mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-25 17:25:18 +03:00
Merge remote-tracking branch 'origin/master' into mosca-target-converter
This commit is contained in:
Marcelo Bezerra
commit
2fe6f0405b
118 changed files with 3386 additions and 1173 deletions
8
.vscode/tasks.json
vendored
8
.vscode/tasks.json
vendored
|
|
@ -4,9 +4,9 @@
|
|||
"version": "2.0.0",
|
||||
"tasks": [
|
||||
{
|
||||
"label": "Build Matek F722-SE",
|
||||
"label": "Build AOCODARCH7DUAL",
|
||||
"type": "shell",
|
||||
"command": "make MATEKF722SE",
|
||||
"command": "make AOCODARCH7DUAL",
|
||||
"group": "build",
|
||||
"problemMatcher": [],
|
||||
"options": {
|
||||
|
|
@ -14,9 +14,9 @@
|
|||
}
|
||||
},
|
||||
{
|
||||
"label": "Build Matek F722",
|
||||
"label": "Build AOCODARCH7DUAL",
|
||||
"type": "shell",
|
||||
"command": "make MATEKF722",
|
||||
"command": "make AOCODARCH7DUAL",
|
||||
"group": {
|
||||
"kind": "build",
|
||||
"isDefault": true
|
||||
|
|
|
|||
|
|
@ -21,7 +21,6 @@ doc_files=(
|
|||
'Buzzer.md'
|
||||
'Sonar.md'
|
||||
'Profiles.md'
|
||||
'Modes.md'
|
||||
'Inflight Adjustments.md'
|
||||
'Controls.md'
|
||||
'Gtune.md'
|
||||
|
|
@ -49,7 +48,7 @@ if which gimli >/dev/null; then
|
|||
done
|
||||
rm -f ${filename}.pdf
|
||||
gimli -f ${filename}.md -stylesheet override.css \
|
||||
-w '--toc --title "Cleanflight Manual" --footer-right "[page]" --toc-depth 1'
|
||||
-w '--toc --title "INAV Manual" --footer-right "[page]" --toc-depth 1'
|
||||
rm ${filename}.md
|
||||
popd >/dev/null
|
||||
else
|
||||
|
|
|
|||
|
|
@ -47,7 +47,7 @@ function(arm_none_eabi_gcc_install)
|
|||
host_uname_machine(machine)
|
||||
if(machine STREQUAL "x86_64" OR machine STREQUAL "amd64")
|
||||
set(dist ${arm_none_eabi_darwin_amd64})
|
||||
elseif(machine STREQUAL "aarch64")
|
||||
elseif(machine STREQUAL "aarch64" OR machine STREQUAL "arm64")
|
||||
set(dist ${arm_none_eabi_darwin_aarch64})
|
||||
else()
|
||||
message("-- no precompiled ${arm_none_eabi_triplet} toolchain for machine ${machine}")
|
||||
|
|
|
|||
|
|
@ -23,7 +23,7 @@ Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the
|
|||
|
||||
| Data | Type | Notes |
|
||||
|------|------|-------|
|
||||
| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
|
||||
| permanentId | uint8 | See [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for a definition of the permanent ids |
|
||||
| auxChannelIndex | uint8 | The Aux switch number (indexed from 0) |
|
||||
| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
|
||||
| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
|
||||
|
|
@ -45,7 +45,7 @@ sending this message for all auxiliary slots.
|
|||
| Data | Type | Notes |
|
||||
|------|------|-------|
|
||||
| sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 |
|
||||
| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
|
||||
| permanentId | uint8 | See [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for a definition of the permanent ids |
|
||||
| auxChannelIndex | uint8 | The Aux channel number (indexed from 0) |
|
||||
| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
|
||||
| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
|
||||
|
|
@ -157,5 +157,5 @@ INAV.
|
|||
|
||||
See also
|
||||
--------
|
||||
Modes.md describes the user visible implementation for the INAV
|
||||
[The wiki](https://github.com/iNavFlight/inav/wiki/Modes) describes the user visible implementation for the INAV
|
||||
modes extension.
|
||||
|
|
|
|||
|
|
@ -5,6 +5,8 @@
|
|||
INAV supports advanced automatic landings for fixed wing aircraft from version 7.1.
|
||||
The procedure is based on landings for man-carrying aircraft, so that safe landings at a specific location are possible.
|
||||
Supported are landings at safehome after "Return to Home" or at a defined LAND waypoint for missions.
|
||||
Every landing locations can be defined with a target point and 2 different approach headings (colinear to the landing strips) with exclusive direction or opposite directions allowed.
|
||||
This enables up to 4 different approach directions, based on the landing site and surrounding area.
|
||||
|
||||
## General procedure:
|
||||
|
||||
|
|
@ -34,7 +36,7 @@ The following graphics illustrate the process:
|
|||
|
||||
### The following parameters are set for each landing site (Safefome/LAND waypoint):
|
||||
|
||||
All settings can also be conveniently made in the Configurator via Missionplanner.
|
||||
All settings can also be conveniently made in the Configurator via Mission Control.
|
||||
|
||||
CLI command `fwapproach`:
|
||||
`fwapproach <index> <Approach altitude> <Land altitude> <Approach direction> <approach heading 1> <approach heading 2> <sea level>`
|
||||
|
|
@ -54,7 +56,7 @@ This means that practically 4 landing directions can be saved.
|
|||
> [!CAUTION]
|
||||
> The Configuator automatically determines the ground altitude based on databases on the Internet, which may be inaccurate. Please always compare with the measured GPS altitude at the landing site to avoid crashes.
|
||||
|
||||
### Global paramters
|
||||
### Global parameters
|
||||
|
||||
All settings are available via “Advanced Tuning” in the Configurator.
|
||||
|
||||
|
|
@ -80,6 +82,23 @@ In degrees. Min: 0, Max: 45, Default: 0
|
|||
* `nav_fw_land_max_tailwind`: Max. tailwind if no landing direction with downwind is available. Wind strengths below this value are ignored (error tolerance in the wind measurement). Landing then takes place in the main direction. If, for example, 90 degrees is configured, landing takes place in this direction, NOT in 270 degrees (see above).
|
||||
In cm/s. Min: 0; Max: 3000, Default: 140
|
||||
|
||||
### General paramters and tuning tips
|
||||
|
||||
* `nav_fw_wp_tracking_accuracy`: Its highly recommended that this parameter is used and tuned well. Only with WP-Tracking enabled, the Aircraft will try to precisely align with the runway during approach.
|
||||
If WP-Tracking is not used, the Plane will head straight to the landiung location without flying in line with the intended landing strip. Wind can intensively alter the final landing heading.
|
||||
|
||||
* `nav_fw_pitch2thr`: The navigation throttle modifier has to be tuned well to allow stable navigation during climbs and descents to prevent a stall. Make sure your plane maintains Ground or Airspeed, when climbing in any navigation mode.
|
||||
The Craft should not get slower and not speed ub significantly during a navigation climb, if P2T is tuned properly.
|
||||
|
||||
* `nav_wp_radius`: This parameter might be too high if you have set up your craft with INAV 6 or INAV 7. With a too high value, the turning points for the Crosswind-Leg and Final Approach are hit too early and make it difficult for the plane to align to the runway or cut short the approach.
|
||||
Make sure this parameter is not set greater than 1000 (cm). The better your craft and navigation system is tuned, the lower this value can be. We recommend to start with 1000 for flying wings and 800 for a Plane with Tail.
|
||||
|
||||
* Test your Navigation-Tuning: A better Navigation-Tune will reward you with smoother and more reliable landings. To test your nav systems limit, we recommend to create a waypoint missions with many 90° turn angles with shorter and shorter tracks.
|
||||
With this Method, you can find out how well your plane can follow a navigation path and how long it takes to align to a waypoint track. A well tuned plane should be able to pull of a WP Mission that looks like this, where the distance between WP6 and WP7 si recommended to be the minimum approach length:
|
||||
|
||||
|
||||
|
||||
|
||||
## Waypoint missions
|
||||
|
||||
Only one landing waypoint per mission can be active and saved and the landing waypoint must be the last waypoint of the mission.
