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Added FW level trim to in flight adjustments

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This commit is contained in:
Darren Lines 2022-05-11 18:13:13 +01:00
parent c3b79eb53c
commit 2e9bf6b6e7
5 changed files with 21 additions and 15 deletions
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1
docs/Inflight Adjustments.md
View file

@ -159,6 +159,7 @@ this reason ensure that you define enough ranges to cover the range channel's us
| 55 | TPA_BREAKPOINT | | 55 | TPA_BREAKPOINT |
| 56 | NAV_FW_CONTROL_SMOOTHNESS | | 56 | NAV_FW_CONTROL_SMOOTHNESS |
| 57 | FW_TPA_TIME_CONSTANT | | 57 | FW_TPA_TIME_CONSTANT |
| 58 | FW_LEVEL_TRIM |
## Examples ## Examples

13
src/main/fc/rc_adjustments.c
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@ -293,6 +293,10 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.adjustmentFunction = ADJUSTMENT_FW_TPA_TIME_CONSTANT, .adjustmentFunction = ADJUSTMENT_FW_TPA_TIME_CONSTANT,
.mode = ADJUSTMENT_MODE_STEP, .mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 5 }} .data = { .stepConfig = { .step = 5 }}
}, {
.adjustmentFunction = ADJUSTMENT_FW_LEVEL_TRIM,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
} }
}; };
@ -607,6 +611,15 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
case ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS: 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); applyAdjustmentU8(ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS, &navConfigMutable()->fw.control_smoothness, delta, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MIN, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MAX);
break; 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: default:
break; break;
}; };

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

@ -83,6 +83,7 @@ typedef enum {
ADJUSTMENT_TPA_BREAKPOINT = 55, ADJUSTMENT_TPA_BREAKPOINT = 55,
ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS = 56, ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS = 56,
ADJUSTMENT_FW_TPA_TIME_CONSTANT = 57, ADJUSTMENT_FW_TPA_TIME_CONSTANT = 57,
ADJUSTMENT_FW_LEVEL_TRIM = 58,
ADJUSTMENT_FUNCTION_COUNT // must be last ADJUSTMENT_FUNCTION_COUNT // must be last
} adjustmentFunction_e; } adjustmentFunction_e;

20
src/main/io/osd.c
View file

@ -3019,24 +3019,14 @@ static bool osdDrawSingleElement(uint8_t item)
} }
case OSD_TPA_TIME_CONSTANT: case OSD_TPA_TIME_CONSTANT:
{ {
/* char buff[7];
textAttributes_t attr;
if (isAdjustmentFunctionSelected(ADJUSTMENT_FW_TPA_TIME_CONSTANT)) {
displayWrite(osdDisplayPort, elemPosX, elemPosY, "TC OK");
} else {
displayWrite(osdDisplayPort, elemPosX, elemPosY, "TPA TC");
}
attr = TEXT_ATTRIBUTES_NONE;
tfp_sprintf(buff, "%4d", currentControlRateProfile->throttle.fixedWingTauMs);
if (isAdjustmentFunctionSelected(ADJUSTMENT_FW_TPA_TIME_CONSTANT)) {
TEXT_ATTRIBUTES_ADD_BLINK(attr);
}
displayWriteWithAttr(osdDisplayPort, elemPosX + 7, elemPosY, buff, attr);*/
osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "TPA TC", 0, currentControlRateProfile->throttle.fixedWingTauMs, 4, 0, ADJUSTMENT_FW_TPA_TIME_CONSTANT); osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "TPA TC", 0, currentControlRateProfile->throttle.fixedWingTauMs, 4, 0, ADJUSTMENT_FW_TPA_TIME_CONSTANT);
return true; 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: case OSD_NAV_FW_CONTROL_SMOOTHNESS:
osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "CTL S", 0, navConfig()->fw.control_smoothness, 1, 0, ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS); osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "CTL S", 0, navConfig()->fw.control_smoothness, 1, 0, ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS);

1
src/main/io/osd.h
View file

@ -258,6 +258,7 @@ typedef enum {
OSD_SWITCH_INDICATOR_2, OSD_SWITCH_INDICATOR_2,
OSD_SWITCH_INDICATOR_3, OSD_SWITCH_INDICATOR_3,
OSD_TPA_TIME_CONSTANT, OSD_TPA_TIME_CONSTANT,
OSD_FW_LEVEL_TRIM,
OSD_ITEM_COUNT // MUST BE LAST OSD_ITEM_COUNT // MUST BE LAST
} osd_items_e; } osd_items_e;