENT_LEVEL_D = 38,
|
||||
ADJUSTMENT_POS_XY_P = 39,
|
||||
ADJUSTMENT_POS_XY_I = 40,
|
||||
ADJUSTMENT_POS_XY_D = 41,
|
||||
ADJUSTMENT_POS_Z_P = 42,
|
||||
ADJUSTMENT_POS_Z_I = 43,
|
||||
ADJUSTMENT_POS_Z_D = 44,
|
||||
ADJUSTMENT_HEADING_P = 45,
|
||||
ADJUSTMENT_VEL_XY_P = 46,
|
||||
ADJUSTMENT_VEL_XY_I = 47,
|
||||
ADJUSTMENT_VEL_XY_D = 48,
|
||||
ADJUSTMENT_VEL_Z_P = 49,
|
||||
ADJUSTMENT_VEL_Z_I = 50,
|
||||
ADJUSTMENT_VEL_Z_D = 51,
|
||||
ADJUSTMENT_NONE = 0,
|
||||
ADJUSTMENT_RC_RATE = 1,
|
||||
ADJUSTMENT_RC_EXPO = 2,
|
||||
ADJUSTMENT_THROTTLE_EXPO = 3,
|
||||
ADJUSTMENT_PITCH_ROLL_RATE = 4,
|
||||
ADJUSTMENT_YAW_RATE = 5,
|
||||
ADJUSTMENT_PITCH_ROLL_P = 6,
|
||||
ADJUSTMENT_PITCH_ROLL_I = 7,
|
||||
ADJUSTMENT_PITCH_ROLL_D = 8,
|
||||
ADJUSTMENT_PITCH_ROLL_FF = 9,
|
||||
ADJUSTMENT_PITCH_P = 10,
|
||||
ADJUSTMENT_PITCH_I = 11,
|
||||
ADJUSTMENT_PITCH_D = 12,
|
||||
ADJUSTMENT_PITCH_FF = 13,
|
||||
ADJUSTMENT_ROLL_P = 14,
|
||||
ADJUSTMENT_ROLL_I = 15,
|
||||
ADJUSTMENT_ROLL_D = 16,
|
||||
ADJUSTMENT_ROLL_FF = 17,
|
||||
ADJUSTMENT_YAW_P = 18,
|
||||
ADJUSTMENT_YAW_I = 19,
|
||||
ADJUSTMENT_YAW_D = 20,
|
||||
ADJUSTMENT_YAW_FF = 21,
|
||||
ADJUSTMENT_RATE_PROFILE = 22, // Unused, placeholder for compatibility
|
||||
ADJUSTMENT_PITCH_RATE = 23,
|
||||
ADJUSTMENT_ROLL_RATE = 24,
|
||||
ADJUSTMENT_RC_YAW_EXPO = 25,
|
||||
ADJUSTMENT_MANUAL_RC_EXPO = 26,
|
||||
ADJUSTMENT_MANUAL_RC_YAW_EXPO = 27,
|
||||
ADJUSTMENT_MANUAL_PITCH_ROLL_RATE = 28,
|
||||
ADJUSTMENT_MANUAL_ROLL_RATE = 29,
|
||||
ADJUSTMENT_MANUAL_PITCH_RATE = 30,
|
||||
ADJUSTMENT_MANUAL_YAW_RATE = 31,
|
||||
ADJUSTMENT_NAV_FW_CRUISE_THR = 32,
|
||||
ADJUSTMENT_NAV_FW_PITCH2THR = 33,
|
||||
ADJUSTMENT_ROLL_BOARD_ALIGNMENT = 34,
|
||||
ADJUSTMENT_PITCH_BOARD_ALIGNMENT = 35,
|
||||
ADJUSTMENT_LEVEL_P = 36,
|
||||
ADJUSTMENT_LEVEL_I = 37,
|
||||
ADJUSTMENT_LEVEL_D = 38,
|
||||
ADJUSTMENT_POS_XY_P = 39,
|
||||
ADJUSTMENT_POS_XY_I = 40,
|
||||
ADJUSTMENT_POS_XY_D = 41,
|
||||
ADJUSTMENT_POS_Z_P = 42,
|
||||
ADJUSTMENT_POS_Z_I = 43,
|
||||
ADJUSTMENT_POS_Z_D = 44,
|
||||
ADJUSTMENT_HEADING_P = 45,
|
||||
ADJUSTMENT_VEL_XY_P = 46,
|
||||
ADJUSTMENT_VEL_XY_I = 47,
|
||||
ADJUSTMENT_VEL_XY_D = 48,
|
||||
ADJUSTMENT_VEL_Z_P = 49,
|
||||
ADJUSTMENT_VEL_Z_I = 50,
|
||||
ADJUSTMENT_VEL_Z_D = 51,
|
||||
ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE = 52,
|
||||
ADJUSTMENT_VTX_POWER_LEVEL = 53,
|
||||
ADJUSTMENT_TPA = 54,
|
||||
ADJUSTMENT_TPA_BREAKPOINT = 55,
|
||||
ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS = 56,
|
||||
ADJUSTMENT_VTX_POWER_LEVEL = 53,
|
||||
ADJUSTMENT_TPA = 54,
|
||||
ADJUSTMENT_TPA_BREAKPOINT = 55,
|
||||
ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS = 56,
|
||||
ADJUSTMENT_FW_TPA_TIME_CONSTANT = 57,
|
||||
ADJUSTMENT_FW_LEVEL_TRIM = 58,
|
||||
ADJUSTMENT_FUNCTION_COUNT // must be last
|
||||
} adjustmentFunction_e;
|
||||
|
||||
|
|
|
|||
|
|
@ -89,14 +89,14 @@ typedef enum {
|
|||
ANGLE_MODE = (1 << 0),
|
||||
HORIZON_MODE = (1 << 1),
|
||||
HEADING_MODE = (1 << 2),
|
||||
NAV_ALTHOLD_MODE = (1 << 3), // old BARO
|
||||
NAV_RTH_MODE = (1 << 4), // old GPS_HOME
|
||||
NAV_POSHOLD_MODE = (1 << 5), // old GPS_HOLD
|
||||
NAV_ALTHOLD_MODE = (1 << 3),
|
||||
NAV_RTH_MODE = (1 << 4),
|
||||
NAV_POSHOLD_MODE = (1 << 5),
|
||||
HEADFREE_MODE = (1 << 6),
|
||||
NAV_LAUNCH_MODE = (1 << 7),
|
||||
MANUAL_MODE = (1 << 8),
|
||||
FAILSAFE_MODE = (1 << 9),
|
||||
AUTO_TUNE = (1 << 10), // old G-Tune
|
||||
AUTO_TUNE = (1 << 10),
|
||||
NAV_WP_MODE = (1 << 11),
|
||||
NAV_COURSE_HOLD_MODE = (1 << 12),
|
||||
FLAPERON = (1 << 13),
|
||||
|
|
@ -122,7 +122,6 @@ typedef enum {
|
|||
NAV_MOTOR_STOP_OR_IDLE = (1 << 7), // navigation requests MOTOR_STOP or motor idle regardless of throttle stick, will only activate if MOTOR_STOP feature is available
|
||||
COMPASS_CALIBRATED = (1 << 8),
|
||||
ACCELEROMETER_CALIBRATED = (1 << 9),
|
||||
PWM_DRIVER_AVAILABLE = (1 << 10),
|
||||
NAV_CRUISE_BRAKING = (1 << 11),
|
||||
NAV_CRUISE_BRAKING_BOOST = (1 << 12),
|
||||
NAV_CRUISE_BRAKING_LOCKED = (1 << 13),
|
||||
|
|
|
|||
|
|
@ -37,7 +37,7 @@ tables:
|
|||
- name: motor_pwm_protocol
|
||||
values: ["STANDARD", "ONESHOT125", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600"]
|
||||
- name: servo_protocol
|
||||
values: ["PWM", "SERVO_DRIVER", "SBUS", "SBUS_PWM"]
|
||||
values: ["PWM", "SBUS", "SBUS_PWM"]
|
||||
- name: failsafe_procedure
|
||||
values: ["LAND", "DROP", "RTH", "NONE"]
|
||||
- name: current_sensor
|
||||
|
|
@ -47,7 +47,7 @@ tables:
|
|||
values: ["NONE", "ADC", "ESC"]
|
||||
enum: voltageSensor_e
|
||||
- name: gps_provider
|
||||
values: ["NMEA", "UBLOX", "UNUSED", "NAZA", "UBLOX7", "MTK", "MSP"]
|
||||
values: ["NMEA", "UBLOX", "NAZA", "UBLOX7", "MTK", "MSP"]
|
||||
enum: gpsProvider_e
|
||||
- name: gps_sbas_mode
|
||||
values: ["AUTO", "EGNOS", "WAAS", "MSAS", "GAGAN", "NONE"]
|
||||
|
|
@ -131,6 +131,9 @@ tables:
|
|||
- name: vtx_low_power_disarm
|
||||
values: ["OFF", "ON", "UNTIL_FIRST_ARM"]
|
||||
enum: vtxLowerPowerDisarm_e
|
||||
- name: vtx_frequency_groups
|
||||
values: ["FREQUENCYGROUP_5G8", "FREQUENCYGROUP_2G4", "FREQUENCYGROUP_1G3"]
|
||||
enum: vtxFrequencyGroups_e
|
||||
- name: filter_type
|
||||
values: ["PT1", "BIQUAD"]
|
||||
- name: filter_type_full
|
||||
|
|
@ -213,12 +216,6 @@ groups:
|
|||
description: "This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). A very conservative value of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible."
|
||||
default_value: 1000
|
||||
max: 9000
|
||||
- name: align_gyro
|
||||
description: "When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP."
|
||||
default_value: "DEFAULT"
|
||||
field: gyro_align
|
||||
type: uint8_t
|
||||
table: alignment
|
||||
- name: gyro_hardware_lpf
|
||||
description: "Hardware lowpass filter for gyro. This value should never be changed without a very strong reason! If you have to set gyro lpf below 256HZ, it means the frame is vibrating too much, and that should be fixed first."
|
||||
default_value: "256HZ"
|
||||
|
|
@ -292,7 +289,7 @@ groups:
|
|||
field: dynamicGyroNotchMinHz
|
||||
condition: USE_DYNAMIC_FILTERS
|
||||
min: 30
|
||||
max: 1000
|
||||
max: 250
|
||||
- name: gyro_to_use
|
||||
condition: USE_DUAL_GYRO
|
||||
min: 0
|
||||
|
|
@ -310,7 +307,7 @@ groups:
|
|||
field: kalman_q
|
||||
condition: USE_GYRO_KALMAN
|
||||
min: 1
|
||||
max: 16000
|
||||
max: 1000
|
||||
- name: init_gyro_cal
|
||||
description: "If defined to 'OFF', it will ignore the gyroscope calibration done at each startup. Instead, the gyroscope last calibration from when you calibrated will be used. It also means you don't have to keep the UAV stationary during a startup."
|
||||
default_value: ON
|
||||
|
|
@ -383,12 +380,6 @@ groups:
|
|||
min: 1
|
||||
max: 255
|
||||
default_value: 1
|
||||
- name: align_acc
|
||||
description: "When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP."
|
||||
default_value: "DEFAULT"
|
||||
field: acc_align
|
||||
type: uint8_t
|
||||
table: alignment
|
||||
- name: acc_hardware
|
||||
description: "Selection of acc hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
|
||||
default_value: "AUTO"
|
||||
|
|
@ -1297,7 +1288,7 @@ groups:
|
|||
headers: ["flight/servos.h"]
|
||||
members:
|
||||
- name: servo_protocol
|
||||
description: "An option to chose the protocol/option that would be used to output servo data. Possible options `PWM` (FC servo outputs), `SERVO_DRIVER` (I2C PCA9685 peripheral), `SBUS` (S.Bus protocol output via a configured serial port)"
|
||||
description: "An option to chose the protocol/option that would be used to output servo data. Possible options `PWM` (FC servo outputs), `SBUS` (S.Bus protocol output via a configured serial port)"
|
||||
default_value: "PWM"
|
||||
field: servo_protocol
|
||||
table: servo_protocol
|
||||
|
|
@ -1364,8 +1355,8 @@ groups:
|
|||
min: PWM_RANGE_MIN
|
||||
max: PWM_RANGE_MAX
|
||||
- name: fw_tpa_time_constant
|
||||
description: "TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. Planes with low thrust/weight ratio generally need higher time constant. Default is zero for compatibility with old setups"
|
||||
default_value: 0
|
||||
description: "TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. See **PID Attenuation and scaling** Wiki for full details."
|
||||
default_value: 1500
|
||||
field: throttle.fixedWingTauMs
|
||||
min: 0
|
||||
max: 5000
|
||||
|
|
@ -3370,6 +3361,18 @@ groups:
|
|||
field: hud_radar_range_max
|
||||
min: 100
|
||||
max: 9990
|
||||
- name: osd_hud_radar_alt_difference_display_time
|
||||
description: "Time in seconds to display the altitude difference in radar"
|
||||
field: hud_radar_alt_difference_display_time
|
||||
min: 0
|
||||
max: 10
|
||||
default_value: 3
|
||||
- name: osd_hud_radar_distance_display_time
|
||||
description: "Time in seconds to display the distance in radar"
|
||||
field: hud_radar_distance_display_time
|
||||
min: 1
|
||||
max: 10
|
||||
default_value: 3
|
||||
- name: osd_hud_wp_disp
|
||||
description: "How many navigation waypoints are displayed, set to 0 (zero) to disable. As sample, if set to 2, and you just passed the 3rd waypoint of the mission, you'll see markers for the 4th waypoint (marked 1) and the 5th waypoint (marked 2)"
|
||||
default_value: 0
|
||||
|
|
@ -3516,6 +3519,66 @@ groups:
|
|||
max: 6
|
||||
default_value: 3
|
||||
|
||||
- name: osd_mah_used_precision
|
||||
description: Number of digits used to display mAh used.
|
||||
field: mAh_used_precision
|
||||
min: 4
|
||||
max: 6
|
||||
default_value: 4
|
||||
|
||||
- name: osd_switch_indicator_zero_name
|
||||
description: "Character to use for OSD switch incicator 0."
|
||||
field: osd_switch_indicator0_name
|
||||
type: string
|
||||
max: 5
|
||||
default_value: "FLAP"
|
||||
- name: osd_switch_indicator_one_name
|
||||
description: "Character to use for OSD switch incicator 1."
|
||||
field: osd_switch_indicator1_name
|
||||
type: string
|
||||
max: 5
|
||||
default_value: "GEAR"
|
||||
- name: osd_switch_indicator_two_name
|
||||
description: "Character to use for OSD switch incicator 2."
|
||||
field: osd_switch_indicator2_name
|
||||
type: string
|
||||
max: 5
|
||||
default_value: "CAM"
|
||||
- name: osd_switch_indicator_three_name
|
||||
description: "Character to use for OSD switch incicator 3."