|
||||
|
|
@ -87,7 +106,7 @@ If the altitude of the waypoint and the "Approach Altitude" are different, the a
|
|||
|
||||
## Logic Conditions
|
||||
|
||||
The current landing state can be retrieved via ID 41 in "Flight" (FW Land State). This allows additional actions to be executed according to the landing phases, e.g. deplyoment of the landing flaps.
|
||||
The current landing state can be retrieved via ID 41 in "Flight" (FW Land State). This allows additional actions to be executed according to the landing phases, e.g. deployment of the landing flaps.
|
||||
|
||||
| Returned value | State |
|
||||
| --- | --- |
|
||||
|
|
|
|||
|
|
@ -70,7 +70,7 @@ Now, there are two ways to [configure CF](Configuration.md); via the Configurat
|
|||
* Verify the range of each channel goes from ~1000 to ~2000. See also [controls](Controls.md). and `rx_min_usec` and `rx_max_usec`.
|
||||
* You can also set EXPO here instead of your Tx.
|
||||
* Click Save!
|
||||
* Modes tab: Setup the desired modes. See the [modes](Modes.md) chapter for what each mode does, but for the beginning you mainly need HORIZON, if any.
|
||||
* Modes tab: Setup the desired modes. See the [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for what each mode does.
|
||||
|
||||
* Before finishing this section, you should calibrate the ESCs, install the FC to the frame, and connect the RSSI cable, buzzer and battery if you have chosen to use those.
|
||||
|
||||
|
|
|
|||
339
docs/OSD.md
339
docs/OSD.md
|
|
@ -19,155 +19,156 @@ Not all OSDs are created equally. This table shows the differences between the d
|
|||
## OSD Elements
|
||||
Here are the OSD Elements provided by INAV.
|
||||
|
||||
| ID | Element | Added |
|
||||
|-----|--------------------------------------------------|--------|
|
||||
| 0 | OSD_RSSI_VALUE | 1.0.0 |
|
||||
| 1 | OSD_MAIN_BATT_VOLTAGE | 1.0.0 |
|
||||
| 2 | OSD_CROSSHAIRS | 1.0.0 |
|
||||
| 3 | OSD_ARTIFICIAL_HORIZON | 1.0.0 |
|
||||
| 4 | OSD_HORIZON_SIDEBARS | 1.0.0 |
|
||||
| 5 | OSD_ONTIME | 1.0.0 |
|
||||
| 6 | OSD_FLYTIME | 1.0.0 |
|
||||
| 7 | OSD_FLYMODE | 1.0.0 |
|
||||
| 8 | OSD_CRAFT_NAME | 1.0.0 |
|
||||
| 9 | OSD_THROTTLE_POS | 1.0.0 |
|
||||
| 10 | OSD_VTX_CHANNEL | 1.0.0 |
|
||||
| 11 | OSD_CURRENT_DRAW | 1.0.0 |
|
||||
| 12 | OSD_MAH_DRAWN | 1.0.0 |
|
||||
| 13 | OSD_GPS_SPEED | 1.0.0 |
|
||||
| 14 | OSD_GPS_SATS | 1.0.0 |
|
||||
| 15 | OSD_ALTITUDE | 1.0.0 |
|
||||
| 16 | OSD_ROLL_PIDS | 1.6.0 |
|
||||
| 17 | OSD_PITCH_PIDS | 1.6.0 |
|
||||
| 18 | OSD_YAW_PIDS | 1.6.0 |
|
||||
| 19 | OSD_POWER | 1.6.0 |
|
||||
| 20 | OSD_GPS_LON | 1.6.0 |
|
||||
| 21 | OSD_GPS_LAT | 1.6.0 |
|
||||
| 22 | OSD_HOME_DIR | 1.6.0 |
|
||||
| 23 | OSD_HOME_DIST | 1.6.0 |
|
||||
| 24 | OSD_HEADING | 1.6.0 |
|
||||
| 25 | OSD_VARIO | 1.6.0 |
|
||||
| 26 | OSD_VARIO_NUM | 1.6.0 |
|
||||
| 27 | OSD_AIR_SPEED | 1.7.3 |
|
||||
| 28 | OSD_ONTIME_FLYTIME | 1.8.0 |
|
||||
| 29 | OSD_RTC_TIME | 1.8.0 |
|
||||
| 30 | OSD_MESSAGES | 1.8.0 |
|
||||
| 31 | OSD_GPS_HDOP | 1.8.0 |
|
||||
| 32 | OSD_MAIN_BATT_CELL_VOLTAGE | 1.8.0 |
|
||||
| 33 | OSD_SCALED_THROTTLE_POS | 1.8.0 |
|
||||
| 34 | OSD_HEADING_GRAPH | 1.8.0 |
|
||||
| 35 | OSD_EFFICIENCY_MAH_PER_KM | 1.9.0 |
|
||||
| 36 | OSD_WH_DRAWN | 1.9.0 |
|
||||
| 37 | OSD_BATTERY_REMAINING_CAPACITY | 1.9.0 |
|
||||
| 38 | OSD_BATTERY_REMAINING_PERCENT | 1.9.0 |
|
||||
| 39 | OSD_EFFICIENCY_WH_PER_KM | 1.9.0 |
|
||||
| 40 | OSD_TRIP_DIST | 1.9.1 |
|
||||
| 41 | OSD_ATTITUDE_PITCH | 2.0.0 |
|
||||
| 42 | OSD_ATTITUDE_ROLL | 2.0.0 |
|
||||
| 43 | OSD_MAP_NORTH | 2.0.0 |
|
||||
| 44 | OSD_MAP_TAKEOFF | 2.0.0 |
|
||||
| 45 | OSD_RADAR | 2.0.0 |
|
||||
| 46 | OSD_WIND_SPEED_HORIZONTAL | 2.0.0 |
|
||||
| 47 | OSD_WIND_SPEED_VERTICAL | 2.0.0 |
|
||||
| 48 | OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH | 2.0.0 |
|
||||
| 49 | OSD_REMAINING_DISTANCE_BEFORE_RTH | 2.0.0 |
|
||||
| 50 | OSD_HOME_HEADING_ERROR | 2.0.0 |
|
||||
| 51 | OSD_COURSE_HOLD_ERROR | 2.0.0 |
|
||||
| 52 | OSD_COURSE_HOLD_ADJUSTMENT | 2.0.0 |
|
||||
| 53 | OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE | 2.0.0 |
|
||||
| 54 | OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE | 2.0.0 |
|
||||
| 55 | OSD_POWER_SUPPLY_IMPEDANCE | 2.0.0 |
|
||||
| 56 | OSD_LEVEL_PIDS | 2.0.0 |
|
||||
| 57 | OSD_POS_XY_PIDS | 2.0.0 |
|
||||
| 58 | OSD_POS_Z_PIDS | 2.0.0 |
|
||||
| 59 | OSD_VEL_XY_PIDS | 2.0.0 |
|
||||
| 60 | OSD_VEL_Z_PIDS | 2.0.0 |
|
||||
| 61 | OSD_HEADING_P | 2.0.0 |
|
||||
| 62 | OSD_BOARD_ALIGN_ROLL | 2.0.0 |
|
||||
| 63 | OSD_BOARD_ALIGN_PITCH | 2.0.0 |
|
||||
| 64 | OSD_RC_EXPO | 2.0.0 |
|
||||
| 65 | OSD_RC_YAW_EXPO | 2.0.0 |
|
||||
| 66 | OSD_THROTTLE_EXPO | 2.0.0 |
|
||||
| 67 | OSD_PITCH_RATE | 2.0.0 |
|
||||
| 68 | OSD_ROLL_RATE | 2.0.0 |
|
||||
| 69 | OSD_YAW_RATE | 2.0.0 |
|
||||
| 70 | OSD_MANUAL_RC_EXPO | 2.0.0 |
|
||||
| 71 | OSD_MANUAL_RC_YAW_EXPO | 2.0.0 |
|
||||
| 72 | OSD_MANUAL_PITCH_RATE | 2.0.0 |
|
||||
| 73 | OSD_MANUAL_ROLL_RATE | 2.0.0 |
|
||||
| 74 | OSD_MANUAL_YAW_RATE | 2.0.0 |
|
||||
| 75 | OSD_NAV_FW_CRUISE_THR | 2.0.0 |
|
||||
| 76 | OSD_NAV_FW_PITCH2THR | 2.0.0 |
|
||||
| 77 | OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE | 2.0.0 |
|
||||
| 78 | OSD_DEBUG | 2.0.0 |
|
||||
| 79 | OSD_FW_ALT_PID_OUTPUTS | 2.0.0 |
|
||||
| 80 | OSD_FW_POS_PID_OUTPUTS | 2.0.0 |
|
||||
| 81 | OSD_MC_VEL_X_PID_OUTPUTS | 2.0.0 |
|
||||
| 82 | OSD_MC_VEL_Y_PID_OUTPUTS | 2.0.0 |
|
||||
| 83 | OSD_MC_VEL_Z_PID_OUTPUTS | 2.0.0 |
|
||||
| 84 | OSD_MC_POS_XYZ_P_OUTPUTS | 2.0.0 |
|
||||
| 85 | OSD_3D_SPEED | 2.1.0 |
|
||||
| 86 | OSD_IMU_TEMPERATURE | 2.1.0 |
|
||||
| 87 | OSD_BARO_TEMPERATURE | 2.1.0 |
|
||||
| 88 | OSD_TEMP_SENSOR_0_TEMPERATURE | 2.1.0 |
|
||||
| 89 | OSD_TEMP_SENSOR_1_TEMPERATURE | 2.1.0 |
|
||||
| 90 | OSD_TEMP_SENSOR_2_TEMPERATURE | 2.1.0 |
|
||||
| 91 | OSD_TEMP_SENSOR_3_TEMPERATURE | 2.1.0 |
|
||||
| 92 | OSD_TEMP_SENSOR_4_TEMPERATURE | 2.1.0 |
|
||||
| 93 | OSD_TEMP_SENSOR_5_TEMPERATURE | 2.1.0 |
|
||||
| 94 | OSD_TEMP_SENSOR_6_TEMPERATURE | 2.1.0 |
|
||||
| 95 | OSD_TEMP_SENSOR_7_TEMPERATURE | 2.1.0 |
|
||||
| 96 | OSD_ALTITUDE_MSL | 2.1.0 |
|
||||
| 97 | OSD_PLUS_CODE | 2.1.0 |
|
||||
| 98 | OSD_MAP_SCALE | 2.2.0 |
|
||||
| 99 | OSD_MAP_REFERENCE | 2.2.0 |
|
||||
| 100 | OSD_GFORCE | 2.2.0 |
|
||||
| 101 | OSD_GFORCE_X | 2.2.0 |
|
||||
| 102 | OSD_GFORCE_Y | 2.2.0 |
|
||||
| 103 | OSD_GFORCE_Z | 2.2.0 |
|
||||
| 104 | OSD_RC_SOURCE | 2.2.0 |
|
||||
| 105 | OSD_VTX_POWER | 2.2.0 |
|
||||
| 106 | OSD_ESC_RPM | 2.3.0 |
|
||||
| 107 | OSD_ESC_TEMPERATURE | 2.5.0 |
|
||||
| 108 | OSD_AZIMUTH | 2.6.0 |
|
||||
| 109 | OSD_CRSF_RSSI_DBM | 2.6.0 |
|
||||
| 110 | OSD_CRSF_LQ | 2.6.0 |
|
||||
| 111 | OSD_CRSF_SNR_DB | 2.6.0 |
|
||||
| 112 | OSD_CRSF_TX_POWER | 2.6.0 |
|
||||
| 113 | OSD_GVAR_0 | 2.6.0 |
|
||||
| 114 | OSD_GVAR_1 | 2.6.0 |
|
||||
| 115 | OSD_GVAR_2 | 2.6.0 |
|
||||
| 116 | OSD_GVAR_3 | 2.6.0 |
|
||||
| 117 | OSD_TPA | 2.6.0 |
|
||||
| 118 | OSD_NAV_FW_CONTROL_SMOOTHNESS | 2.6.0 |
|
||||
| 119 | OSD_VERSION | 3.0.0 |
|
||||
| 120 | OSD_RANGEFINDER | 3.0.0 |
|
||||
| 121 | OSD_PLIMIT_REMAINING_BURST_TIME | 3.0.0 |
|
||||
| 122 | OSD_PLIMIT_ACTIVE_CURRENT_LIMIT | 3.0.0 |
|
||||
| 123 | OSD_PLIMIT_ACTIVE_POWER_LIMIT | 3.0.0 |
|
||||
| 124 | OSD_GLIDESLOPE | 3.0.1 |
|
||||
| 125 | OSD_GPS_MAX_SPEED | 4.0.0 |
|
||||
| 126 | OSD_3D_MAX_SPEED | 4.0.0 |
|
||||
| 127 | OSD_AIR_MAX_SPEED | 4.0.0 |
|
||||
| 128 | OSD_ACTIVE_PROFILE | 4.0.0 |
|
||||
| 129 | OSD_MISSION | 4.0.0 |
|
||||
| 130 | OSD_SWITCH_INDICATOR_0 | 5.0.0 |
|
||||
| 131 | OSD_SWITCH_INDICATOR_1 | 5.0.0 |
|
||||
| 132 | OSD_SWITCH_INDICATOR_2 | 5.0.0 |
|
||||
| 133 | OSD_SWITCH_INDICATOR_3 | 5.0.0 |
|
||||
| 134 | OSD_TPA_TIME_CONSTANT | 5.0.0 |
|
||||
| 135 | OSD_FW_LEVEL_TRIM | 5.0.0 |
|
||||
| 136 | OSD_GLIDE_TIME_REMAINING | 6.0.0 |
|
||||
| 137 | OSD_GLIDE_RANGE | 6.0.0 |
|
||||
| 138 | OSD_CLIMB_EFFICIENCY | 6.0.0 |
|
||||
| 139 | OSD_NAV_WP_MULTI_MISSION_INDEX | 6.0.0 |
|
||||
| 140 | OSD_GROUND_COURSE | 6.0.0 |
|
||||
| 141 | OSD_CROSS_TRACK_ERROR | 6.0.0 |
|
||||
| 142 | OSD_PILOT_NAME | 6.0.0 |
|
||||
| 143 | OSD_PAN_SERVO_CENTRED | 6.0.0 |
|
||||
| 144 | OSD_MULTI_FUNCTION | 7.0.0 |
|
||||
| 145 | OSD_ODOMETER | 7.0.0 |
|
||||
| 146 | OSD_PILOT_LOGO | 7.0.0 |
|
||||
| ID | Element | Added | Notes |
|
||||
|-----|--------------------------------------------------|--------|-------|
|
||||
| 0 | OSD_RSSI_VALUE | 1.0.0 | |
|
||||
| 1 | OSD_MAIN_BATT_VOLTAGE | 1.0.0 | |
|
||||
| 2 | OSD_CROSSHAIRS | 1.0.0 | |
|
||||
| 3 | OSD_ARTIFICIAL_HORIZON | 1.0.0 | |
|
||||
| 4 | OSD_HORIZON_SIDEBARS | 1.0.0 | |
|
||||
| 5 | OSD_ONTIME | 1.0.0 | |
|
||||
| 6 | OSD_FLYTIME | 1.0.0 | |
|
||||
| 7 | OSD_FLYMODE | 1.0.0 | |
|
||||
| 8 | OSD_CRAFT_NAME | 1.0.0 | |
|
||||
| 9 | OSD_THROTTLE_POS | 1.0.0 | |
|
||||
| 10 | OSD_VTX_CHANNEL | 1.0.0 | |
|
||||
| 11 | OSD_CURRENT_DRAW | 1.0.0 | |
|
||||
| 12 | OSD_MAH_DRAWN | 1.0.0 | |
|
||||
| 13 | OSD_GPS_SPEED | 1.0.0 | |
|
||||
| 14 | OSD_GPS_SATS | 1.0.0 | |
|
||||
| 15 | OSD_ALTITUDE | 1.0.0 | |
|
||||
| 16 | OSD_ROLL_PIDS | 1.6.0 | |
|
||||
| 17 | OSD_PITCH_PIDS | 1.6.0 | |
|
||||
| 18 | OSD_YAW_PIDS | 1.6.0 | |
|
||||
| 19 | OSD_POWER | 1.6.0 | |
|
||||
| 20 | OSD_GPS_LON | 1.6.0 | |
|
||||
| 21 | OSD_GPS_LAT | 1.6.0 | |
|
||||
| 22 | OSD_HOME_DIR | 1.6.0 | |
|
||||
| 23 | OSD_HOME_DIST | 1.6.0 | |
|
||||
| 24 | OSD_HEADING | 1.6.0 | |
|
||||
| 25 | OSD_VARIO | 1.6.0 | |
|
||||