|
||||
field: osd_switch_indicator3_name
|
||||
type: string
|
||||
max: 5
|
||||
default_value: "LIGT"
|
||||
- name: osd_switch_indicator_zero_channel
|
||||
description: "RC Channel to use for OSD switch indicator 0."
|
||||
field: osd_switch_indicator0_channel
|
||||
min: 5
|
||||
max: MAX_SUPPORTED_RC_CHANNEL_COUNT
|
||||
default_value: 5
|
||||
- name: osd_switch_indicator_one_channel
|
||||
description: "RC Channel to use for OSD switch indicator 1."
|
||||
field: osd_switch_indicator1_channel
|
||||
min: 5
|
||||
max: MAX_SUPPORTED_RC_CHANNEL_COUNT
|
||||
default_value: 5
|
||||
- name: osd_switch_indicator_two_channel
|
||||
description: "RC Channel to use for OSD switch indicator 2."
|
||||
field: osd_switch_indicator2_channel
|
||||
min: 5
|
||||
max: MAX_SUPPORTED_RC_CHANNEL_COUNT
|
||||
default_value: 5
|
||||
- name: osd_switch_indicator_three_channel
|
||||
description: "RC Channel to use for OSD switch indicator 3."
|
||||
field: osd_switch_indicator3_channel
|
||||
min: 5
|
||||
max: MAX_SUPPORTED_RC_CHANNEL_COUNT
|
||||
default_value: 5
|
||||
- name: osd_switch_indicators_align_left
|
||||
description: "Align text to left of switch indicators"
|
||||
field: osd_switch_indicators_align_left
|
||||
type: bool
|
||||
default_value: ON
|
||||
- name: osd_system_msg_display_time
|
||||
description: System message display cycle time for multiple messages (milliseconds).
|
||||
field: system_msg_display_time
|
||||
|
|
@ -3651,6 +3714,17 @@ groups:
|
|||
default_value: ON
|
||||
field: smartAudioAltSoftSerialMethod
|
||||
type: bool
|
||||
- name: vtx_softserial_shortstop
|
||||
description: "Enable the 3x shorter stopbit on softserial. Need for some IRC Tramp VTXes."
|
||||
default_value: OFF
|
||||
field: softSerialShortStop
|
||||
type: bool
|
||||
- name: vtx_smartaudio_stopbits
|
||||
description: "Set stopbit count for serial (TBS Sixty9 SmartAudio 2.1 require value of 1 bit)"
|
||||
default_value: 2
|
||||
field: smartAudioStopBits
|
||||
min: 1
|
||||
max: 2
|
||||
|
||||
- name: PG_VTX_SETTINGS_CONFIG
|
||||
type: vtxSettingsConfig_t
|
||||
|
|
@ -3659,7 +3733,7 @@ groups:
|
|||
members:
|
||||
- name: vtx_band
|
||||
description: "Configure the VTX band. Set to zero to use `vtx_freq`. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race."
|
||||
default_value: 4
|
||||
default_value: 1
|
||||
field: band
|
||||
min: VTX_SETTINGS_NO_BAND
|
||||
max: VTX_SETTINGS_MAX_BAND
|
||||
|
|
@ -3692,6 +3766,13 @@ groups:
|
|||
field: maxPowerOverride
|
||||
min: 0
|
||||
max: 10000
|
||||
- name: vtx_frequency_group
|
||||
field: frequencyGroup
|
||||
description: "VTx Frequency group to use. Frequency groups: FREQUENCYGROUP_5G8: 5.8GHz, FREQUENCYGROUP_2G4: 2.4GHz, FREQUENCYGROUP_1G3: 1.3GHz."
|
||||
table: vtx_frequency_groups
|
||||
min: 0
|
||||
max: 2
|
||||
default_value: FREQUENCYGROUP_5G8
|
||||
|
||||
- name: PG_PINIOBOX_CONFIG
|
||||
type: pinioBoxConfig_t
|
||||
|
|
|
|||
|
|
@ -93,16 +93,6 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
|
|||
.outputMode = SETTING_OUTPUT_MODE_DEFAULT,
|
||||
);
|
||||
|
||||
#ifdef BRUSHED_MOTORS
|
||||
#define DEFAULT_PWM_PROTOCOL PWM_TYPE_BRUSHED
|
||||
#define DEFAULT_PWM_RATE 16000
|
||||
#else
|
||||
#define DEFAULT_PWM_PROTOCOL PWM_TYPE_ONESHOT125
|
||||
#define DEFAULT_PWM_RATE 400
|
||||
#endif
|
||||
|
||||
#define DEFAULT_MAX_THROTTLE 1850
|
||||
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 9);
|
||||
|
||||
PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
|
||||
|
|
|
|||
|
|
@ -591,8 +591,7 @@ int16_t angleFreefloatDeadband(int16_t deadband, flight_dynamics_index_t axis)
|
|||
}
|
||||
}
|
||||
|
||||
static void pidLevel(pidState_t *pidState, flight_dynamics_index_t axis, float horizonRateMagnitude, float dT)
|
||||
{
|
||||
static float computePidLevelTarget(flight_dynamics_index_t axis) {
|
||||
// This is ROLL/PITCH, run ANGLE/HORIZON controllers
|
||||
float angleTarget = pidRcCommandToAngle(rcCommand[axis], pidProfile()->max_angle_inclination[axis]);
|
||||
|
||||
|
|
@ -620,6 +619,12 @@ static void pidLevel(pidState_t *pidState, flight_dynamics_index_t axis, float h
|
|||
DEBUG_SET(DEBUG_AUTOLEVEL, 3, angleTarget * 10);
|
||||
}
|
||||
|
||||
return angleTarget;
|
||||
}
|
||||
|
||||
static void pidLevel(const float angleTarget, pidState_t *pidState, flight_dynamics_index_t axis, float horizonRateMagnitude, float dT)
|
||||
{
|
||||
|
||||
#ifdef USE_SECONDARY_IMU
|
||||
float actual;
|
||||
if (secondaryImuState.active && secondaryImuConfig()->useForStabilized) {
|
||||
|
|
@ -702,13 +707,13 @@ static float pTermProcess(pidState_t *pidState, float rateError, float dT) {
|
|||
}
|
||||
|
||||
#ifdef USE_D_BOOST
|
||||
static float FAST_CODE applyDBoost(pidState_t *pidState, float dT) {
|
||||
static float FAST_CODE applyDBoost(pidState_t *pidState, float currentRateTarget, float dT) {
|
||||
|
||||
float dBoost = 1.0f;
|
||||
|
||||
const float dBoostGyroDelta = (pidState->gyroRate - pidState->previousRateGyro) / dT;
|
||||
const float dBoostGyroAcceleration = fabsf(biquadFilterApply(&pidState->dBoostGyroLpf, dBoostGyroDelta));
|
||||
const float dBoostRateAcceleration = fabsf((pidState->rateTarget - pidState->previousRateTarget) / dT);
|
||||
const float dBoostRateAcceleration = fabsf((currentRateTarget - pidState->previousRateTarget) / dT);
|
||||
|
||||
if (dBoostGyroAcceleration >= dBoostRateAcceleration) {
|
||||
//Gyro is accelerating faster than setpoint, we want to smooth out
|
||||
|
|
@ -731,7 +736,7 @@ static float applyDBoost(pidState_t *pidState, float dT) {
|
|||
}
|
||||
#endif
|
||||
|
||||
static float dTermProcess(pidState_t *pidState, float dT) {
|
||||
static float dTermProcess(pidState_t *pidState, float currentRateTarget, float dT) {
|
||||
// Calculate new D-term
|
||||
float newDTerm = 0;
|
||||
if (pidState->kD == 0) {
|
||||
|
|
@ -744,7 +749,7 @@ static float dTermProcess(pidState_t *pidState, float dT) {
|
|||
delta = dTermLpf2FilterApplyFn((filter_t *) &pidState->dtermLpf2State, delta);
|
||||
|
||||
// Calculate derivative
|
||||
newDTerm = delta * (pidState->kD / dT) * applyDBoost(pidState, dT);
|
||||
newDTerm = delta * (pidState->kD / dT) * applyDBoost(pidState, currentRateTarget, dT);
|
||||
}
|
||||
return(newDTerm);
|
||||
}
|
||||
|
|
@ -766,10 +771,12 @@ static void nullRateController(pidState_t *pidState, flight_dynamics_index_t axi
|
|||
|
||||
static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT)
|
||||
{
|
||||
const float rateError = pidState->rateTarget - pidState->gyroRate;
|
||||
const float rateTarget = getFlightAxisRateOverride(axis, pidState->rateTarget);
|
||||
|
||||
const float rateError = rateTarget - pidState->gyroRate;
|
||||
const float newPTerm = pTermProcess(pidState, rateError, dT);
|
||||
const float newDTerm = dTermProcess(pidState, dT);
|
||||
const float newFFTerm = pidState->rateTarget * pidState->kFF;
|
||||
const float newDTerm = dTermProcess(pidState, rateTarget, dT);
|
||||
const float newFFTerm = rateTarget * pidState->kFF;
|
||||
|
||||
/*
|
||||
* Integral should be updated only if axis Iterm is not frozen
|
||||
|
|
@ -794,7 +801,7 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
|
|||
|
||||
#ifdef USE_AUTOTUNE_FIXED_WING
|
||||
if (FLIGHT_MODE(AUTO_TUNE) && !FLIGHT_MODE(MANUAL_MODE)) {
|
||||
autotuneFixedWingUpdate(axis, pidState->rateTarget, pidState->gyroRate, constrainf(newPTerm + newFFTerm, -pidState->pidSumLimit, +pidState->pidSumLimit));
|
||||
autotuneFixedWingUpdate(axis, rateTarget, pidState->gyroRate, constrainf(newPTerm + newFFTerm, -pidState->pidSumLimit, +pidState->pidSumLimit));
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
@ -803,7 +810,7 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
|
|||
axisPID_I[axis] = pidState->errorGyroIf;
|
||||
axisPID_D[axis] = newDTerm;
|
||||
axisPID_F[axis] = newFFTerm;
|
||||
axisPID_Setpoint[axis] = pidState->rateTarget;
|
||||
axisPID_Setpoint[axis] = rateTarget;
|
||||
#endif
|
||||
|
||||
pidState->previousRateGyro = pidState->gyroRate;
|
||||
|
|
@ -828,11 +835,14 @@ static float FAST_CODE applyItermRelax(const int axis, float currentPidSetpoint,
|
|||
|
||||
static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT)
|
||||
{
|
||||
const float rateError = pidState->rateTarget - pidState->gyroRate;
|
||||
const float newPTerm = pTermProcess(pidState, rateError, dT);
|
||||
const float newDTerm = dTermProcess(pidState, dT);
|
||||
|
||||
const float rateTargetDelta = pidState->rateTarget - pidState->previousRateTarget;
|
||||
const float rateTarget = getFlightAxisRateOverride(axis, pidState->rateTarget);
|
||||
|
||||
const float rateError = rateTarget - pidState->gyroRate;
|
||||
const float newPTerm = pTermProcess(pidState, rateError, dT);
|
||||
const float newDTerm = dTermProcess(pidState, rateTarget, dT);
|
||||
|
||||
const float rateTargetDelta = rateTarget - pidState->previousRateTarget;
|
||||
const float rateTargetDeltaFiltered = pt3FilterApply(&pidState->rateTargetFilter, rateTargetDelta);
|
||||
|
||||
/*
|
||||
|
|
@ -844,7 +854,7 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
|
|||
const float newOutput = newPTerm + newDTerm + pidState->errorGyroIf + newCDTerm;
|
||||
const float newOutputLimited = constrainf(newOutput, -pidState->pidSumLimit, +pidState->pidSumLimit);
|
||||
|
||||
float itermErrorRate = applyItermRelax(axis, pidState->rateTarget, rateError);
|
||||
float itermErrorRate = applyItermRelax(axis, rateTarget, rateError);
|
||||
|
||||
#ifdef USE_ANTIGRAVITY
|
||||
itermErrorRate *= iTermAntigravityGain;
|
||||
|
|
@ -863,10 +873,10 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
|
|||
axisPID_I[axis] = pidState->errorGyroIf;
|
||||
axisPID_D[axis] = newDTerm;
|
||||
axisPID_F[axis] = newCDTerm;
|
||||
axisPID_Setpoint[axis] = pidState->rateTarget;
|
||||
axisPID_Setpoint[axis] = rateTarget;
|
||||
#endif
|
||||
|
||||
pidState->previousRateTarget = pidState->rateTarget;
|
||||
pidState->previousRateTarget = rateTarget;
|
||||
pidState->previousRateGyro = pidState->gyroRate;
|
||||
}
|
||||
|
||||
|
|
@ -1088,6 +1098,12 @@ void FAST_CODE pidController(float dT)
|
|||
bool canUseFpvCameraMix = true;
|
||||
uint8_t headingHoldState = getHeadingHoldState();
|
||||
|
||||
// In case Yaw override is active, we engage the Heading Hold state
|
||||
if (isFlightAxisAngleOverrideActive(FD_YAW)) {
|
||||
headingHoldState = HEADING_HOLD_ENABLED;
|
||||
headingHoldTarget = getFlightAxisAngleOverride(FD_YAW, 0);
|
||||
}
|
||||
|
||||
if (headingHoldState == HEADING_HOLD_UPDATE_HEADING) {
|
||||
updateHeadingHoldTarget(DECIDEGREES_TO_DEGREES(attitude.values.yaw));
|
||||
}
|
||||
|
|
@ -1126,14 +1142,18 @@ void FAST_CODE pidController(float dT)
|
|||
}
|
||||
|
||||
// Step 3: Run control for ANGLE_MODE, HORIZON_MODE, and HEADING_LOCK
|
||||
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
|
||||
const float horizonRateMagnitude = calcHorizonRateMagnitude();
|
||||
pidLevel(&pidState[FD_ROLL], FD_ROLL, horizonRateMagnitude, dT);
|
||||
pidLevel(&pidState[FD_PITCH], FD_PITCH, horizonRateMagnitude, dT);
|
||||
canUseFpvCameraMix = false; // FPVANGLEMIX is incompatible with ANGLE/HORIZON
|
||||
levelingEnabled = true;
|
||||
} else {
|
||||
levelingEnabled = false;
|
||||
const float horizonRateMagnitude = calcHorizonRateMagnitude();
|
||||
levelingEnabled = false;
|
||||
for (uint8_t axis = FD_ROLL; axis <= FD_PITCH; axis++) {
|
||||
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || isFlightAxisAngleOverrideActive(axis)) {
|
||||
//If axis angle override, get the correct angle from Logic Conditions
|
||||
float angleTarget = getFlightAxisAngleOverride(axis, computePidLevelTarget(axis));
|
||||
|
||||
//Apply the Level PID controller
|
||||
pidLevel(angleTarget, &pidState[axis], axis, horizonRateMagnitude, dT);