| 26 | OSD_VARIO_NUM | 1.6.0 | |
|
||||
| 27 | OSD_AIR_SPEED | 1.7.3 | |
|
||||
| 28 | OSD_ONTIME_FLYTIME | 1.8.0 | |
|
||||
| 29 | OSD_RTC_TIME | 1.8.0 | |
|
||||
| 30 | OSD_MESSAGES | 1.8.0 | |
|
||||
| 31 | OSD_GPS_HDOP | 1.8.0 | |
|
||||
| 32 | OSD_MAIN_BATT_CELL_VOLTAGE | 1.8.0 | |
|
||||
| 33 | OSD_SCALED_THROTTLE_POS | 1.8.0 | |
|
||||
| 34 | OSD_HEADING_GRAPH | 1.8.0 | |
|
||||
| 35 | OSD_EFFICIENCY_MAH_PER_KM | 1.9.0 | |
|
||||
| 36 | OSD_WH_DRAWN | 1.9.0 | |
|
||||
| 37 | OSD_BATTERY_REMAINING_CAPACITY | 1.9.0 | |
|
||||
| 38 | OSD_BATTERY_REMAINING_PERCENT | 1.9.0 | |
|
||||
| 39 | OSD_EFFICIENCY_WH_PER_KM | 1.9.0 | |
|
||||
| 40 | OSD_TRIP_DIST | 1.9.1 | |
|
||||
| 41 | OSD_ATTITUDE_PITCH | 2.0.0 | |
|
||||
| 42 | OSD_ATTITUDE_ROLL | 2.0.0 | |
|
||||
| 43 | OSD_MAP_NORTH | 2.0.0 | |
|
||||
| 44 | OSD_MAP_TAKEOFF | 2.0.0 | |
|
||||
| 45 | OSD_RADAR | 2.0.0 | |
|
||||
| 46 | OSD_WIND_SPEED_HORIZONTAL | 2.0.0 | |
|
||||
| 47 | OSD_WIND_SPEED_VERTICAL | 2.0.0 | |
|
||||
| 48 | OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH | 2.0.0 | |
|
||||
| 49 | OSD_REMAINING_DISTANCE_BEFORE_RTH | 2.0.0 | |
|
||||
| 50 | OSD_HOME_HEADING_ERROR | 2.0.0 | |
|
||||
| 51 | OSD_COURSE_HOLD_ERROR | 2.0.0 | |
|
||||
| 52 | OSD_COURSE_HOLD_ADJUSTMENT | 2.0.0 | |
|
||||
| 53 | OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE | 2.0.0 | |
|
||||
| 54 | OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE | 2.0.0 | |
|
||||
| 55 | OSD_POWER_SUPPLY_IMPEDANCE | 2.0.0 | |
|
||||
| 56 | OSD_LEVEL_PIDS | 2.0.0 | |
|
||||
| 57 | OSD_POS_XY_PIDS | 2.0.0 | |
|
||||
| 58 | OSD_POS_Z_PIDS | 2.0.0 | |
|
||||
| 59 | OSD_VEL_XY_PIDS | 2.0.0 | |
|
||||
| 60 | OSD_VEL_Z_PIDS | 2.0.0 | |
|
||||
| 61 | OSD_HEADING_P | 2.0.0 | |
|
||||
| 62 | OSD_BOARD_ALIGN_ROLL | 2.0.0 | |
|
||||
| 63 | OSD_BOARD_ALIGN_PITCH | 2.0.0 | |
|
||||
| 64 | OSD_RC_EXPO | 2.0.0 | |
|
||||
| 65 | OSD_RC_YAW_EXPO | 2.0.0 | |
|
||||
| 66 | OSD_THROTTLE_EXPO | 2.0.0 | |
|
||||
| 67 | OSD_PITCH_RATE | 2.0.0 | |
|
||||
| 68 | OSD_ROLL_RATE | 2.0.0 | |
|
||||
| 69 | OSD_YAW_RATE | 2.0.0 | |
|
||||
| 70 | OSD_MANUAL_RC_EXPO | 2.0.0 | |
|
||||
| 71 | OSD_MANUAL_RC_YAW_EXPO | 2.0.0 | |
|
||||
| 72 | OSD_MANUAL_PITCH_RATE | 2.0.0 | |
|
||||
| 73 | OSD_MANUAL_ROLL_RATE | 2.0.0 | |
|
||||
| 74 | OSD_MANUAL_YAW_RATE | 2.0.0 | |
|
||||
| 75 | OSD_NAV_FW_CRUISE_THR | 2.0.0 | |
|
||||
| 76 | OSD_NAV_FW_PITCH2THR | 2.0.0 | |
|
||||
| 77 | OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE | 2.0.0 | |
|
||||
| 78 | OSD_DEBUG | 2.0.0 | |
|
||||
| 79 | OSD_FW_ALT_PID_OUTPUTS | 2.0.0 | |
|
||||
| 80 | OSD_FW_POS_PID_OUTPUTS | 2.0.0 | |
|
||||
| 81 | OSD_MC_VEL_X_PID_OUTPUTS | 2.0.0 | |
|
||||
| 82 | OSD_MC_VEL_Y_PID_OUTPUTS | 2.0.0 | |
|
||||
| 83 | OSD_MC_VEL_Z_PID_OUTPUTS | 2.0.0 | |
|
||||
| 84 | OSD_MC_POS_XYZ_P_OUTPUTS | 2.0.0 | |
|
||||
| 85 | OSD_3D_SPEED | 2.1.0 | |
|
||||
| 86 | OSD_IMU_TEMPERATURE | 2.1.0 | |
|
||||
| 87 | OSD_BARO_TEMPERATURE | 2.1.0 | |
|
||||
| 88 | OSD_TEMP_SENSOR_0_TEMPERATURE | 2.1.0 | |
|
||||
| 89 | OSD_TEMP_SENSOR_1_TEMPERATURE | 2.1.0 | |
|
||||
| 90 | OSD_TEMP_SENSOR_2_TEMPERATURE | 2.1.0 | |
|
||||
| 91 | OSD_TEMP_SENSOR_3_TEMPERATURE | 2.1.0 | |
|
||||
| 92 | OSD_TEMP_SENSOR_4_TEMPERATURE | 2.1.0 | |
|
||||
| 93 | OSD_TEMP_SENSOR_5_TEMPERATURE | 2.1.0 | |
|
||||
| 94 | OSD_TEMP_SENSOR_6_TEMPERATURE | 2.1.0 | |
|
||||
| 95 | OSD_TEMP_SENSOR_7_TEMPERATURE | 2.1.0 | |
|
||||
| 96 | OSD_ALTITUDE_MSL | 2.1.0 | |
|
||||
| 97 | OSD_PLUS_CODE | 2.1.0 | |
|
||||
| 98 | OSD_MAP_SCALE | 2.2.0 | |
|
||||
| 99 | OSD_MAP_REFERENCE | 2.2.0 | |
|
||||
| 100 | OSD_GFORCE | 2.2.0 | |
|
||||
| 101 | OSD_GFORCE_X | 2.2.0 | |
|
||||
| 102 | OSD_GFORCE_Y | 2.2.0 | |
|
||||
| 103 | OSD_GFORCE_Z | 2.2.0 | |
|
||||
| 104 | OSD_RC_SOURCE | 2.2.0 | |
|
||||
| 105 | OSD_VTX_POWER | 2.2.0 | |
|
||||
| 106 | OSD_ESC_RPM | 2.3.0 | |
|
||||
| 107 | OSD_ESC_TEMPERATURE | 2.5.0 | |
|
||||
| 108 | OSD_AZIMUTH | 2.6.0 | |
|
||||
| 109 | OSD_CRSF_RSSI_DBM | 2.6.0 | |
|
||||
| 110 | OSD_CRSF_LQ | 2.6.0 | |
|
||||
| 111 | OSD_CRSF_SNR_DB | 2.6.0 | |
|
||||
| 112 | OSD_CRSF_TX_POWER | 2.6.0 | |
|
||||
| 113 | OSD_GVAR_0 | 2.6.0 | |
|
||||
| 114 | OSD_GVAR_1 | 2.6.0 | |
|
||||
| 115 | OSD_GVAR_2 | 2.6.0 | |
|
||||
| 116 | OSD_GVAR_3 | 2.6.0 | |
|
||||
| 117 | OSD_TPA | 2.6.0 | |
|
||||
| 118 | OSD_NAV_FW_CONTROL_SMOOTHNESS | 2.6.0 | |
|
||||
| 119 | OSD_VERSION | 3.0.0 | |
|
||||
| 120 | OSD_RANGEFINDER | 3.0.0 | |
|
||||
| 121 | OSD_PLIMIT_REMAINING_BURST_TIME | 3.0.0 | |
|
||||
| 122 | OSD_PLIMIT_ACTIVE_CURRENT_LIMIT | 3.0.0 | |
|
||||
| 123 | OSD_PLIMIT_ACTIVE_POWER_LIMIT | 3.0.0 | |
|
||||
| 124 | OSD_GLIDESLOPE | 3.0.1 | |
|
||||
| 125 | OSD_GPS_MAX_SPEED | 4.0.0 | |
|
||||
| 126 | OSD_3D_MAX_SPEED | 4.0.0 | |
|
||||
| 127 | OSD_AIR_MAX_SPEED | 4.0.0 | |
|
||||
| 128 | OSD_ACTIVE_PROFILE | 4.0.0 | |
|
||||
| 129 | OSD_MISSION | 4.0.0 | |
|
||||
| 130 | OSD_SWITCH_INDICATOR_0 | 5.0.0 | |
|
||||
| 131 | OSD_SWITCH_INDICATOR_1 | 5.0.0 | |
|
||||
| 132 | OSD_SWITCH_INDICATOR_2 | 5.0.0 | |
|
||||
| 133 | OSD_SWITCH_INDICATOR_3 | 5.0.0 | |
|
||||
| 134 | OSD_TPA_TIME_CONSTANT | 5.0.0 | |
|
||||
| 135 | OSD_FW_LEVEL_TRIM | 5.0.0 | |
|
||||
| 136 | OSD_GLIDE_TIME_REMAINING | 6.0.0 | |
|
||||
| 137 | OSD_GLIDE_RANGE | 6.0.0 | |
|
||||
| 138 | OSD_CLIMB_EFFICIENCY | 6.0.0 | |
|
||||
| 139 | OSD_NAV_WP_MULTI_MISSION_INDEX | 6.0.0 | |
|
||||
| 140 | OSD_GROUND_COURSE | 6.0.0 | |
|
||||
| 141 | OSD_CROSS_TRACK_ERROR | 6.0.0 | |
|
||||
| 142 | OSD_PILOT_NAME | 6.0.0 | |
|
||||
| 143 | OSD_PAN_SERVO_CENTRED | 6.0.0 | |
|
||||
| 144 | OSD_MULTI_FUNCTION | 7.0.0 | |
|
||||
| 145 | OSD_ODOMETER | 7.0.0 | For this to work correctly, stats must be enabled (`set stats=ON`). Otherwise, this will show the total flight distance. |
|
||||
| 146 | OSD_PILOT_LOGO | 7.0.0 | |
|
||||
| 147 | OSD_BLACKBOX | 8.0.0 | The element will be hidden unless blackbox recording is attempted. |
|
||||
|
||||
# Pilot Logos
|
||||
|
||||
|
|
@ -192,3 +193,43 @@ This is an example of the arming screen with the pilot logo enabled. This is usi
|
|||
|
||||
This is an example of setting the `osd_inav_to_pilot_logo_spacing` to 0. This will allow a larger, single logo.
|
||||
|
||||
|
||||
# Post Flight Statistics
|
||||
The post flight statistcs are set in the firmware. Statistics are only hidden if the supporting hardware is not present. Due to size contraints. The post flight statistics are spread over 2 pages on analogue systems.
|
||||
|
||||
## Statistics shown
|
||||
| Statistic | Requirement | Page | |
|
||||
|-------------------------------|-----------------------|-------|-|
|
||||
| Flight Time | | 1 | The total time from arm to disarm. |
|
||||
| Flight Distance | | 1 | |
|
||||
| Maximum Distance From Home | GPS | 1 | |
|
||||
| Maximum Speed | GPS | 1 | |
|
||||
| Average Speed | GPS | 1 | |
|
||||
| Maximum Altitude | Baro/GPS | 1 | |
|
||||
| Minimum Average Cell Voltage | | 1 | |
|
||||
| Minimum Pack Voltage | | 1 | |
|
||||
| Maximum Current | Current Sensor | 1 | |
|
||||
| Maximum Power | Current Sensor | 1 | |
|
||||
| Energy Used (Flight) | Current Sensor | 1 | |
|
||||
| Energy Used (Battery Total) | Current Sensor | 1 | This data is not reset on arming. |
|
||||
| Average Efficiency | Current Sensor & GPS | 1 | |
|
||||
| Minimum RSSI | | 2 | |
|
||||
| Minimum LQ | CRSF | 2 | |
|
||||
| Minmum dBm | CRSF | 2 | |
|
||||
| Minimum Satellites | GPS | 2 | |
|
||||
| Maximum Satellites | GPS | 2 | |
|
||||
| Minimum ESC Temperature | ESC Telemetry | 2 | |
|
||||
| Maximum ESC Temperature | ESC Telemetry | 2 | |
|
||||
| Maximum G-Force | | 2 | |
|
||||
| Minimum Z axis G-Force | | 2 | |
|
||||
| Maximum Z axis G-Force | | 2 | |
|
||||
| Blackbox file number | Blackbox recording | 2 | |
|
||||
| Disarm method | | 1 & 2 | |
|
||||
| Settings save status | | 1 & 2 | Shows a message if the settings are being saved or have been saved on disarm. |
|
||||
|
||||
## Configuration
|
||||
There are a couple of settings that allow you to adjust parts of the post flights statistics.
|
||||
|
||||
- `osd_stats_page_auto_swap_time` allows you to specify how long each stats page is displayed [seconds]. Reverts to manual control when Roll stick used to change pages. Disabled when set to 0.
|
||||
- `osd_stats_energy_unit` allows you to choose the unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour). Default is MAH.
|
||||
- `osd_stats_show_metric_efficiency` if you use non-metric units on your OSD. Enabling this option will also show the efficiency in metric.
|
||||
|
|
|
|||
|
|
@ -20,6 +20,7 @@ Following rangefinders are supported:
|
|||
* UIB - experimental
|
||||
* MSP - experimental
|
||||
* TOF10120 - small & lightweight laser range sensor, usable up to 200cm
|
||||
* TERARANGER EVO - 30cm to 600cm, depends on version https://www.terabee.com/sensors-modules/lidar-tof-range-finders/#individual-distance-measurement-sensors
|
||||
|
||||
## Connections
|
||||
|
||||
|
|
|
|||
|
|
@ -6,7 +6,7 @@ As many can attest, multirotors and RC models in general can be very dangerous,
|
|||
|
||||
## Before Installing
|
||||
|
||||
Please consult the [Cli](Cli.md), [Controls](Controls.md), [Failsafe](Failsafe.md) and [Modes](Modes.md)
|
||||
Please consult the [Cli](Cli.md), [Controls](Controls.md), [Failsafe](Failsafe.md) and [Modes](https://github.com/iNavFlight/inav/wiki/Modes)
|
||||
pages for further important information.