|
||||
canUseFpvCameraMix = false; // FPVANGLEMIX is incompatible with ANGLE/HORIZON
|
||||
levelingEnabled = true;
|
||||
}
|
||||
}
|
||||
|
||||
if ((FLIGHT_MODE(TURN_ASSISTANT) || navigationRequiresTurnAssistance()) && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || navigationRequiresTurnAssistance())) {
|
||||
|
|
|
|||
|
|
@ -127,7 +127,7 @@ static float estimateRTHDistanceAndHeadingAfterAltitudeChange(float altitudeChan
|
|||
float triangleAltitudeToReturnStart = estimatedAltitudeChangeGroundDistance - GPS_distanceToHome * cos_approx(headingDiff);
|
||||
const float reverseHeadingDiff = RADIANS_TO_DEGREES(atan2_approx(triangleAltitude, triangleAltitudeToReturnStart));
|
||||
*heading = CENTIDEGREES_TO_DEGREES(wrap_36000(DEGREES_TO_CENTIDEGREES(180 + reverseHeadingDiff + DECIDEGREES_TO_DEGREES((float)attitude.values.yaw))));
|
||||
return sqrt(sq(triangleAltitude) + sq(triangleAltitudeToReturnStart));
|
||||
return calc_length_pythagorean_2D(triangleAltitude, triangleAltitudeToReturnStart);
|
||||
} else {
|
||||
*heading = GPS_directionToHome;
|
||||
return GPS_distanceToHome - estimatedAltitudeChangeGroundDistance;
|
||||
|
|
|
|||
|
|
@ -58,7 +58,7 @@
|
|||
|
||||
#include "sensors/gyro.h"
|
||||
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(servoConfig_t, servoConfig, PG_SERVO_CONFIG, 2);
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(servoConfig_t, servoConfig, PG_SERVO_CONFIG, 3);
|
||||
|
||||
PG_RESET_TEMPLATE(servoConfig_t, servoConfig,
|
||||
.servoCenterPulse = SETTING_SERVO_CENTER_PULSE_DEFAULT,
|
||||
|
|
|
|||
|
|
@ -91,9 +91,6 @@ static gpsProviderDescriptor_t gpsProviders[GPS_PROVIDER_COUNT] = {
|
|||
{ false, 0, false, NULL, NULL },
|
||||
#endif
|
||||
|
||||
/* Stub */
|
||||
{ false, 0, false, NULL, NULL },
|
||||
|
||||
/* NAZA GPS module */
|
||||
#ifdef USE_GPS_PROTO_NAZA
|
||||
{ false, MODE_RX, true, &gpsRestartNAZA, &gpsHandleNAZA },
|
||||
|
|
@ -123,7 +120,7 @@ static gpsProviderDescriptor_t gpsProviders[GPS_PROVIDER_COUNT] = {
|
|||
#endif
|
||||
};
|
||||
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 1);
|
||||
|
||||
PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
|
||||
.provider = SETTING_GPS_PROVIDER_DEFAULT,
|
||||
|
|
|
|||
|
|
@ -34,7 +34,6 @@
|
|||
typedef enum {
|
||||
GPS_NMEA = 0,
|
||||
GPS_UBLOX,
|
||||
GPS_I2CNAV,
|
||||
GPS_NAZA,
|
||||
GPS_UBLOX7PLUS,
|
||||
GPS_MTK,
|
||||
|
|
|
|||
|
|
@ -194,7 +194,7 @@ static bool NAZA_parse_gps(void)
|
|||
gpsSol.eph = gpsConstrainEPE(h_acc / 10); // hAcc in cm
|
||||
gpsSol.epv = gpsConstrainEPE(v_acc / 10); // vAcc in cm
|
||||
gpsSol.numSat = _buffernaza.nav.satellites;
|
||||
gpsSol.groundSpeed = fast_fsqrtf(sq(gpsSol.velNED[X]) + sq(gpsSol.velNED[Y])); //cm/s
|
||||
gpsSol.groundSpeed = calc_length_pythagorean_2D(gpsSol.velNED[X], gpsSol.velNED[Y]); //cm/s
|
||||
|
||||
// calculate gps heading from VELNE
|
||||
gpsSol.groundCourse = (uint16_t)(fmodf(RADIANS_TO_DECIDEGREES(atan2_approx(gpsSol.velNED[Y], gpsSol.velNED[X])) + 3600.0f, 3600.0f));
|
||||
|
|
|
|||
|
|
@ -961,27 +961,6 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
|
|||
|
||||
// Change baud rate
|
||||
if (gpsState.gpsConfig->autoBaud != GPS_AUTOBAUD_OFF) {
|
||||
#if 0
|
||||
// Autobaud logic:
|
||||
// 0. Wait for TX buffer to be empty
|
||||
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
|
||||
|
||||
// 1. Set serial port to baud rate specified by [autoBaudrateIndex]
|
||||
serialSetBaudRate(gpsState.gpsPort, baudRates[gpsToSerialBaudRate[gpsState.autoBaudrateIndex]]);
|
||||
gpsState.autoBaudrateIndex = (gpsState.autoBaudrateIndex + 1) % GPS_BAUDRATE_COUNT;
|
||||
|
||||
// 2. Send an $UBX command to switch the baud rate specified by portConfig [baudrateIndex]
|
||||
serialPrint(gpsState.gpsPort, baudInitDataNMEA[gpsState.baudrateIndex]);
|
||||
|
||||
// 3. Wait for command to be received and processed by GPS
|
||||
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
|
||||
|
||||
// 4. Switch to [baudrateIndex]
|
||||
serialSetBaudRate(gpsState.gpsPort, baudRates[gpsToSerialBaudRate[gpsState.baudrateIndex]]);
|
||||
|
||||
// 5. Attempt to configure the GPS
|
||||
ptDelayMs(GPS_BAUD_CHANGE_DELAY);
|
||||
#else
|
||||
// 0. Wait for TX buffer to be empty
|
||||
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
|
||||
|
||||
|
|
@ -998,9 +977,7 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
|
|||
// 4. Extra wait to make sure GPS processed the command
|
||||
ptDelayMs(GPS_BAUD_CHANGE_DELAY);
|
||||
}
|
||||
|
||||
serialSetBaudRate(gpsState.gpsPort, baudRates[gpsToSerialBaudRate[gpsState.baudrateIndex]]);
|
||||
#endif
|
||||
}
|
||||
else {
|
||||
// No auto baud - set port baud rate to [baudrateIndex]
|
||||
|
|
|
|||
|
|
@ -1506,6 +1506,40 @@ int8_t getGeoWaypointNumber(int8_t waypointIndex)
|
|||
return geoWaypointIndex + 1;
|
||||
}
|
||||
|
||||
void osdDisplaySwitchIndicator(const char *swName, int rcValue, char *buff) {
|
||||
int8_t ptr = 0;
|
||||
|
||||
if (osdConfig()->osd_switch_indicators_align_left) {
|
||||
for (ptr = 0; ptr < constrain(strlen(swName), 0, OSD_SWITCH_INDICATOR_NAME_LENGTH); ptr++) {
|
||||
buff[ptr] = swName[ptr];
|
||||
}
|
||||
|
||||
if ( rcValue < 1333) {
|
||||
buff[ptr++] = SYM_SWITCH_INDICATOR_LOW;
|
||||
} else if ( rcValue > 1666) {
|
||||
buff[ptr++] = SYM_SWITCH_INDICATOR_HIGH;
|
||||
} else {
|
||||
buff[ptr++] = SYM_SWITCH_INDICATOR_MID;
|
||||
}
|
||||
} else {
|
||||
if ( rcValue < 1333) {
|
||||
buff[ptr++] = SYM_SWITCH_INDICATOR_LOW;
|
||||
} else if ( rcValue > 1666) {
|
||||
buff[ptr++] = SYM_SWITCH_INDICATOR_HIGH;
|
||||
} else {
|
||||
buff[ptr++] = SYM_SWITCH_INDICATOR_MID;
|
||||
}
|
||||
|
||||
for (ptr = 1; ptr < constrain(strlen(swName), 0, OSD_SWITCH_INDICATOR_NAME_LENGTH) + 1; ptr++) {
|
||||
buff[ptr] = swName[ptr-1];
|
||||
}
|
||||
|
||||
ptr++;
|
||||
}
|
||||
|
||||
buff[ptr] = '\0';
|
||||
}
|
||||
|
||||
static bool osdDrawSingleElement(uint8_t item)
|
||||
{
|
||||
uint16_t pos = osdLayoutsConfig()->item_pos[currentLayout][item];
|
||||
|
|
@ -1548,13 +1582,18 @@ static bool osdDrawSingleElement(uint8_t item)
|
|||
}
|
||||
break;
|
||||
|
||||
case OSD_MAH_DRAWN:
|
||||
tfp_sprintf(buff, "%4d", (int)getMAhDrawn());
|
||||
buff[4] = SYM_MAH;
|
||||
buff[5] = '\0';
|
||||
case OSD_MAH_DRAWN: {
|
||||
if (osdFormatCentiNumber(buff, getMAhDrawn() * 100, 1000, 0, (osdConfig()->mAh_used_precision - 2), osdConfig()->mAh_used_precision)) {
|
||||
// Shown in mAh
|
||||
buff[osdConfig()->mAh_used_precision] = SYM_AH;
|
||||
} else {
|
||||
// Shown in Ah
|
||||
buff[osdConfig()->mAh_used_precision] = SYM_MAH;
|
||||
}
|
||||
buff[(osdConfig()->mAh_used_precision + 1)] = '\0';
|
||||
osdUpdateBatteryCapacityOrVoltageTextAttributes(&elemAttr);
|
||||
break;
|
||||
|
||||
}
|
||||
case OSD_WH_DRAWN:
|
||||
osdFormatCentiNumber(buff, getMWhDrawn() / 10, 0, 2, 0, 3);
|
||||
osdUpdateBatteryCapacityOrVoltageTextAttributes(&elemAttr);
|
||||
|
|
@ -2274,6 +2313,22 @@ static bool osdDrawSingleElement(uint8_t item)
|
|||
}
|
||||
#endif
|
||||
|
||||
case OSD_SWITCH_INDICATOR_0:
|
||||
osdDisplaySwitchIndicator(osdConfig()->osd_switch_indicator0_name, rxGetChannelValue(osdConfig()->osd_switch_indicator0_channel - 1), buff);
|
||||
break;
|
||||
|
||||
case OSD_SWITCH_INDICATOR_1:
|
||||
osdDisplaySwitchIndicator(osdConfig()->osd_switch_indicator1_name, rxGetChannelValue(osdConfig()->osd_switch_indicator1_channel - 1), buff);
|
||||
break;
|
||||
|
||||
case OSD_SWITCH_INDICATOR_2:
|
||||
osdDisplaySwitchIndicator(osdConfig()->osd_switch_indicator2_name, rxGetChannelValue(osdConfig()->osd_switch_indicator2_channel - 1), buff);
|
||||
break;
|
||||
|
||||
case OSD_SWITCH_INDICATOR_3:
|
||||
osdDisplaySwitchIndicator(osdConfig()->osd_switch_indicator3_name, rxGetChannelValue(osdConfig()->osd_switch_indicator3_channel - 1), buff);
|
||||
break;
|
||||
|
||||
case OSD_ACTIVE_PROFILE:
|
||||
tfp_sprintf(buff, "%c%u", SYM_PROFILE, (getConfigProfile() + 1));
|
||||
displayWrite(osdDisplayPort, elemPosX, elemPosY, buff);
|
||||
|
|
@ -2964,6 +3019,16 @@ static bool osdDrawSingleElement(uint8_t item)
|
|||
|
||||
return true;
|
||||
}
|
||||
case OSD_TPA_TIME_CONSTANT:
|
||||
{
|
||||
osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "TPA TC", 0, currentControlRateProfile->throttle.fixedWingTauMs, 4, 0, ADJUSTMENT_FW_TPA_TIME_CONSTANT);
|
||||
return true;
|
||||
}
|
||||
case OSD_FW_LEVEL_TRIM:
|
||||
{
|
||||
osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "LEVEL", 0, pidProfileMutable()->fixedWingLevelTrim, 3, 1, ADJUSTMENT_FW_LEVEL_TRIM);
|
||||
return true;
|
||||
}
|
||||
|
||||
case OSD_NAV_FW_CONTROL_SMOOTHNESS:
|
||||
osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "CTL S", 0, navConfig()->fw.control_smoothness, 1, 0, ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS);
|
||||
|
|
@ -3206,6 +3271,8 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
|
|||
.hud_radar_disp = SETTING_OSD_HUD_RADAR_DISP_DEFAULT,
|
||||
.hud_radar_range_min = SETTING_OSD_HUD_RADAR_RANGE_MIN_DEFAULT,
|
||||
.hud_radar_range_max = SETTING_OSD_HUD_RADAR_RANGE_MAX_DEFAULT,
|
||||
.hud_radar_alt_difference_display_time = SETTING_OSD_HUD_RADAR_ALT_DIFFERENCE_DISPLAY_TIME_DEFAULT,
|
||||
.hud_radar_distance_display_time = SETTING_OSD_HUD_RADAR_DISTANCE_DISPLAY_TIME_DEFAULT,
|
||||
.hud_wp_disp = SETTING_OSD_HUD_WP_DISP_DEFAULT,
|
||||
.left_sidebar_scroll = SETTING_OSD_LEFT_SIDEBAR_SCROLL_DEFAULT,
|
||||
.right_sidebar_scroll = SETTING_OSD_RIGHT_SIDEBAR_SCROLL_DEFAULT,
|
||||
|
|
@ -3218,6 +3285,16 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
|
|||
.pan_servo_index = SETTING_OSD_PAN_SERVO_INDEX_DEFAULT,
|
||||
.pan_servo_pwm2centideg = SETTING_OSD_PAN_SERVO_PWM2CENTIDEG_DEFAULT,
|
||||
.esc_rpm_precision = SETTING_OSD_ESC_RPM_PRECISION_DEFAULT,
|
||||
.mAh_used_precision = SETTING_OSD_MAH_USED_PRECISION_DEFAULT,
|
||||
.osd_switch_indicator0_name = SETTING_OSD_SWITCH_INDICATOR_ZERO_NAME_DEFAULT,
|
||||
.osd_switch_indicator0_channel = SETTING_OSD_SWITCH_INDICATOR_ZERO_CHANNEL_DEFAULT,
|
||||
.osd_switch_indicator1_name = SETTING_OSD_SWITCH_INDICATOR_ONE_NAME_DEFAULT,
|
||||
.osd_switch_indicator1_channel = SETTING_OSD_SWITCH_INDICATOR_ONE_CHANNEL_DEFAULT,
|
||||
.osd_switch_indicator2_name = SETTING_OSD_SWITCH_INDICATOR_TWO_NAME_DEFAULT,
|
||||
.osd_switch_indicator2_channel = SETTING_OSD_SWITCH_INDICATOR_TWO_CHANNEL_DEFAULT,
|
||||
.osd_switch_indicator3_name = SETTING_OSD_SWITCH_INDICATOR_THREE_NAME_DEFAULT,
|
||||
.osd_switch_indicator3_channel = SETTING_OSD_SWITCH_INDICATOR_THREE_CHANNEL_DEFAULT,
|
||||
.osd_switch_indicators_align_left = SETTING_OSD_SWITCH_INDICATORS_ALIGN_LEFT_DEFAULT,
|
||||
.system_msg_display_time = SETTING_OSD_SYSTEM_MSG_DISPLAY_TIME_DEFAULT,
|
||||
.units = SETTING_OSD_UNITS_DEFAULT,
|
||||
.main_voltage_decimals = SETTING_OSD_MAIN_VOLTAGE_DECIMALS_DEFAULT,
|
||||
|
|
@ -3380,6 +3457,11 @@ void pgResetFn_osdLayoutsConfig(osdLayoutsConfig_t *osdLayoutsConfig)
|
|||
osdLayoutsConfig->item_pos[0][OSD_GVAR_2] = OSD_POS(1, 3);
|
||||
osdLayoutsConfig->item_pos[0][OSD_GVAR_3] = OSD_POS(1, 4);
|
||||
|
||||
osdLayoutsConfig->item_pos[0][OSD_SWITCH_INDICATOR_0] = OSD_POS(2, 7);
|
||||
osdLayoutsConfig->item_pos[0][OSD_SWITCH_INDICATOR_1] = OSD_POS(2, 8);
|
||||
osdLayoutsConfig->item_pos[0][OSD_SWITCH_INDICATOR_2] = OSD_POS(2, 9);
|
||||
osdLayoutsConfig->item_pos[0][OSD_SWITCH_INDICATOR_3] = OSD_POS(2, 10);
|
||||
|
||||
#if defined(USE_ESC_SENSOR)
|
||||
osdLayoutsConfig->item_pos[0][OSD_ESC_RPM] = OSD_POS(1, 2);
|
||||
osdLayoutsConfig->item_pos[0][OSD_ESC_TEMPERATURE] = OSD_POS(1, 3);
|
||||
|
|
|
|||
|
|
@ -253,6 +253,12 @@ typedef enum {
|
|||
OSD_AIR_MAX_SPEED,
|
||||
OSD_ACTIVE_PROFILE,
|
||||
OSD_MISSION,
|
||||
OSD_SWITCH_INDICATOR_0,