|
||||
|
||||
You are highly advised to use the Receiver tab in the INAV Configurator, making sure your Rx channel
|
||||
|
|
|
|||
134
docs/Settings.md
134
docs/Settings.md
|
|
@ -658,7 +658,7 @@ These are values (in us) by how much RC input can be different before it's consi
|
|||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 5 | 0 | 32 |
|
||||
| 2 | 0 | 32 |
|
||||
|
||||
---
|
||||
|
||||
|
|
@ -672,9 +672,9 @@ Defines debug values exposed in debug variables (developer / debugging setting)
|
|||
|
||||
---
|
||||
|
||||
### disarm_kill_switch
|
||||
### disarm_always
|
||||
|
||||
Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel.
|
||||
Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
|
|
@ -752,16 +752,6 @@ Re-purpose the craft name field for messages.
|
|||
|
||||
---
|
||||
|
||||
### dji_workarounds
|
||||
|
||||
Enables workarounds for different versions of MSP protocol used
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 1 | 0 | 255 |
|
||||
|
||||
---
|
||||
|
||||
### dshot_beeper_enabled
|
||||
|
||||
Whether using DShot motors as beepers is enabled
|
||||
|
|
@ -942,6 +932,16 @@ EzTune response
|
|||
|
||||
---
|
||||
|
||||
### ez_snappiness
|
||||
|
||||
EzTune snappiness
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 0 | 0 | 100 |
|
||||
|
||||
---
|
||||
|
||||
### ez_stability
|
||||
|
||||
EzTune stability
|
||||
|
|
@ -1572,16 +1572,6 @@ Gyro processing anti-aliasing filter cutoff frequency. In normal operation this
|
|||
|
||||
---
|
||||
|
||||
### gyro_anti_aliasing_lpf_type
|
||||
|
||||
Specifies the type of the software LPF of the gyro signals.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| PT1 | | |
|
||||
|
||||
---
|
||||
|
||||
### gyro_dyn_lpf_curve_expo
|
||||
|
||||
Expo value for the throttle-to-frequency mapping for Dynamic LPF
|
||||
|
|
@ -1612,16 +1602,6 @@ Minimum frequency of the gyro Dynamic LPF
|
|||
|
||||
---
|
||||
|
||||
### gyro_hardware_lpf
|
||||
|
||||
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 | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 256HZ | | |
|
||||
|
||||
---
|
||||
|
||||
### gyro_main_lpf_hz
|
||||
|
||||
Software based gyro main lowpass filter. Value is cutoff frequency (Hz)
|
||||
|
|
@ -1632,16 +1612,6 @@ Software based gyro main lowpass filter. Value is cutoff frequency (Hz)
|
|||
|
||||
---
|
||||
|
||||
### gyro_main_lpf_type
|
||||
|
||||
Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| BIQUAD | | |
|
||||
|
||||
---
|
||||
|
||||
### gyro_to_use
|
||||
|
||||
On multi-gyro targets, allows to choose which gyro to use. 0 = first gyro, 1 = second gyro
|
||||
|
|
@ -2412,16 +2382,6 @@ These are min/max values (in us) which, when a channel is smaller (min) or large
|
|||
|
||||
---
|
||||
|
||||
### max_throttle
|
||||
|
||||
This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK for everyone (legacy). For modern ESCs, higher values (c. 2000) may be more appropriate. If you have brushed motors, the value should be set to 2000.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 1850 | PWM_RANGE_MIN | PWM_RANGE_MAX |
|
||||
|
||||
---
|
||||
|
||||
### mc_cd_lpf_hz
|
||||
|
||||
Cutoff frequency for Control Derivative. This controls the cutoff for the LPF that is applied to the CD (Feed Forward) signal to the PID controller. Lower value will produce a smoother CD gain to the controller, but it will be more delayed. Higher values will produce CD gain that may have more noise in the signal depending on your RC link but wil be less delayed.
|
||||
|
|
@ -2964,11 +2924,11 @@ Max. tailwind (in cm/s) if no landing direction with downwind is available
|
|||
|
||||
### nav_fw_launch_accel
|
||||
|
||||
Forward acceleration threshold for bungee launch of throw launch [cm/s/s], 1G = 981 cm/s/s
|
||||
Forward acceleration threshold for bungee launch or throw launch [cm/s/s], 1G = 981 cm/s/s
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 1863 | 1000 | 20000 |
|
||||
| 1863 | 1500 | 20000 |
|
||||
|
||||
---
|
||||
|
||||
|
|
@ -3122,6 +3082,16 @@ Forward velocity threshold for swing-launch detection [cm/s]
|
|||
|
||||
---
|
||||
|
||||
### nav_fw_launch_wiggle_to_wake_idle
|
||||
|
||||
Trigger the idle throttle by wiggling the plane. 0 = disabled. 1 and 2 signify 1 or 2 yaw wiggles to activate. 1 wiggle has a higher detection point, for airplanes without a tail. 2 wiggles has a lower detection point, but requires the repeated action. This is intended for larger models and airplanes with tails.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 0 | 0 | 2 |
|
||||
|
||||
---
|
||||
|
||||
### nav_fw_loiter_radius
|
||||
|
||||
PosHold radius. 3000 to 7500 is a good value (30-75m) [cm]
|
||||
|
|
@ -3754,7 +3724,7 @@ When ON, NAV engine will slow down when switching to the next waypoint. This pri
|
|||
|
||||
### nav_min_ground_speed
|
||||
|
||||
Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s.
|
||||
Minimum ground speed for navigation flight modes [m/s]. Currently, this only affects fixed wing. Default 7 m/s.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
|
|
@ -4362,6 +4332,16 @@ Use wind estimation for remaining flight time/distance estimation
|
|||
|
||||
---
|
||||
|
||||
### osd_estimations_wind_mps
|
||||
|
||||
Wind speed estimation in m/s
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| OFF | OFF | ON |
|
||||
|
||||
---
|
||||
|
||||
### osd_failsafe_switch_layout
|
||||
|
||||
If enabled the OSD automatically switches to the first layout during failsafe
|
||||
|
|
@ -4882,16 +4862,6 @@ Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt
|
|||
|
||||
---
|
||||
|
||||
### osd_stats_min_voltage_unit
|
||||
|
||||
Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| BATTERY | | |
|
||||
|
||||
---
|
||||
|
||||
### osd_stats_page_auto_swap_time
|
||||
|
||||
Auto swap display time interval between disarm stats pages (seconds). Reverts to manual control when Roll stick used to change pages. Disabled when set to 0.
|
||||
|
|
@ -4902,6 +4872,16 @@ Auto swap display time interval between disarm stats pages (seconds). Reverts to
|
|||
|
||||
---
|
||||
|
||||
### osd_stats_show_metric_efficiency
|
||||
|
||||
Enabling this option will show metric efficiency statistics on the post flight stats screen. In addition to the efficiency statistics in your chosen units.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| OFF | OFF | ON |
|
||||
|
||||
---
|
||||
|
||||
### osd_switch_indicator_one_channel
|
||||
|
||||
RC Channel to use for OSD switch indicator 1.
|
||||
|
|
@ -5082,26 +5062,6 @@ Allows to set type of PID controller used in control loop. Possible values: `NON
|
|||
|
||||
---
|
||||
|
||||
### pidsum_limit
|
||||
|
||||
A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 500 | PID_SUM_LIMIT_MIN | PID_SUM_LIMIT_MAX |
|
||||
|
||||
---
|
||||
|
||||
### pidsum_limit_yaw
|
||||
|
||||
A limitation to overall amount of correction Flight PID can request on each axis (Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 350 | PID_SUM_LIMIT_MIN | PID_SUM_LIMIT_MAX |
|
||||
|
||||
---
|
||||
|
||||
### pilot_name
|
||||
|
||||
Pilot name
|
||||
|
|
@ -6238,7 +6198,7 @@ These are values (in us) by how much RC input can be different before it's consi
|
|||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 5 | 0 | 100 |
|
||||
| 2 | 0 | 100 |
|
||||
|
||||
---
|
||||
|
||||
|
|
|
|||
|
|
@ -2,4 +2,8 @@
|
|||
|
||||
Contrary to what the documentation suggests, VTX power is actually on USER2.
|
||||
|
||||
# Dual Gyros
|
||||
|
||||
INAV 7.1 changed the default gyro of the board from the gyro on SPI4 back to the one on SPI1. A new tagrt ```MAMBAH743_2022B_GYRO2``` was added to use gyro on SPI4, in case you suspect an issue with the gyro on SPI1, you can switch to the gyro on SPI4 by using the new target.