|
||||
OSD_SWITCH_INDICATOR_1,
|
||||
OSD_SWITCH_INDICATOR_2,
|
||||
OSD_SWITCH_INDICATOR_3,
|
||||
OSD_TPA_TIME_CONSTANT,
|
||||
OSD_FW_LEVEL_TRIM,
|
||||
OSD_ITEM_COUNT // MUST BE LAST
|
||||
} osd_items_e;
|
||||
|
||||
|
|
@ -318,6 +324,8 @@ typedef struct osdLayoutsConfig_s {
|
|||
|
||||
PG_DECLARE(osdLayoutsConfig_t, osdLayoutsConfig);
|
||||
|
||||
#define OSD_SWITCH_INDICATOR_NAME_LENGTH 4
|
||||
|
||||
typedef struct osdConfig_s {
|
||||
// Alarms
|
||||
uint8_t rssi_alarm; // rssi %
|
||||
|
|
@ -372,6 +380,8 @@ typedef struct osdConfig_s {
|
|||
uint8_t hud_radar_disp;
|
||||
uint16_t hud_radar_range_min;
|
||||
uint16_t hud_radar_range_max;
|
||||
uint8_t hud_radar_alt_difference_display_time;
|
||||
uint8_t hud_radar_distance_display_time;
|
||||
uint8_t hud_wp_disp;
|
||||
|
||||
uint8_t left_sidebar_scroll; // from osd_sidebar_scroll_e
|
||||
|
|
@ -389,27 +399,36 @@ typedef struct osdConfig_s {
|
|||
|
||||
uint8_t coordinate_digits;
|
||||
|
||||
bool osd_failsafe_switch_layout;
|
||||
bool osd_failsafe_switch_layout;
|
||||
uint8_t plus_code_digits; // Number of digits to use in OSD_PLUS_CODE
|
||||
uint8_t plus_code_short;
|
||||
uint8_t ahi_style;
|
||||
uint8_t force_grid; // Force a pixel based OSD to use grid mode.
|
||||
uint8_t ahi_bordered; // Only used by the AHI widget
|
||||
uint8_t ahi_width; // In pixels, only used by the AHI widget
|
||||
uint8_t ahi_height; // In pixels, only used by the AHI widget
|
||||
int8_t ahi_vertical_offset; // Offset from center in pixels. Positive moves the AHI down. Widget only.
|
||||
int8_t sidebar_horizontal_offset; // Horizontal offset from default position. Units are grid slots for grid OSDs, pixels for pixel based OSDs. Positive values move sidebars closer to the edges.
|
||||
uint8_t left_sidebar_scroll_step; // How many units each sidebar step represents. 0 means the default value for the scroll type.
|
||||
uint8_t right_sidebar_scroll_step; // Same as left_sidebar_scroll_step, but for the right sidebar.
|
||||
bool osd_home_position_arm_screen;
|
||||
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 force_grid; // Force a pixel based OSD to use grid mode.
|
||||
uint8_t ahi_bordered; // Only used by the AHI widget
|
||||
uint8_t ahi_width; // In pixels, only used by the AHI widget
|
||||
uint8_t ahi_height; // In pixels, only used by the AHI widget
|
||||
int8_t ahi_vertical_offset; // Offset from center in pixels. Positive moves the AHI down. Widget only.
|
||||
int8_t sidebar_horizontal_offset; // Horizontal offset from default position. Units are grid slots for grid OSDs, pixels for pixel based OSDs. Positive values move sidebars closer to the edges.
|
||||
uint8_t left_sidebar_scroll_step; // How many units each sidebar step represents. 0 means the default value for the scroll type.
|
||||
uint8_t right_sidebar_scroll_step; // Same as left_sidebar_scroll_step, but for the right sidebar.
|
||||
bool osd_home_position_arm_screen;
|
||||
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;
|
||||
uint16_t system_msg_display_time; // system message display time for multiple messages (ms)
|
||||
uint8_t sidebar_height; // sidebar height in rows, 0 turns off sidebars leaving only level indicator arrows
|
||||
uint8_t telemetry; // use telemetry on displayed pixel line 0
|
||||
uint8_t esc_rpm_precision; // Number of characters used for the RPM numbers.
|
||||
|
||||
uint8_t sidebar_height; // sidebar height in rows, 0 turns off sidebars leaving only level indicator arrows
|
||||
uint8_t telemetry; // use telemetry on displayed pixel line 0
|
||||
uint8_t esc_rpm_precision; // Number of characters used for the RPM numbers.
|
||||
uint16_t system_msg_display_time; // system message display time for multiple messages (ms)
|
||||
uint8_t mAh_used_precision; // Number of numbers used for mAh drawn. Plently of packs now are > 9999 mAh
|
||||
char osd_switch_indicator0_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 0.
|
||||
uint8_t osd_switch_indicator0_channel; // RC Channel to use for switch indicator 0.
|
||||
char osd_switch_indicator1_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 1.
|
||||
uint8_t osd_switch_indicator1_channel; // RC Channel to use for switch indicator 1.
|
||||
char osd_switch_indicator2_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 2.
|
||||
uint8_t osd_switch_indicator2_channel; // RC Channel to use for switch indicator 2.
|
||||
char osd_switch_indicator3_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 3.
|
||||
uint8_t osd_switch_indicator3_channel; // RC Channel to use for switch indicator 3.
|
||||
bool osd_switch_indicators_align_left; // Align switch indicator name to left of the switch.
|
||||
} osdConfig_t;
|
||||
|
||||
PG_DECLARE(osdConfig_t, osdConfig);
|
||||
|
|
|
|||
|
|
@ -202,17 +202,48 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu
|
|||
|
||||
// Distance
|
||||
|
||||
if (((millis() / 1000) % 6 == 0) && poiType > 0) { // For Radar and WPs, display the difference in altitude
|
||||
altc = ((osd_unit_e)osdConfig()->units == OSD_UNIT_IMPERIAL) ? constrain(CENTIMETERS_TO_FEET(poiAltitude * 100), -99, 99) : constrain(poiAltitude, -99 , 99);
|
||||
tfp_sprintf(buff, "%3d", altc);
|
||||
buff[0] = (poiAltitude >= 0) ? SYM_HUD_ARROWS_U3 : SYM_HUD_ARROWS_D3;
|
||||
}
|
||||
else { // Display the distance by default
|
||||
if ((osd_unit_e)osdConfig()->units == OSD_UNIT_IMPERIAL) {
|
||||
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_MILE, 0, 3, 3);
|
||||
if (poiType > 0 &&
|
||||
((millis() / 1000) % (osdConfig()->hud_radar_alt_difference_display_time + osdConfig()->hud_radar_distance_display_time) < (osdConfig()->hud_radar_alt_difference_display_time % (osdConfig()->hud_radar_alt_difference_display_time + osdConfig()->hud_radar_distance_display_time)))
|
||||
) { // For Radar and WPs, display the difference in altitude, then distance. Time is pilot defined
|
||||
altc = constrain(poiAltitude, -99 , 99);
|
||||
|
||||
switch ((osd_unit_e)osdConfig()->units) {
|
||||
case OSD_UNIT_UK:
|
||||
FALLTHROUGH;
|
||||
case OSD_UNIT_GA:
|
||||
FALLTHROUGH;
|
||||
case OSD_UNIT_IMPERIAL:
|
||||
// Convert to feet
|
||||
altc = constrain(CENTIMETERS_TO_FEET(poiAltitude * 100), -99, 99);
|
||||
break;
|
||||
default:
|
||||
FALLTHROUGH;
|
||||
case OSD_UNIT_METRIC_MPH:
|
||||
FALLTHROUGH;
|
||||
case OSD_UNIT_METRIC:
|
||||
// Already in metres
|
||||
break;
|
||||
}
|
||||
else {
|
||||
osdFormatCentiNumber(buff, poiDistance * 100, METERS_PER_KILOMETER, 0, 3, 3);
|
||||
|
||||
tfp_sprintf(buff, "%3d", altc);
|
||||
buff[0] = (poiAltitude >= 0) ? SYM_DIRECTION : SYM_DIRECTION+4;
|
||||
} else { // Display the distance by default
|
||||
switch ((osd_unit_e)osdConfig()->units) {
|
||||
case OSD_UNIT_UK:
|
||||
FALLTHROUGH;
|
||||
case OSD_UNIT_IMPERIAL:
|
||||
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_MILE, 0, 3, 3);
|
||||
break;
|
||||
case OSD_UNIT_GA:
|
||||
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_NAUTICALMILE, 0, 3, 3);
|
||||
break;
|
||||
default:
|
||||
FALLTHROUGH;
|
||||
case OSD_UNIT_METRIC_MPH:
|
||||
FALLTHROUGH;
|
||||
case OSD_UNIT_METRIC:
|
||||
osdFormatCentiNumber(buff, poiDistance * 100, METERS_PER_KILOMETER, 0, 3, 3);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,70 +0,0 @@
|
|||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "drivers/io_pca9685.h"
|
||||
|
||||
#include "fc/config.h"
|
||||
#include "fc/runtime_config.h"
|
||||
|
||||
#include "config/feature.h"
|
||||
#include "platform.h"
|
||||
|
||||
#ifdef USE_PWM_SERVO_DRIVER
|
||||
|
||||
#define PWM_DRIVER_IMPLEMENTATION_COUNT 1
|
||||
#define PWM_DRIVER_MAX_CYCLE 4
|
||||
|
||||
static bool driverEnabled = false;
|
||||
static uint8_t driverImplementationIndex = 0;
|
||||
|
||||
typedef struct {
|
||||
bool (*initFunction)(void);
|
||||
void (*writeFunction)(uint8_t servoIndex, uint16_t off);
|
||||
void (*setFrequencyFunction)(uint16_t freq);
|
||||
void (*syncFunction)(uint8_t cycleIndex);
|
||||
} pwmDriverDriver_t;
|
||||
|
||||
pwmDriverDriver_t pwmDrivers[PWM_DRIVER_IMPLEMENTATION_COUNT] = {
|
||||
[0] = {
|
||||
.initFunction = pca9685Initialize,
|
||||
.writeFunction = pca9685setServoPulse,
|
||||
.setFrequencyFunction = pca9685setPWMFreq,
|
||||
.syncFunction = pca9685sync
|
||||
}
|
||||
};
|
||||
|
||||
bool isPwmDriverEnabled(void) {
|
||||
return driverEnabled;
|
||||
}
|
||||
|
||||
void pwmDriverSetPulse(uint8_t servoIndex, uint16_t length) {
|
||||
(pwmDrivers[driverImplementationIndex].writeFunction)(servoIndex, length);
|
||||
}
|
||||
|
||||
void pwmDriverInitialize(void) {
|
||||
driverEnabled = (pwmDrivers[driverImplementationIndex].initFunction)();
|
||||
|
||||
if (driverEnabled) {
|
||||
ENABLE_STATE(PWM_DRIVER_AVAILABLE);
|
||||
} else {
|
||||
DISABLE_STATE(PWM_DRIVER_AVAILABLE);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void pwmDriverSync(void) {
|
||||
if (!STATE(PWM_DRIVER_AVAILABLE)) {
|
||||
return;
|
||||
}
|
||||
|
||||
static uint8_t cycle = 0;
|
||||
|
||||
(pwmDrivers[driverImplementationIndex].syncFunction)(cycle);
|
||||
|
||||
cycle++;
|
||||
if (cycle == PWM_DRIVER_MAX_CYCLE) {
|
||||
cycle = 0;
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
|
||||
void pwmDriverInitialize(void);
|
||||
void pwmDriverSync(void);
|
||||
void pwmDriverSetPulse(uint8_t servoIndex, uint16_t length);
|
||||
|
|
@ -53,6 +53,7 @@ PG_RESET_TEMPLATE(vtxSettingsConfig_t, vtxSettingsConfig,
|
|||
.pitModeChan = SETTING_VTX_PIT_MODE_CHAN_DEFAULT,
|
||||
.lowPowerDisarm = SETTING_VTX_LOW_POWER_DISARM_DEFAULT,
|
||||
.maxPowerOverride = SETTING_VTX_MAX_POWER_OVERRIDE_DEFAULT,
|
||||
.frequencyGroup = SETTING_VTX_FREQUENCY_GROUP_DEFAULT,
|
||||
);
|
||||
|
||||
typedef enum {
|
||||
|
|
|
|||
|
|
@ -41,6 +41,7 @@ typedef struct vtxSettingsConfig_s {
|
|||
uint16_t pitModeChan; // sets out-of-range pitmode frequency
|
||||
uint8_t lowPowerDisarm; // min power while disarmed, from vtxLowerPowerDisarm_e
|
||||
uint16_t maxPowerOverride; // for VTX drivers that are polling VTX capabilities - override what VTX is reporting
|
||||
uint8_t frequencyGroup; // Frequencies being used, i.e. 5.8, 2.4, or 1.3 GHz
|
||||
} vtxSettingsConfig_t;
|
||||
|
||||
PG_DECLARE(vtxSettingsConfig_t, vtxSettingsConfig);
|
||||
|
|
|
|||
|
|
@ -40,12 +40,14 @@
|
|||
|
||||
#if defined(USE_VTX_CONTROL)
|
||||
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(vtxConfig_t, vtxConfig, PG_VTX_CONFIG, 3);
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(vtxConfig_t, vtxConfig, PG_VTX_CONFIG, 4);
|
||||
|
||||
PG_RESET_TEMPLATE(vtxConfig_t, vtxConfig,
|
||||
.halfDuplex = SETTING_VTX_HALFDUPLEX_DEFAULT,
|
||||
.smartAudioEarlyAkkWorkaroundEnable = SETTING_VTX_SMARTAUDIO_EARLY_AKK_WORKAROUND_DEFAULT,
|
||||
.smartAudioAltSoftSerialMethod = SETTING_VTX_SMARTAUDIO_ALTERNATE_SOFTSERIAL_METHOD_DEFAULT,
|
||||
.softSerialShortStop = SETTING_VTX_SOFTSERIAL_SHORTSTOP_DEFAULT,
|
||||
.smartAudioStopBits = SETTING_VTX_SMARTAUDIO_STOPBITS_DEFAULT,
|
||||
);
|
||||
|
||||
static uint8_t locked = 0;
|
||||
|
|
|
|||
|
|
@ -33,6 +33,8 @@ typedef struct vtxConfig_s {
|
|||
uint8_t halfDuplex;
|
||||
uint8_t smartAudioEarlyAkkWorkaroundEnable;
|
||||
bool smartAudioAltSoftSerialMethod;
|
||||
bool softSerialShortStop;
|
||||
uint8_t smartAudioStopBits;
|
||||
} vtxConfig_t;
|
||||
|
||||
PG_DECLARE(vtxConfig_t, vtxConfig);
|
||||
|
|
|
|||
|
|
@ -236,11 +236,6 @@ static void saAutobaud(void)
|
|||
return;
|
||||
}
|
||||
|
||||
#if 0
|
||||
LOG_D(VTX, "autobaud: %d rcvd %d/%d (%d)",
|
||||
sa_smartbaud, saStat.pktrcvd, saStat.pktsent, ((saStat.pktrcvd * 100) / saStat.pktsent)));
|
||||
#endif
|
||||
|
||||
if (((saStat.pktrcvd * 100) / saStat.pktsent) >= 70) {
|
||||
// This is okay
|
||||
saStat.pktsent = 0; // Should be more moderate?
|
||||
|
|
@ -642,13 +637,6 @@ void saSetPitFreq(uint16_t freq)
|
|||
saSetFreq(freq | SA_FREQ_SETPIT);
|
||||
}
|
||||
|
||||
#if 0
|
||||
static void saGetPitFreq(void)
|
||||
{
|
||||
saDoDevSetFreq(SA_FREQ_GETPIT);
|
||||
}
|
||||
#endif
|
||||
|
||||
static bool saValidateBandAndChannel(uint8_t band, uint8_t channel)
|
||||
{
|
||||
return (band >= VTX_SMARTAUDIO_MIN_BAND && band <= VTX_SMARTAUDIO_MAX_BAND &&
|
||||
|
|
@ -689,7 +677,7 @@ bool vtxSmartAudioInit(void)
|
|||
{
|
||||
serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_VTX_SMARTAUDIO);
|
||||
if (portConfig) {
|
||||
portOptions_t portOptions = SERIAL_STOPBITS_2 | SERIAL_BIDIR_NOPULL;
|
||||
portOptions_t portOptions = (vtxConfig()->smartAudioStopBits == 2 ? SERIAL_STOPBITS_2 : SERIAL_STOPBITS_1) | SERIAL_BIDIR_NOPULL;
|
||||
portOptions = portOptions | (vtxConfig()->halfDuplex ? SERIAL_BIDIR | SERIAL_BIDIR_PP : SERIAL_UNIDIR);
|
||||
smartAudioSerialPort = openSerialPort(portConfig->identifier, FUNCTION_VTX_SMARTAUDIO, NULL, NULL, 4800, MODE_RXTX, portOptions);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -25,11 +25,15 @@
|
|||
#include "platform.h"
|
||||
#include "build/debug.h"
|
||||
|
||||
#define VTX_STRING_BAND_COUNT 5
|
||||
#define VTX_STRING_CHAN_COUNT 8
|
||||
#define VTX_STRING_POWER_COUNT 5
|
||||
#define VTX_STRING_5G8_BAND_COUNT 5
|
||||
#define VTX_STRING_5G8_CHAN_COUNT 8
|
||||
#define VTX_STRING_5G8_POWER_COUNT 5
|
||||
|
||||
const uint16_t vtx58frequencyTable[VTX_STRING_BAND_COUNT][VTX_STRING_CHAN_COUNT] =
|
||||
#define VTX_STRING_1G3_BAND_COUNT 2
|
||||
#define VTX_STRING_1G3_CHAN_COUNT 8
|
||||
#define VTX_STRING_1G3_POWER_COUNT 3
|
||||
|
||||
const uint16_t vtx58frequencyTable[VTX_STRING_5G8_BAND_COUNT][VTX_STRING_5G8_CHAN_COUNT] =
|
||||
{
|
||||
{ 5865, 5845, 5825, 5805, 5785, 5765, 5745, 5725 }, // A
|
||||
{ 5733, 5752, 5771, 5790, 5809, 5828, 5847, 5866 }, // B
|
||||
|
|
@ -38,7 +42,7 @@ const uint16_t vtx58frequencyTable[VTX_STRING_BAND_COUNT][VTX_STRING_CHAN_COUNT]
|
|||
{ 5658, 5695, 5732, 5769, 5806, 5843, 5880, 5917 }, // R
|
||||
};
|
||||
|
||||
const char * const vtx58BandNames[VTX_STRING_BAND_COUNT + 1] = {
|
||||
const char * const vtx58BandNames[VTX_STRING_5G8_BAND_COUNT + 1] = {
|
||||
"-",
|
||||
"A",
|
||||
"B",
|
||||
|
|
@ -47,16 +51,38 @@ const char * const vtx58BandNames[VTX_STRING_BAND_COUNT + 1] = {
|
|||
"R",
|
||||
};
|
||||
|
||||
const char vtx58BandLetter[VTX_STRING_BAND_COUNT + 1] = "-ABEFR";
|
||||
const char vtx58BandLetter[VTX_STRING_5G8_BAND_COUNT + 1] = "-ABEFR";
|
||||
|
||||
const char * const vtx58ChannelNames[VTX_STRING_CHAN_COUNT + 1] = {
|
||||
const char * const vtx58ChannelNames[VTX_STRING_5G8_CHAN_COUNT + 1] = {
|
||||
"-", "1", "2", "3", "4", "5", "6", "7", "8",
|
||||
};
|
||||
|
||||
const char * const vtx58DefaultPowerNames[VTX_STRING_POWER_COUNT + 1] = {
|
||||
const char * const vtx58DefaultPowerNames[VTX_STRING_5G8_POWER_COUNT + 1] = {
|
||||
"---", "PL1", "PL2", "PL3", "PL4", "PL5"
|
||||
};
|
||||
|
||||
const uint16_t vtx1G3frequencyTable[VTX_STRING_1G3_BAND_COUNT][VTX_STRING_1G3_CHAN_COUNT] =
|
||||
{
|
||||
{ 1080, 1120, 1160, 1200, 1240, 1280, 1320, 1360 }, // A
|
||||
{ 1080, 1120, 1160, 1200, 1258, 1280, 1320, 1360 }, // B
|
||||
};
|
||||
|
||||
const char * const vtx1G3BandNames[VTX_STRING_1G3_BAND_COUNT + 1] = {
|
||||
"-",
|
||||
"A",
|
||||
"B",
|
||||
};
|
||||
|
||||
const char vtx1G3BandLetter[VTX_STRING_1G3_BAND_COUNT + 1] = "-AB";
|
||||
|
||||
const char * const vtx1G3ChannelNames[VTX_STRING_1G3_CHAN_COUNT + 1] = {
|
||||
"-", "1", "2", "3", "4", "5", "6", "7", "8",
|
||||
};
|
||||
|
||||
const char * const vtx1G3DefaultPowerNames[VTX_STRING_1G3_POWER_COUNT + 1] = {
|
||||
"---", "PL1", "PL2", "PL3"
|
||||
};
|
||||
|
||||
bool vtx58_Freq2Bandchan(uint16_t freq, uint8_t *pBand, uint8_t *pChannel)
|
||||
{
|
||||
int8_t band;
|
||||
|
|
@ -80,15 +106,28 @@ bool vtx58_Freq2Bandchan(uint16_t freq, uint8_t *pBand, uint8_t *pChannel)
|
|||
return false;
|
||||
}
|
||||
|
||||
//Converts band and channel values to a frequency (in MHz) value.
|
||||
// Converts band and channel values to a frequency (in MHz) value.
|
||||
// band: Band value (1 to 5).
|
||||
// channel: Channel value (1 to 8).
|
||||
// Returns frequency value (in MHz), or 0 if band/channel out of range.
|
||||
uint16_t vtx58_Bandchan2Freq(uint8_t band, uint8_t channel)
|
||||
{
|
||||
if (band > 0 && band <= VTX_STRING_BAND_COUNT &&
|
||||
channel > 0 && channel <= VTX_STRING_CHAN_COUNT) {
|
||||
if (band > 0 && band <= VTX_STRING_5G8_BAND_COUNT &&
|
||||
channel > 0 && channel <= VTX_STRING_5G8_CHAN_COUNT) {
|
||||
return vtx58frequencyTable[band - 1][channel - 1];
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Converts band and channel values to a frequency (in MHz) value.
|
||||
// band: Band value (1 to 2).
|
||||
// channel: Channel value (1 to 8).
|
||||
// Returns frequency value (in MHz), or 0 if band/channel out of range.