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -566,7 +566,6 @@ The log end marker is an optional Event ("E") frame of type 0xFF whose payload i
|
|||
<li> Sticks</li>
|
||||
<li> Switch_3D</li>
|
||||
<li> Switch</li>
|
||||
<li> Killswitch</li>
|
||||
<li> Failsafe</li>
|
||||
<li> Navigation</li>
|
||||
</ol>
|
||||
|
|
|
|||
|
|
@ -1,5 +1,7 @@
|
|||
# Building with Docker
|
||||
|
||||
> **On Windows building with this method is not advised and should be used only if Windows Linux Subsystem can not be used. In all other cases all Windows users should be using Linux Subsystem (WSL) instead**
|
||||
|
||||
Building with [Docker](https://www.docker.com/) is remarkably easy: an isolated container will hold all the needed compilation tools so that they won't interfere with your system and you won't need to install and manage them by yourself. You'll only need to have Docker itself [installed](https://docs.docker.com/install/).
|
||||
|
||||
The first time that you'll run a build it will take a little more time than following executions since it will be building its base image first. Once this initial process is completed, the firmware will be always built immediately.
|
||||
|
|
|
|||
|
|
@ -1,5 +1,7 @@
|
|||
# Building with Vagrant
|
||||
|
||||
> **On Windows building with this method is not advised and should be used only if Windows Linux Subsystem can not be used. In all other cases all Windows users should be using Linux Subsystem (WSL) instead**
|
||||
|
||||
Setting up build environment with Vagrant is remarkably simple, but you still need to have some basic knowlage of your OS.
|
||||
|
||||
## Installing Vagrant
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
# Building in Windows 10 with Linux subsystem [Recommended]
|
||||
# Building in Windows 10/11 with Linux subsystem (WSL) [Recommended]
|
||||
|
||||
Linux subsystem for Windows 10 is probably the simplest way of building INAV under Windows 10.
|
||||
Linux subsystem for Windows (WSL) 10/11 is probably the simplest way of building INAV under Windows.
|
||||
|
||||
## Setting up the environment
|
||||
|
||||
|
|
@ -9,7 +9,6 @@ run `windows features`
|
|||
enable `windows subsytem for linux`
|
||||
reboot
|
||||
|
||||
|
||||
Install Ubuntu:
|
||||
1. Go to Microsoft store https://www.microsoft.com/en-gb/store/b/home
|
||||
1. Search and install most recent Ubuntu LTS version
|
||||
|
|
@ -56,12 +55,12 @@ You can fix this with by remounting the drive using the following commands
|
|||
1. `sudo umount /mnt/c`
|
||||
2. `sudo mount -t drvfs C: /mnt/c -o metadata`
|
||||
|
||||
## Building (example):
|
||||
## Building with Make (example):
|
||||
|
||||
For detailed build instrusctions see [Building in Linux](Building%20in%20Linux.md)
|
||||
For detailed build instructions see [Building in Linux](Building%20in%20Linux.md)
|
||||
|
||||
Launch Ubuntu:
|
||||
Click Windows Start button then scroll and lauch "Ubuntu"
|
||||
Click Windows Start button then scroll and launch "Ubuntu"
|
||||
|
||||
Building from Ubuntu command line
|
||||
|
||||
|
|
@ -80,6 +79,39 @@ cd build
|
|||
make MATEKF722
|
||||
```
|
||||
|
||||
## Building with Ninja (example):
|
||||
|
||||
[Ninja](https://ninja-build.org/) is a popular cross-platform tool. It is both lightweight and executes parallel builds by default. It is advantageous to use this over the old _make_ method. There are detailed instructions for building with Ninja in [Building in Linux](Building%20in%20Linux.md#building-with-ninja).
|
||||
|
||||
Launch Ubuntu:
|
||||
Click Windows Start button. Then scroll and launch **Ubuntu**.
|
||||
|
||||
> [!TIP]
|
||||
> Before using Ninja, you will need to install it. From the Ubuntu command prompt type `sudo apt-get install ninja-build -y` and press enter.
|
||||
|
||||
Building from the command line:
|
||||
|
||||
First, change to the INAV directory with
|
||||
```cd /mnt/c/inav```
|
||||
|
||||
Before building, you will need to prepare the build environment. You only need to do this once, unless you reinstall WSL or cmake.
|
||||
|
||||
```
|
||||
mkdir build
|
||||
cd build
|
||||
cmake -GNinja ..
|
||||
```
|
||||
|
||||
From then on, you can build your target by calling the following from inside the build directory.
|
||||
```
|
||||
ninja MATEKF722
|
||||
```
|
||||
|
||||
If you want to build multiple targets. You can use:
|
||||
```
|
||||
ninja MATEKF722 MATEKF405SE SPEEDYBEEF405
|
||||
```
|
||||
|
||||
## Updating the documents
|
||||
```
|
||||
cd /mnt/c/inav
|
||||
|
|
|
|||
|
|
@ -1,4 +1,7 @@
|
|||
# Building in Windows with MSYS2
|
||||
|
||||
> **Building with this method is not advised and should be used only if Windows Linux Subsystem can not be used. In all other cases all Windows users should be using Linux Subsystem (WSL) instead**
|
||||
|
||||
- This environment does not require installing WSL, which may not be available or would get in the way of other virtualization and/or anti-cheat software
|
||||
- It is also much faster to install and get set up because of its small size(~3.65 GB total after building hex file as of 6.0.0)
|
||||
## Setting up the environment
|
||||
|
|
|
|||
|
|
@ -1,4 +1,8 @@
|
|||
# Building in windows light [Deprecated]
|
||||
|
||||
> **Building with this method is deprecated and not advised. All Windows users should be using
|
||||
Linux Subsystem (WSL) instead**
|
||||
|
||||
no cygwin and no path changes
|
||||
|
||||
## Install Git for windows
|
||||
36
readme.md
36
readme.md
|
|
@ -1,6 +1,6 @@
|
|||
# INAV - navigation capable flight controller
|
||||
|
||||
# PSA
|
||||
# F411 PSA
|
||||
|
||||
> INAV no longer accepts targets based on STM32 F411 MCU.
|
||||
|
||||
|
|
@ -8,11 +8,32 @@
|
|||
|
||||
|
||||
|
||||
# PosHold, Navigation and RTH without compass PSA
|
||||
|
||||
Attention all drone pilots and enthusiasts,
|
||||
|
||||
Are you ready to take your flights to new heights with INAV 7.1? We've got some important information to share with you.
|
||||
|
||||
INAV 7.1 brings an exciting update to navigation capabilities. Now, you can soar through the skies, navigate waypoints, and even return to home without relying on a compass. Yes, you heard that right! But before you launch into the air, there's something crucial to consider.
|
||||
|
||||
While INAV 7.1 may not require a compass for basic navigation functions, we strongly advise you to install one for optimal flight performance. Here's why:
|
||||
|
||||
🛰️ Better Flight Precision: A compass provides essential data for accurate navigation, ensuring smoother and more precise flight paths.
|
||||
|
||||
🌐 Enhanced Reliability: With a compass onboard, your drone can maintain stability even in challenging environments, low speeds and strong wind.
|
||||
|
||||
🚀 Minimize Risks: Although INAV 7.1 can get you where you need to go without a compass, flying without one may result in a bumpier ride and increased risk of drift or inaccurate positioning.
|
||||
|
||||
Remember, safety and efficiency are paramount when operating drones. By installing a compass, you're not just enhancing your flight experience, but also prioritizing safety for yourself and those around you.