|
||||
uint16_t vtx1G3_Bandchan2Freq(uint8_t band, uint8_t channel)
|
||||
{
|
||||
if (band > 0 && band <= VTX_STRING_1G3_BAND_COUNT &&
|
||||
channel > 0 && channel <= VTX_STRING_1G3_CHAN_COUNT) {
|
||||
return vtx1G3frequencyTable[band - 1][channel - 1];
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -8,5 +8,12 @@ extern const char * const vtx58ChannelNames[];
|
|||
extern const char * const vtx58DefaultPowerNames[];
|
||||
extern const char vtx58BandLetter[];
|
||||
|
||||
extern const uint16_t vtx1G3frequencyTable[2][8];
|
||||
extern const char * const vtx1G3BandNames[];
|
||||
extern const char * const vtx1G3ChannelNames[];
|
||||
extern const char * const vtx1G3DefaultPowerNames[];
|
||||
extern const char vtx51G3BandLetter[];
|
||||
|
||||
bool vtx58_Freq2Bandchan(uint16_t freq, uint8_t *pBand, uint8_t *pChannel);
|
||||
uint16_t vtx58_Bandchan2Freq(uint8_t band, uint8_t channel);
|
||||
uint16_t vtx1G3_Bandchan2Freq(uint8_t band, uint8_t channel);
|
||||
|
|
|
|||
|
|
@ -407,8 +407,12 @@ static void impl_SetBandAndChannel(vtxDevice_t * vtxDevice, uint8_t band, uint8_
|
|||
return;
|
||||
}
|
||||
|
||||
// TRAMP is 5.8 GHz only
|
||||
uint16_t newFreqMhz = vtx58_Bandchan2Freq(band, channel);
|
||||
// Default to 5.8 GHz
|
||||
uint16_t newFreqMhz = vtx58_Bandchan2Freq(band, channel);
|
||||
|
||||
if (vtxSettingsConfig()->frequencyGroup == FREQUENCYGROUP_1G3) {
|
||||
newFreqMhz = vtx1G3_Bandchan2Freq(band, channel);
|
||||
}
|
||||
|
||||
if (newFreqMhz < vtxState.capabilities.freqMin || newFreqMhz > vtxState.capabilities.freqMax) {
|
||||
return;
|
||||
|
|
@ -512,9 +516,20 @@ static bool impl_GetOsdInfo(const vtxDevice_t *vtxDevice, vtxDeviceOsdInfo_t *
|
|||
pOsdInfo->frequency = vtxState.request.freq;
|
||||
pOsdInfo->powerIndex = vtxState.request.powerIndex;
|
||||
pOsdInfo->powerMilliwatt = vtxState.request.power;
|
||||
pOsdInfo->bandLetter = vtx58BandNames[vtxState.request.band][0];
|
||||
pOsdInfo->bandName = vtx58BandNames[vtxState.request.band];
|
||||
pOsdInfo->channelName = vtx58ChannelNames[vtxState.request.channel];
|
||||
|
||||
switch (vtxSettingsConfig()->frequencyGroup) {
|
||||
case FREQUENCYGROUP_1G3:
|
||||
pOsdInfo->bandLetter = vtx1G3BandNames[vtxState.request.band][0];
|
||||
pOsdInfo->bandName = vtx1G3BandNames[vtxState.request.band];
|
||||
pOsdInfo->channelName = vtx1G3ChannelNames[vtxState.request.channel];
|
||||
break;
|
||||
default: // Currently all except 1.3GHz
|
||||
pOsdInfo->bandLetter = vtx58BandNames[vtxState.request.band][0];
|
||||
pOsdInfo->bandName = vtx58BandNames[vtxState.request.band];
|
||||
pOsdInfo->channelName = vtx58ChannelNames[vtxState.request.channel];
|
||||
break;
|
||||
}
|
||||
|
||||
pOsdInfo->powerIndexLetter = '0' + vtxState.request.powerIndex;
|
||||
return true;
|
||||
}
|
||||
|
|
@ -539,67 +554,85 @@ static vtxDevice_t impl_vtxDevice = {
|
|||
.vTable = &impl_vtxVTable,
|
||||
.capability.bandCount = VTX_TRAMP_5G8_BAND_COUNT,
|
||||
.capability.channelCount = VTX_TRAMP_5G8_CHANNEL_COUNT,
|
||||
.capability.powerCount = VTX_TRAMP_MAX_POWER_COUNT,
|
||||
.capability.powerCount = VTX_TRAMP_5G8_MAX_POWER_COUNT,
|
||||
.capability.bandNames = (char **)vtx58BandNames,
|
||||
.capability.channelNames = (char **)vtx58ChannelNames,
|
||||
.capability.powerNames = NULL,
|
||||
};
|
||||
|
||||
const uint16_t trampPowerTable_200[VTX_TRAMP_MAX_POWER_COUNT] = { 25, 100, 200, 200, 200 };
|
||||
const char * const trampPowerNames_200[VTX_TRAMP_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "200", "200" };
|
||||
const uint16_t trampPowerTable_5G8_200[VTX_TRAMP_5G8_MAX_POWER_COUNT] = { 25, 100, 200, 200, 200 };
|
||||
const char * const trampPowerNames_5G8_200[VTX_TRAMP_5G8_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "200", "200" };
|
||||
|
||||
const uint16_t trampPowerTable_400[VTX_TRAMP_MAX_POWER_COUNT] = { 25, 100, 200, 400, 400 };
|
||||
const char * const trampPowerNames_400[VTX_TRAMP_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "400", "400" };
|
||||
const uint16_t trampPowerTable_5G8_400[VTX_TRAMP_5G8_MAX_POWER_COUNT] = { 25, 100, 200, 400, 400 };
|
||||
const char * const trampPowerNames_5G8_400[VTX_TRAMP_5G8_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "400", "400" };
|
||||
|
||||
const uint16_t trampPowerTable_600[VTX_TRAMP_MAX_POWER_COUNT] = { 25, 100, 200, 400, 600 };
|
||||
const char * const trampPowerNames_600[VTX_TRAMP_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "400", "600" };
|
||||
const uint16_t trampPowerTable_5G8_600[VTX_TRAMP_5G8_MAX_POWER_COUNT] = { 25, 100, 200, 400, 600 };
|
||||
const char * const trampPowerNames_5G8_600[VTX_TRAMP_5G8_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "400", "600" };
|
||||
|
||||
const uint16_t trampPowerTable_800[VTX_TRAMP_MAX_POWER_COUNT] = { 25, 100, 200, 500, 800 };
|
||||
const char * const trampPowerNames_800[VTX_TRAMP_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "500", "800" };
|
||||
const uint16_t trampPowerTable_5G8_800[VTX_TRAMP_5G8_MAX_POWER_COUNT] = { 25, 100, 200, 500, 800 };
|
||||
const char * const trampPowerNames_5G8_800[VTX_TRAMP_5G8_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "500", "800" };
|
||||
|
||||
const uint16_t trampPowerTable_1G3_800[VTX_TRAMP_1G3_MAX_POWER_COUNT] = { 25, 200, 800 };
|
||||
const char * const trampPowerNames_1G3_800[VTX_TRAMP_1G3_MAX_POWER_COUNT + 1] = { "---", "25 ", "200", "800" };
|
||||
|
||||
static void vtxProtoUpdatePowerMetadata(uint16_t maxPower)
|
||||
{
|
||||
if (maxPower >= 800) {
|
||||
// Max power 800mW: Use 25, 100, 200, 500, 800 table
|
||||
vtxState.metadata.powerTablePtr = trampPowerTable_800;
|
||||
vtxState.metadata.powerTableCount = VTX_TRAMP_MAX_POWER_COUNT;
|
||||
switch (vtxSettingsConfig()->frequencyGroup) {
|
||||
case FREQUENCYGROUP_1G3:
|
||||
vtxState.metadata.powerTablePtr = trampPowerTable_1G3_800;
|
||||
vtxState.metadata.powerTableCount = VTX_TRAMP_1G3_MAX_POWER_COUNT;
|
||||
|
||||
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_800;
|
||||
impl_vtxDevice.capability.powerCount = VTX_TRAMP_MAX_POWER_COUNT;
|
||||
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_1G3_800;
|
||||
impl_vtxDevice.capability.powerCount = VTX_TRAMP_1G3_MAX_POWER_COUNT;
|
||||
|
||||
impl_vtxDevice.capability.bandCount = VTX_TRAMP_1G3_BAND_COUNT;
|
||||
impl_vtxDevice.capability.channelCount = VTX_TRAMP_1G3_CHANNEL_COUNT;
|
||||
impl_vtxDevice.capability.bandNames = (char **)vtx1G3BandNames;
|
||||
impl_vtxDevice.capability.channelNames = (char **)vtx1G3ChannelNames;
|
||||
break;
|
||||
default:
|
||||
if (maxPower >= 800) {
|
||||
// Max power 800mW: Use 25, 100, 200, 500, 800 table
|
||||
vtxState.metadata.powerTablePtr = trampPowerTable_5G8_800;
|
||||
vtxState.metadata.powerTableCount = VTX_TRAMP_5G8_MAX_POWER_COUNT;
|
||||
|
||||
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_5G8_800;
|
||||
impl_vtxDevice.capability.powerCount = VTX_TRAMP_5G8_MAX_POWER_COUNT;
|
||||
}
|
||||
else if (maxPower >= 600) {
|
||||
// Max power 600mW: Use 25, 100, 200, 400, 600 table
|
||||
vtxState.metadata.powerTablePtr = trampPowerTable_5G8_600;
|
||||
vtxState.metadata.powerTableCount = VTX_TRAMP_5G8_MAX_POWER_COUNT;
|
||||
|
||||
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_5G8_600;
|
||||
impl_vtxDevice.capability.powerCount = VTX_TRAMP_5G8_MAX_POWER_COUNT;
|
||||
}
|
||||
else if (maxPower >= 400) {
|
||||
// Max power 400mW: Use 25, 100, 200, 400 table
|
||||
vtxState.metadata.powerTablePtr = trampPowerTable_5G8_400;
|
||||
vtxState.metadata.powerTableCount = 4;
|
||||
|
||||
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_5G8_400;
|
||||
impl_vtxDevice.capability.powerCount = 4;
|
||||
}
|
||||
else if (maxPower >= 200) {
|
||||
// Max power 200mW: Use 25, 100, 200 table
|
||||
vtxState.metadata.powerTablePtr = trampPowerTable_5G8_200;
|
||||
vtxState.metadata.powerTableCount = 3;
|
||||
|
||||
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_5G8_200;
|
||||
impl_vtxDevice.capability.powerCount = 3;
|
||||
}
|
||||
else {
|
||||
// Default to standard TRAMP 600mW VTX
|
||||
vtxState.metadata.powerTablePtr = trampPowerTable_5G8_600;
|
||||
vtxState.metadata.powerTableCount = VTX_TRAMP_5G8_MAX_POWER_COUNT;
|
||||
|
||||
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_5G8_600;
|
||||
impl_vtxDevice.capability.powerCount = VTX_TRAMP_5G8_MAX_POWER_COUNT;
|
||||
}
|
||||
break;
|
||||
}
|
||||
else if (maxPower >= 600) {
|
||||
// Max power 600mW: Use 25, 100, 200, 400, 600 table
|
||||
vtxState.metadata.powerTablePtr = trampPowerTable_600;
|
||||
vtxState.metadata.powerTableCount = VTX_TRAMP_MAX_POWER_COUNT;
|
||||
|
||||
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_600;
|
||||
impl_vtxDevice.capability.powerCount = VTX_TRAMP_MAX_POWER_COUNT;
|
||||
}
|
||||
else if (maxPower >= 400) {
|
||||
// Max power 400mW: Use 25, 100, 200, 400 table
|
||||
vtxState.metadata.powerTablePtr = trampPowerTable_400;
|
||||
vtxState.metadata.powerTableCount = 4;
|
||||
|
||||
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_400;
|
||||
impl_vtxDevice.capability.powerCount = 4;
|
||||
}
|
||||
else if (maxPower >= 200) {
|
||||
// Max power 200mW: Use 25, 100, 200 table
|
||||
vtxState.metadata.powerTablePtr = trampPowerTable_200;
|
||||
vtxState.metadata.powerTableCount = 3;
|
||||
|
||||
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_200;
|
||||
impl_vtxDevice.capability.powerCount = 3;
|
||||
}
|
||||
else {
|
||||
// Default to standard TRAMP 600mW VTX
|
||||
vtxState.metadata.powerTablePtr = trampPowerTable_600;
|
||||
vtxState.metadata.powerTableCount = VTX_TRAMP_MAX_POWER_COUNT;
|
||||
|
||||
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_600;
|
||||
impl_vtxDevice.capability.powerCount = VTX_TRAMP_MAX_POWER_COUNT;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
bool vtxTrampInit(void)
|
||||
|
|
@ -609,6 +642,7 @@ bool vtxTrampInit(void)
|
|||
if (portConfig) {
|
||||
portOptions_t portOptions = 0;
|
||||
portOptions = portOptions | (vtxConfig()->halfDuplex ? SERIAL_BIDIR : SERIAL_UNIDIR);
|
||||
portOptions = portOptions | (vtxConfig()->softSerialShortStop ? SERIAL_SHORTSTOP : SERIAL_LONGSTOP);
|
||||
vtxState.port = openSerialPort(portConfig->identifier, FUNCTION_VTX_TRAMP, NULL, NULL, 9600, MODE_RXTX, portOptions);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -19,13 +19,24 @@
|
|||
|
||||
#include <stdint.h>
|
||||
|
||||
// 5.8 GHz
|
||||
#define VTX_TRAMP_5G8_BAND_COUNT 5
|
||||
#define VTX_TRAMP_5G8_CHANNEL_COUNT 8
|
||||
|
||||
#define VTX_TRAMP_MAX_POWER_COUNT 5
|
||||
#define VTX_TRAMP_DEFAULT_POWER 1
|
||||
#define VTX_TRAMP_5G8_MAX_POWER_COUNT 5
|
||||
#define VTX_TRAMP_5G8_DEFAULT_POWER 1
|
||||
|
||||
#define VTX_TRAMP_MIN_FREQUENCY_MHZ 5000 //min freq in MHz
|
||||
#define VTX_TRAMP_MAX_FREQUENCY_MHZ 5999 //max freq in MHz
|
||||
#define VTX_TRAMP_5G8_MIN_FREQUENCY_MHZ 5000 //min freq in MHz
|
||||
#define VTX_TRAMP_5G8_MAX_FREQUENCY_MHZ 5999 //max freq in MHz
|
||||
|
||||
// 1.3 GHz
|
||||
#define VTX_TRAMP_1G3_BAND_COUNT 2
|
||||
#define VTX_TRAMP_1G3_CHANNEL_COUNT 8
|
||||
|
||||
#define VTX_TRAMP_1G3_MAX_POWER_COUNT 3
|
||||
#define VTX_TRAMP_1G3_DEFAULT_POWER 1
|
||||
|
||||
#define VTX_TRAMP_1G3_MIN_FREQUENCY_MHZ 1000
|
||||
#define VTX_TRAMP_1G3_MAX_FREQUENCY_MHZ 1399
|
||||
|
||||
bool vtxTrampInit(void);
|
||||
|
|
|
|||
|
|
@ -80,3 +80,4 @@
|
|||
#define MSP2_INAV_SET_SAFEHOME 0x2039
|
||||
|
||||
#define MSP2_INAV_MISC2 0x203A
|
||||
#define MSP2_INAV_LOGIC_CONDITIONS_SINGLE 0x203B
|
||||
|
|
|
|||
|
|
@ -3200,13 +3200,9 @@ static void processNavigationRCAdjustments(void)
|
|||
}
|
||||
|
||||
if (navStateFlags & NAV_RC_POS) {
|
||||
if (!FLIGHT_MODE(FAILSAFE_MODE)) {
|
||||
posControl.flags.isAdjustingPosition = adjustPositionFromRCInput();
|
||||
}
|
||||
else {
|
||||
if (!STATE(FIXED_WING_LEGACY)) {
|
||||
resetMulticopterBrakingMode();
|
||||
}
|
||||
posControl.flags.isAdjustingPosition = adjustPositionFromRCInput() && !FLIGHT_MODE(FAILSAFE_MODE);
|
||||
if (STATE(MULTIROTOR) && FLIGHT_MODE(FAILSAFE_MODE)) {
|
||||
resetMulticopterBrakingMode();
|
||||
}
|
||||
}
|
||||
else {
|
||||
|
|
|
|||
|
|
@ -584,6 +584,9 @@ int32_t getCruiseHeadingAdjustment(void);
|
|||
bool isAdjustingPosition(void);
|
||||
bool isAdjustingHeading(void);
|
||||
|
||||
float getEstimatedAglPosition(void);
|
||||
bool isEstimatedAglTrusted(void);
|
||||
|
||||
/* Returns the heading recorded when home position was acquired.
|
||||
* Note that the navigation system uses deg*100 as unit and angles
|
||||
* are in the [0, 360 * 100) interval.
|
||||
|
|
|
|||
|
|
@ -533,7 +533,7 @@ static void updatePositionAccelController_MC(timeDelta_t deltaMicros, float maxA
|
|||
|
||||
const float setpointX = posControl.desiredState.vel.x;
|
||||
const float setpointY = posControl.desiredState.vel.y;
|
||||
const float setpointXY = fast_fsqrtf(sq(setpointX) + sq(setpointY));
|
||||
const float setpointXY = calc_length_pythagorean_2D(setpointX, setpointY);
|
||||
|
||||
// Calculate velocity error
|
||||
const float velErrorX = setpointX - measurementX;
|
||||
|
|
@ -554,7 +554,7 @@ static void updatePositionAccelController_MC(timeDelta_t deltaMicros, float maxA
|
|||
// Apply additional jerk limiting of 1700 cm/s^3 (~100 deg/s), almost any copter should be able to achieve this rate
|
||||
// This will assure that we wont't saturate out LEVEL and RATE PID controller
|
||||
|
||||
float maxAccelChange = US2S(deltaMicros) * 1700.0f;
|
||||
float maxAccelChange = US2S(deltaMicros) * MC_POS_CONTROL_JERK_LIMIT_CMSSS;
|
||||
//When braking, raise jerk limit even if we are not boosting acceleration
|
||||
#ifdef USE_MR_BRAKING_MODE
|
||||
if (STATE(NAV_CRUISE_BRAKING)) {
|
||||
|
|
|
|||
|
|
@ -815,6 +815,14 @@ bool isGPSGlitchDetected(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
float getEstimatedAglPosition(void) {
|
||||
return posEstimator.est.aglAlt;
|
||||
}
|
||||
|
||||
bool isEstimatedAglTrusted(void) {
|
||||
return (posEstimator.est.aglQual == SURFACE_QUAL_HIGH) ? true : false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize position estimator
|
||||
* Should be called once before any update occurs
|
||||
|
|
|
|||
|
|
@ -37,6 +37,8 @@
|
|||
|
||||
#define INAV_SURFACE_MAX_DISTANCE 40
|
||||
|
||||
#define MC_POS_CONTROL_JERK_LIMIT_CMSSS 1700.0f // jerk limit on horizontal acceleration (cm/s^3)
|
||||
|
||||
#define MC_LAND_CHECK_VEL_XY_MOVING 100.0f // cm/s
|
||||
#define MC_LAND_CHECK_VEL_Z_MOVING 25.0f // cm/s
|
||||
#define MC_LAND_THR_STABILISE_DELAY 1 // seconds
|
||||
|
|
|
|||
|
|
@ -42,6 +42,7 @@
|
|||
#include "navigation/navigation.h"
|
||||
#include "sensors/battery.h"
|
||||
#include "sensors/pitotmeter.h"
|
||||
#include "sensors/rangefinder.h"
|
||||
#include "flight/imu.h"
|
||||
#include "flight/pid.h"
|
||||
#include "drivers/io_port_expander.h"
|
||||
|
|
@ -54,11 +55,12 @@
|
|||
#include "io/vtx.h"
|
||||
#include "drivers/vtx_common.h"
|
||||
|
||||
PG_REGISTER_ARRAY_WITH_RESET_FN(logicCondition_t, MAX_LOGIC_CONDITIONS, logicConditions, PG_LOGIC_CONDITIONS, 2);
|
||||
PG_REGISTER_ARRAY_WITH_RESET_FN(logicCondition_t, MAX_LOGIC_CONDITIONS, logicConditions, PG_LOGIC_CONDITIONS, 3);
|
||||
|
||||
EXTENDED_FASTRAM uint64_t logicConditionsGlobalFlags;
|
||||
EXTENDED_FASTRAM int logicConditionValuesByType[LOGIC_CONDITION_LAST];
|
||||
EXTENDED_FASTRAM rcChannelOverride_t rcChannelOverrides[MAX_SUPPORTED_RC_CHANNEL_COUNT];
|
||||
EXTENDED_FASTRAM flightAxisOverride_t flightAxisOverride[XYZ_AXIS_COUNT];
|
||||
|
||||
void pgResetFn_logicConditions(logicCondition_t *instance)
|
||||
{
|
||||
|
|
@ -364,6 +366,41 @@ static int logicConditionCompute(
|
|||
return true;
|
||||
break;
|
||||
|
||||
case LOGIC_CONDITION_FLIGHT_AXIS_ANGLE_OVERRIDE:
|
||||
if (operandA >= 0 && operandA <= 2) {
|
||||
|
||||
flightAxisOverride[operandA].angleTargetActive = true;
|
||||
int target = DEGREES_TO_DECIDEGREES(operandB);
|
||||
if (operandA == 0) {
|
||||
//ROLL
|
||||
target = constrain(target, -pidProfile()->max_angle_inclination[FD_ROLL], pidProfile()->max_angle_inclination[FD_ROLL]);
|
||||
} else if (operandA == 1) {
|
||||
//PITCH
|
||||
target = constrain(target, -pidProfile()->max_angle_inclination[FD_PITCH], pidProfile()->max_angle_inclination[FD_PITCH]);
|
||||
} else if (operandA == 2) {
|
||||
//YAW
|
||||
target = (constrain(target, 0, 3600));
|
||||
}
|
||||
flightAxisOverride[operandA].angleTarget = target;
|
||||
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_FLIGHT_AXIS);
|
||||
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
break;
|
||||
|
||||
case LOGIC_CONDITION_FLIGHT_AXIS_RATE_OVERRIDE:
|
||||
if (operandA >= 0 && operandA <= 2) {
|
||||
flightAxisOverride[operandA].rateTargetActive = true;
|
||||
flightAxisOverride[operandA].rateTarget = constrain(operandB, -2000, 2000);
|
||||
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_FLIGHT_AXIS);
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
return false;
|
||||
break;
|
||||
|
|
@ -576,6 +613,18 @@ static int logicConditionGetFlightOperandValue(int operand) {
|
|||
case LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS:
|
||||
return getLoiterRadius(navConfig()->fw.loiter_radius);
|
||||
|
||||
case LOGIC_CONDITION_OPERAND_FLIGHT_AGL_STATUS:
|
||||
return isEstimatedAglTrusted();
|
||||
break;
|
||||
|
||||
case LOGIC_CONDITION_OPERAND_FLIGHT_AGL:
|
||||
return getEstimatedAglPosition();
|
||||
break;
|
||||
|
||||
case LOGIC_CONDITION_OPERAND_FLIGHT_RANGEFINDER_RAW:
|
||||
return rangefinderGetLatestRawAltitude();
|
||||
break;
|
||||
|
||||
default:
|
||||
return 0;
|
||||
break;
|
||||
|
|
@ -710,6 +759,11 @@ void logicConditionUpdateTask(timeUs_t currentTimeUs) {
|
|||
rcChannelOverrides[i].active = false;
|
||||
}
|
||||
|
||||
for (uint8_t i = 0; i < XYZ_AXIS_COUNT; i++) {
|
||||
flightAxisOverride[i].rateTargetActive = false;
|
||||
flightAxisOverride[i].angleTargetActive = false;
|
||||
}
|
||||
|
||||
for (uint8_t i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
|
||||
logicConditionProcess(i);
|
||||
}
|
||||
|
|
@ -776,3 +830,35 @@ uint32_t getLoiterRadius(uint32_t loiterRadius) {
|
|||
return loiterRadius;
|
||||
#endif
|
||||
}
|
||||
|
||||
float getFlightAxisAngleOverride(uint8_t axis, float angle) {
|
||||
if (flightAxisOverride[axis].angleTargetActive) {
|
||||
return flightAxisOverride[axis].angleTarget;
|
||||
} else {
|
||||
return angle;
|
||||
}
|
||||
}
|
||||
|
||||
float getFlightAxisRateOverride(uint8_t axis, float rate) {
|
||||
if (flightAxisOverride[axis].rateTargetActive) {
|
||||
return flightAxisOverride[axis].rateTarget;
|
||||
} else {
|
||||
return rate;
|
||||
}
|
||||
}
|
||||
|
||||
bool isFlightAxisAngleOverrideActive(uint8_t axis) {
|
||||
if (flightAxisOverride[axis].angleTargetActive) {
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool isFlightAxisRateOverrideActive(uint8_t axis) {
|
||||
if (flightAxisOverride[axis].rateTargetActive) {
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
|
@ -26,7 +26,7 @@
|
|||
#include "config/parameter_group.h"
|
||||
#include "common/time.h"
|
||||
|
||||
#define MAX_LOGIC_CONDITIONS 32
|
||||
#define MAX_LOGIC_CONDITIONS 64
|
||||
|
||||
typedef enum {
|
||||
LOGIC_CONDITION_TRUE = 0,
|
||||
|
|
@ -74,7 +74,9 @@ typedef enum {
|
|||
LOGIC_CONDITION_SET_PROFILE = 42,
|
||||
LOGIC_CONDITION_MIN = 43,
|
||||
LOGIC_CONDITION_MAX = 44,
|
||||
LOGIC_CONDITION_LAST = 45,
|
||||
LOGIC_CONDITION_FLIGHT_AXIS_ANGLE_OVERRIDE = 45,
|
||||
LOGIC_CONDITION_FLIGHT_AXIS_RATE_OVERRIDE = 46,
|
||||
LOGIC_CONDITION_LAST = 47,
|
||||
} logicOperation_e;
|
||||
|
||||
typedef enum logicOperandType_s {
|
||||
|
|
@ -127,7 +129,9 @@ typedef enum {
|
|||
LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS, // 35
|
||||
LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_PROFILE, //int // 36
|
||||
LOGIC_CONDITION_OPERAND_FLIGHT_BATT_CELLS, // 37
|
||||
|
||||
LOGIC_CONDITION_OPERAND_FLIGHT_AGL_STATUS, //0,1,2 // 38
|
||||
LOGIC_CONDITION_OPERAND_FLIGHT_AGL, //0,1,2 // 39
|
||||
LOGIC_CONDITION_OPERAND_FLIGHT_RANGEFINDER_RAW, //int // 40
|
||||
} logicFlightOperands_e;
|
||||
|
||||
typedef enum {
|
||||
|
|
@ -156,6 +160,7 @@ typedef enum {
|
|||
LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_OSD_LAYOUT = (1 << 7),
|
||||
LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_RC_CHANNEL = (1 << 8),
|
||||
LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS = (1 << 9),
|
||||
LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_FLIGHT_AXIS = (1 << 10),
|
||||
} logicConditionsGlobalFlags_t;
|
||||
|
||||
typedef enum {
|
||||
|
|
@ -188,6 +193,13 @@ typedef struct rcChannelOverride_s {
|
|||
int value;
|
||||
} rcChannelOverride_t;
|
||||
|
||||
typedef struct flightAxisOverride_s {
|
||||
uint8_t rateTargetActive;
|
||||
uint8_t angleTargetActive;
|
||||
int angleTarget;
|
||||
int rateTarget;
|
||||
} flightAxisOverride_t;
|
||||
|
||||
extern int logicConditionValuesByType[LOGIC_CONDITION_LAST];
|
||||
extern uint64_t logicConditionsGlobalFlags;
|
||||
|
||||
|
|
@ -207,3 +219,7 @@ float getThrottleScale(float globalThrottleScale);
|
|||
int16_t getRcCommandOverride(int16_t command[], uint8_t axis);
|
||||
int16_t getRcChannelOverride(uint8_t channel, int16_t originalValue);
|
||||
uint32_t getLoiterRadius(uint32_t loiterRadius);
|
||||
float getFlightAxisAngleOverride(uint8_t axis, float angle);
|
||||
float getFlightAxisRateOverride(uint8_t axis, float rate);
|
||||
bool isFlightAxisAngleOverrideActive(uint8_t axis);
|
||||
bool isFlightAxisRateOverrideActive(uint8_t axis);
|
||||
|
|
|
|||
|
|
@ -87,7 +87,7 @@ typedef enum {
|
|||
#ifdef USE_LED_STRIP
|
||||
TASK_LEDSTRIP,
|
||||
#endif
|
||||
#if defined(USE_PWM_SERVO_DRIVER) || defined(USE_SERVO_SBUS)
|
||||
#if defined(USE_SERVO_SBUS)
|
||||
TASK_PWMDRIVER,
|
||||
#endif
|
||||
#ifdef STACK_CHECK
|
||||
|
|
|
|||
|
|
@ -84,12 +84,11 @@ static EXTENDED_FASTRAM pt1Filter_t accVibeFilter[XYZ_AXIS_COUNT];
|
|||
static EXTENDED_FASTRAM filterApplyFnPtr accNotchFilterApplyFn;
|
||||
static EXTENDED_FASTRAM void *accNotchFilter[XYZ_AXIS_COUNT];
|
||||
|
||||
PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 4);
|
||||
PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 5);
|
||||
|
||||
void pgResetFn_accelerometerConfig(accelerometerConfig_t *instance)
|
||||
{
|
||||
RESET_CONFIG_2(accelerometerConfig_t, instance,
|
||||
.acc_align = SETTING_ALIGN_ACC_DEFAULT,
|
||||
.acc_hardware = SETTING_ACC_HARDWARE_DEFAULT,
|
||||
.acc_lpf_hz = SETTING_ACC_LPF_HZ_DEFAULT,
|
||||
.acc_notch_hz = SETTING_ACC_NOTCH_HZ_DEFAULT,
|
||||
|
|
@ -291,11 +290,6 @@ bool accInit(uint32_t targetLooptime)
|
|||
acc.extremes[axis].max = -100;
|
||||
}
|
||||
|
||||
// At this poinrt acc.dev.accAlign was set up by the driver from the busDev record
|
||||
// If configuration says different - override
|
||||
if (accelerometerConfig()->acc_align != ALIGN_DEFAULT) {
|
||||
acc.dev.accAlign = accelerometerConfig()->acc_align;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -67,7 +67,6 @@ typedef struct acc_s {
|
|||
extern acc_t acc;
|
||||
|
||||
typedef struct accelerometerConfig_s {
|
||||
sensor_align_e acc_align; // acc alignment
|
||||
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
|
||||
uint16_t acc_lpf_hz; // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
|
||||
flightDynamicsTrims_t accZero; // Accelerometer offset
|
||||
|
|
|
|||
|
|
@ -97,13 +97,12 @@ EXTENDED_FASTRAM dynamicGyroNotchState_t dynamicGyroNotchState;
|
|||
|
||||
#endif
|
||||
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 3);
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 4);
|
||||
|
||||
PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
|
||||
.gyro_lpf = SETTING_GYRO_HARDWARE_LPF_DEFAULT,
|
||||
.gyro_anti_aliasing_lpf_hz = SETTING_GYRO_ANTI_ALIASING_LPF_HZ_DEFAULT,
|
||||
.gyro_anti_aliasing_lpf_type = SETTING_GYRO_ANTI_ALIASING_LPF_TYPE_DEFAULT,
|
||||
.gyro_align = SETTING_ALIGN_GYRO_DEFAULT,
|
||||
.gyroMovementCalibrationThreshold = SETTING_MORON_THRESHOLD_DEFAULT,
|
||||
.looptime = SETTING_LOOPTIME_DEFAULT,
|
||||
#ifdef USE_DUAL_GYRO
|
||||
|
|
@ -305,12 +304,6 @@ bool gyroInit(void)
|
|||
// initFn will initialize sampleRateIntervalUs to actual gyro sampling rate (if driver supports it). Calculate target looptime using that value
|
||||
gyro.targetLooptime = gyroDev[0].sampleRateIntervalUs;
|
||||
|
||||
// At this poinrt gyroDev[0].gyroAlign was set up by the driver from the busDev record
|
||||
// If configuration says different - override
|
||||
if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
|
||||
gyroDev[0].gyroAlign = gyroConfig()->gyro_align;
|
||||
}
|
||||
|
||||
gyroInitFilters();
|
||||
|
||||
#ifdef USE_DYNAMIC_FILTERS
|
||||
|
|
|
|||
|
|
@ -53,7 +53,6 @@ typedef struct gyro_s {
|
|||
extern gyro_t gyro;
|
||||
|
||||
typedef struct gyroConfig_s {
|
||||
sensor_align_e gyro_align; // gyro alignment
|
||||
uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
|
||||
uint16_t looptime; // imu loop time in us
|
||||
uint8_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
|
||||
|
|
|
|||
|
|
@ -167,7 +167,7 @@ bool pitotIsCalibrationComplete(void)
|
|||
|
||||
void pitotStartCalibration(void)
|
||||
{
|
||||
zeroCalibrationStartS(&pitot.zeroCalibration, CALIBRATING_PITOT_TIME_MS, P0 * 0.00001f, false);
|
||||
zeroCalibrationStartS(&pitot.zeroCalibration, CALIBRATING_PITOT_TIME_MS, SSL_AIR_PRESSURE * 0.00001f, false);
|
||||
}
|
||||
|
||||
static void performPitotCalibrationCycle(void)
|
||||
|
|
@ -223,7 +223,7 @@ STATIC_PROTOTHREAD(pitotThread)
|
|||
//
|
||||
// Therefore we shouldn't care about CAS/TAS and only calculate IAS since it's more indicative to the pilot and more useful in calculations
|
||||
// It also allows us to use pitot_scale to calibrate the dynamic pressure sensor scale
|
||||
pitot.airSpeed = pitotmeterConfig()->pitot_scale * fast_fsqrtf(2.0f * fabsf(pitot.pressure - pitot.pressureZero) / AIR_DENSITY_SEA_LEVEL_15C) * 100;
|
||||
pitot.airSpeed = pitotmeterConfig()->pitot_scale * fast_fsqrtf(2.0f * fabsf(pitot.pressure - pitot.pressureZero) / SSL_AIR_DENSITY) * 100;
|
||||
} else {
|
||||
performPitotCalibrationCycle();
|
||||
pitot.airSpeed = 0;
|
||||
|
|
|
|||
|
|
@ -59,9 +59,6 @@ typedef struct pito_s {
|
|||
|
||||
#ifdef USE_PITOT
|
||||
|
||||
#define AIR_DENSITY_SEA_LEVEL_15C 1.225f // Air density at sea level and 15 degrees Celsius
|
||||
#define P0 101325.0f // standard pressure [Pa]
|
||||
|
||||
extern pitot_t pitot;
|
||||
|
||||
bool pitotInit(void);
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
target_stm32f405xg(AIKONF4)
|
||||
target_stm32f405xg(AIKONF4 SKIP_RELEASES)
|
||||
|
|
|
|||
|
|
@ -102,7 +102,6 @@
|
|||
#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS
|
||||
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
|
||||
#define PITOT_I2C_BUS DEFAULT_I2C_BUS
|
||||
#define PCA9685_I2C_BUS DEFAULT_I2C_BUS
|
||||
#define BNO055_I2C_BUS DEFAULT_I2C_BUS
|
||||
|
||||
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
|
||||
|
|
|
|||
|
|
@ -144,7 +144,5 @@
|
|||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD 0xffff
|
||||
|
||||
#define PCA9685_I2C_BUS BUS_I2C2
|
||||
|
||||
#define USE_DSHOT
|
||||
#define USE_ESC_SENSOR
|
||||
|
|
@ -1,2 +1,2 @@
|
|||
target_stm32f722xe(AIRBOTF7)
|
||||
target_stm32f722xe(OMNIBUSF7NANOV7)
|
||||
target_stm32f722xe(AIRBOTF7 SKIP_RELEASES)
|
||||
target_stm32f722xe(OMNIBUSF7NANOV7 SKIP_RELEASES)
|
||||
|
|
|
|||
|
|
@ -131,5 +131,3 @@
|
|||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
|
||||
|
||||
#define PCA9685_I2C_BUS BUS_I2C2
|
||||
|
|
@ -1 +1 @@
|
|||
target_stm32f722xe(ALIENFLIGHTNGF7)
|
||||
target_stm32f722xe(ALIENFLIGHTNGF7 SKIP_RELEASES)
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
target_stm32f405xg(ANYFC)
|
||||
target_stm32f405xg(ANYFC SKIP_RELEASES)
|
||||
|
|
@ -127,5 +127,3 @@
|
|||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD 0xffff
|
||||
|
||||
#define PCA9685_I2C_BUS BUS_I2C2
|
||||
|
|
|
|||
|
|
@ -168,5 +168,3 @@
|
|||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD 0xffff
|
||||
#define TARGET_IO_PORTE 0xffff
|
||||
|
||||
#define PCA9685_I2C_BUS BUS_I2C2
|
||||
|
|
|
|||
|
|
@ -135,5 +135,3 @@
|
|||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD 0xffff
|
||||
#define TARGET_IO_PORTE 0xffff
|
||||
|
||||
#define PCA9685_I2C_BUS BUS_I2C2
|
||||
|
|
|
|||
1
src/main/target/AOCODARCF7DUAL/CMakeLists.txt
Normal file
1
src/main/target/AOCODARCF7DUAL/CMakeLists.txt
Normal file
|
|
@ -0,0 +1 @@
|
|||
target_stm32f722xe(AOCODARCF7DUAL)
|
||||
50
src/main/target/AOCODARCF7DUAL/target.c
Normal file
50
src/main/target/AOCODARCF7DUAL/target.c
Normal file
|
|
@ -0,0 +1,50 @@
|
|||
/*
|
||||
* This file is part of INAV.
|
||||
*
|
||||
* INAV is free software: you can redistribute it 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.
|
||||
*
|
||||
* INAV 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 INAV. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "drivers/bus.h"
|
||||
#include "drivers/io.h"
|
||||
#include "drivers/pwm_mapping.h"
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/pinio.h"
|
||||
#include "drivers/sensor.h"
|
||||
|
||||
BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, MPU6000_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
|
||||
BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500, DEVHW_MPU6500, MPU6000_SPI_BUS, MPU6500_CS_PIN, MPU6500_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_MPU6500_ALIGN);
|
||||
BUSDEV_REGISTER_SPI_TAG(busdev_bmi270, DEVHW_BMI270, BMI270_SPI_BUS, BMI270_CS_PIN, BMI270_EXTI_PIN, 1, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
|
||||
|
||||
|
||||
timerHardware_t timerHardware[] = {
|
||||
DEF_TIM(TIM1, CH3, PA10, TIM_USE_PPM, 0, 0), //PPM
|
||||
|
||||
DEF_TIM(TIM8, CH1, PC6, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1), // S1 D(2, 2, 7)
|
||||
DEF_TIM(TIM8, CH2, PC7, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1), // S2 D(2, 3, 7)
|
||||
DEF_TIM(TIM8, CH3, PC8, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1), // S3 D(2, 4, 7)
|
||||
DEF_TIM(TIM8, CH4, PC9, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S4 D(2, 7, 7)
|
||||
|
||||
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR |TIM_USE_FW_SERVO, 0, 0), // S5 D(1, 7, 5)
|
||||
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR |TIM_USE_FW_SERVO, 0, 0), // S6 D(1, 2, 5)
|
||||
DEF_TIM(TIM4, CH1, PB6, TIM_USE_MC_MOTOR |TIM_USE_FW_SERVO, 0, 0), // S7 D(1, 0, 2)
|
||||
DEF_TIM(TIM4, CH2, PB7, TIM_USE_MC_MOTOR |TIM_USE_FW_SERVO, 0, 0), // S8 D(1, 3, 2)
|
||||
|
||||
DEF_TIM(TIM2, CH1, PA0, TIM_USE_LED, 0, 0), // LED_TRIP
|
||||
};
|
||||
|
||||
const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
|
||||
182
src/main/target/AOCODARCF7DUAL/target.h
Normal file
182
src/main/target/AOCODARCF7DUAL/target.h
Normal file
|
|
@ -0,0 +1,182 @@
|
|||
/*
|
||||
* This file is part of INAV.
|
||||
*
|
||||
* INAV is free software: you can redistribute it 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.
|
||||
*
|
||||
* INAV 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 INAV. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
|
||||
#pragma once
|
||||
|
||||
#define TARGET_BOARD_IDENTIFIER "AO7D"
|
||||
#define USBD_PRODUCT_STRING "AocodaRCF7Dual"
|
||||
|
||||
|
||||
#define LED0 PC14 //Blue
|
||||
|
||||
#define BEEPER PC13
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
// *************** SPI1 Gyro & ACC *******************
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_2
|
||||
#define SPI2_SCK_PIN PB13
|
||||
#define SPI2_MISO_PIN PB14
|
||||
#define SPI2_MOSI_PIN PB15
|
||||
|
||||
#define USE_EXTI
|
||||
#define USE_DUAL_GYRO
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
|
||||
|
||||
#define USE_IMU_MPU6000
|
||||
#define IMU_MPU6000_ALIGN CW270_DEG
|
||||
#define MPU6000_CS_PIN PB12
|
||||
#define MPU6000_SPI_BUS BUS_SPI2
|
||||
#define MPU6000_EXTI_PIN PC4
|
||||
|
||||
#define USE_IMU_MPU6500
|
||||
#define IMU_MPU6500_ALIGN CW270_DEG
|
||||
#define MPU6500_CS_PIN PB12
|
||||
#define MPU6500_SPI_BUS BUS_SPI2
|
||||
#define MPU6500_EXTI_PIN PC4
|
||||
|
||||
#define USE_IMU_BMI270
|
||||
#define IMU_BMI270_ALIGN CW180_DEG
|
||||
#define BMI270_CS_PIN PA13
|
||||
#define BMI270_SPI_BUS BUS_SPI2
|
||||
#define BMI270_EXTI_PIN PA8
|
||||
|
||||
// *************** I2C /Baro/Mag *********************
|
||||
#define USE_I2C
|
||||
#define USE_I2C_DEVICE_1
|
||||
#define I2C1_SCL PB8
|
||||
#define I2C1_SDA PB9
|
||||
|
||||
#define USE_BARO
|
||||
#define BARO_I2C_BUS BUS_I2C1
|
||||
#define USE_BARO_BMP280
|
||||
#define USE_BARO_MS5611
|
||||
#define USE_BARO_MS5607
|
||||
#define USE_BARO_DPS310
|
||||
|
||||
#define USE_I2C_DEVICE_2
|
||||
#define I2C2_SCL PB10
|
||||
#define I2C2_SDA PB11
|
||||
|
||||
#define USE_MAG
|
||||
#define MAG_I2C_BUS BUS_I2C2
|
||||
#define USE_MAG_AK8975
|
||||
#define USE_MAG_HMC5883
|
||||
#define USE_MAG_QMC5883
|
||||
#define USE_MAG_IST8310
|
||||
#define USE_MAG_IST8308
|
||||
#define USE_MAG_MAG3110
|
||||
#define USE_MAG_LIS3MDL
|
||||
|
||||
#define TEMPERATURE_I2C_BUS BUS_I2C2
|
||||
|
||||
#define PITOT_I2C_BUS BUS_I2C2
|
||||
|
||||
#define USE_RANGEFINDER
|
||||
#define RANGEFINDER_I2C_BUS BUS_I2C2
|
||||
|
||||
// *************** SPI2 OSD ***********************
|
||||
#define USE_SPI_DEVICE_1
|
||||
#define SPI1_SCK_PIN PA5
|
||||
#define SPI1_MISO_PIN PA6
|
||||
#define SPI1_MOSI_PIN PA7
|
||||
|
||||
#define USE_OSD
|
||||
#define USE_MAX7456
|
||||
#define MAX7456_SPI_BUS BUS_SPI1
|
||||
#define MAX7456_CS_PIN PA4
|
||||
|
||||
// *************** SPI3 FLASH BLACKBOX*******************
|
||||
#define USE_SPI_DEVICE_3
|
||||
#define SPI3_SCK_PIN PB3
|
||||
#define SPI3_MISO_PIN PB4
|
||||
#define SPI3_MOSI_PIN PB5
|
||||
|
||||
|
||||
#define USE_FLASHFS
|
||||
#define USE_FLASH_M25P16
|
||||
#define M25P16_SPI_BUS BUS_SPI3
|
||||
#define M25P16_CS_PIN PC0
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
|
||||
|
||||
|
||||
// *************** UART *****************************
|
||||
#define USE_VCP
|
||||
#define USB_DETECT_PIN PC15
|
||||
#define USE_USB_DETECT
|
||||
|
||||
#define USE_UART1
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_RX_PIN PA10
|
||||
|
||||
#define USE_UART2
|
||||
#define UART2_TX_PIN PA2
|
||||
#define UART2_RX_PIN PA3
|
||||
|
||||
#define USE_UART3
|
||||
#define UART3_TX_PIN PC10
|
||||
#define UART3_RX_PIN PC11
|
||||
|
||||
#define USE_UART4
|
||||
#define UART4_TX_PIN NONE
|
||||
#define UART4_RX_PIN PA1
|
||||
|
||||
#define USE_UART5
|
||||
#define UART5_TX_PIN PC12
|
||||
#define UART5_RX_PIN PD2
|
||||
|
||||
#define SERIAL_PORT_COUNT 6
|
||||
|
||||
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
|
||||
#define SERIALRX_PROVIDER SERIALRX_SBUS
|
||||
#define SERIALRX_UART SERIAL_PORT_USART1
|
||||
|
||||
// *************** ADC *****************************
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC1
|
||||
#define ADC1_DMA_STREAM DMA2_Stream0
|
||||
|
||||
#define ADC_CHANNEL_1_PIN PC1
|
||||
#define ADC_CHANNEL_2_PIN PC2
|
||||
#define ADC_CHANNEL_3_PIN PC3
|
||||
|
||||
|
||||
#define VBAT_ADC_CHANNEL ADC_CHN_2
|
||||
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_1
|
||||
#define RSSI_ADC_CHANNEL ADC_CHN_3
|
||||
|
||||
// *************** LEDSTRIP ************************
|
||||
#define USE_LED_STRIP
|
||||
#define WS2811_PIN PA0
|
||||
|
||||
#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
|
||||
#define CURRENT_METER_SCALE 650
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD 0xffff
|
||||
|
||||
#define MAX_PWM_OUTPUT_PORTS 10
|
||||
#define USE_DSHOT
|
||||
#define USE_SERIALSHOT
|
||||
#define USE_ESC_SENSOR
|
||||
|
|
@ -1 +1 @@
|
|||
target_stm32f405xg(ASGARD32F4)
|
||||
target_stm32f405xg(ASGARD32F4 SKIP_RELEASES)
|
||||
|
|
|
|||
|
|
@ -161,6 +161,5 @@
|
|||
#define TARGET_IO_PORTD 0xffff
|
||||
|
||||
#define PITOT_I2C_BUS BUS_I2C2
|
||||
#define PCA9685_I2C_BUS BUS_I2C2
|
||||
#define TEMPERATURE_I2C_BUS BUS_I2C2
|
||||
#define BNO055_I2C_BUS BUS_I2C2
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
target_stm32f722xe(ASGARD32F7)
|
||||
target_stm32f722xe(ASGARD32F7 SKIP_RELEASES)
|
||||
|
|
@ -165,6 +165,5 @@
|
|||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD 0xffff
|
||||
|
||||
#define PCA9685_I2C_BUS BUS_I2C2
|
||||
#define PITOT_I2C_BUS BUS_I2C2
|
||||
#define BNO055_I2C_BUS BUS_I2C2
|
||||
|
|
|
|||
Some files were not shown because too many files have changed in this diff Show more
Loading…
Add table
Add a link
Reference in a new issue