|
||||
|
||||
So, before you take off on your next adventure, make sure to equip your drone with a compass. It's the smart choice for smoother flights and better navigation.
|
||||
|
||||
Fly safe, fly smart with INAV 7.1 and a compass by your side!
|
||||
|
||||
# INAV Community
|
||||
|
||||
* [INAV Discord Server](https://discord.gg/peg2hhbYwN)
|
||||
* [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)
|
||||
* [INAV Official on Telegram](https://t.me/INAVFlight)
|
||||
|
||||
## Features
|
||||
|
||||
|
|
@ -22,14 +43,15 @@
|
|||
* Outstanding performance out of the box
|
||||
* Position Hold, Altitude Hold, Return To Home and Waypoint Missions
|
||||
* Excellent support for fixed wing UAVs: airplanes, flying wings
|
||||
* Blackbox flight recorder logging
|
||||
* Advanced gyro filtering
|
||||
* Fully configurable mixer that allows to run any hardware you want: multirotor, fixed wing, rovers, boats and other experimental devices
|
||||
* Multiple sensor support: GPS, Pitot tube, sonar, lidar, temperature, ESC with BlHeli_32 telemetry
|
||||
* Logic Conditions, Global Functions and Global Variables: you can program INAV with a GUI
|
||||
* SmartAudio and IRC Tramp VTX support
|
||||
* Blackbox flight recorder logging
|
||||
* Telemetry: SmartPort, FPort, MAVlink, LTM, CRSF
|
||||
* Multi-color RGB LED Strip support
|
||||
* Advanced gyro filtering
|
||||
* Logic Conditions, Global Functions and Global Variables: you can program INAV with a GUI
|
||||
* On Screen Display (OSD) - both character and pixel style
|
||||
* And many more!
|
||||
|
||||
For a list of features, changes and some discussion please review consult the releases [page](https://github.com/iNavFlight/inav/releases) and the documentation.
|
||||
|
|
@ -52,10 +74,6 @@ Command line tools (`blackbox_decode`, `blackbox_render`) for Blackbox log conve
|
|||
|
||||
Users of EdgeTX and OpenTX radios (Taranis, Horus, Jumper, Radiomaster, Nirvana) can use INAV OpenTX Telemetry Widget screen. Software and installation instruction are available here: [https://github.com/iNavFlight/OpenTX-Telemetry-Widget](https://github.com/iNavFlight/OpenTX-Telemetry-Widget)
|
||||
|
||||
### INAV magnetometer alignment helper
|
||||
|
||||
[INAV Magnetometer Alignment helper](https://kernel-machine.github.io/INavMagAlignHelper/) allows to align INAV magnetometer despite position and orientation. This simplifies the process of INAV setup on multirotors with tilted GPS modules.
|
||||
|
||||
### OSD layout Copy, Move, or Replace helper tool
|
||||
|
||||
[Easy INAV OSD switcher tool](https://www.mrd-rc.com/tutorials-tools-and-testing/useful-tools/inav-osd-switcher-tool/) allows you to easily switch your OSD layouts around in INAV. Choose the from and to OSD layouts, and the method of transfering the layouts.
|
||||
|
|
|
|||
|
|
@ -237,6 +237,8 @@ main_sources(COMMON_SRC
|
|||
drivers/rangefinder/rangefinder_us42.h
|
||||
drivers/rangefinder/rangefinder_tof10120_i2c.c
|
||||
drivers/rangefinder/rangefinder_tof10120_i2c.h
|
||||
drivers/rangefinder/rangefinder_teraranger_evo.c
|
||||
drivers/rangefinder/rangefinder_teraranger_evo.h
|
||||
|
||||
drivers/resource.c
|
||||
drivers/resource.h
|
||||
|
|
|
|||
|
|
@ -1844,9 +1844,9 @@ static bool blackboxWriteSysinfo(void)
|
|||
BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s", systemConfig()->craftName);
|
||||
BLACKBOX_PRINT_HEADER_LINE("P interval", "%u/%u", blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
|
||||
BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d", getThrottleIdleValue());
|
||||
BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", motorConfig()->maxthrottle);
|
||||
BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", getMaxThrottle());
|
||||
BLACKBOX_PRINT_HEADER_LINE("gyro_scale", "0x%x", castFloatBytesToInt(1.0f));
|
||||
BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", getThrottleIdleValue(),motorConfig()->maxthrottle);
|
||||
BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", getThrottleIdleValue(),getMaxThrottle());
|
||||
BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u", acc.dev.acc_1G);
|
||||
|
||||
#ifdef USE_ADC
|
||||
|
|
@ -1915,9 +1915,8 @@ static bool blackboxWriteSysinfo(void)
|
|||
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_type", "%d", pidProfile()->dterm_lpf_type);
|
||||
BLACKBOX_PRINT_HEADER_LINE("deadband", "%d", rcControlsConfig()->deadband);
|
||||
BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d", rcControlsConfig()->yaw_deadband);
|
||||
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d", gyroConfig()->gyro_lpf);
|
||||
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d", GYRO_LPF_256HZ);
|
||||
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_hz", "%d", gyroConfig()->gyro_main_lpf_hz);
|
||||
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_type", "%d", gyroConfig()->gyro_main_lpf_type);
|
||||
#ifdef USE_DYNAMIC_FILTERS
|
||||
BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchQ", "%d", gyroConfig()->dynamicGyroNotchQ);
|
||||
BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchMinHz", "%d", gyroConfig()->dynamicGyroNotchMinHz);
|
||||
|
|
@ -1940,8 +1939,6 @@ static bool blackboxWriteSysinfo(void)
|
|||
BLACKBOX_PRINT_HEADER_LINE("waypoints", "%d,%d", getWaypointCount(),isWaypointListValid());
|
||||
BLACKBOX_PRINT_HEADER_LINE("acc_notch_hz", "%d", accelerometerConfig()->acc_notch_hz);
|
||||
BLACKBOX_PRINT_HEADER_LINE("acc_notch_cutoff", "%d", accelerometerConfig()->acc_notch_cutoff);
|
||||
BLACKBOX_PRINT_HEADER_LINE("pidSumLimit", "%d", pidProfile()->pidSumLimit);
|
||||
BLACKBOX_PRINT_HEADER_LINE("pidSumLimitYaw", "%d", pidProfile()->pidSumLimitYaw);
|
||||
BLACKBOX_PRINT_HEADER_LINE("axisAccelerationLimitYaw", "%d", pidProfile()->axisAccelerationLimitYaw);
|
||||
BLACKBOX_PRINT_HEADER_LINE("axisAccelerationLimitRollPitch", "%d", pidProfile()->axisAccelerationLimitRollPitch);
|
||||
#ifdef USE_RPM_FILTER
|
||||
|
|
|
|||
|
|
@ -35,6 +35,10 @@
|
|||
#include "config/parameter_group.h"
|
||||
#include "config/parameter_group_ids.h"
|
||||
|
||||
#ifdef USE_SDCARD
|
||||
#include "drivers/sdcard/sdcard.h"
|
||||
#endif
|
||||
|
||||
#include "io/asyncfatfs/asyncfatfs.h"
|
||||
#include "io/flashfs.h"
|
||||
#include "io/serial.h"
|
||||
|
|
@ -507,6 +511,36 @@ bool isBlackboxDeviceFull(void)
|
|||
}
|
||||
}
|
||||
|
||||
bool isBlackboxDeviceWorking(void)
|
||||
{
|
||||
switch (blackboxConfig()->device) {
|
||||
case BLACKBOX_DEVICE_SERIAL:
|
||||
return blackboxPort != NULL;
|
||||
#ifdef USE_SDCARD
|
||||
case BLACKBOX_DEVICE_SDCARD:
|
||||
return sdcard_isInserted() && sdcard_isFunctional() && (afatfs_getFilesystemState() == AFATFS_FILESYSTEM_STATE_READY);
|
||||
#endif
|
||||
#ifdef USE_FLASHFS
|
||||
case BLACKBOX_DEVICE_FLASH:
|
||||
return flashfsIsReady();
|
||||
#endif
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
int32_t blackboxGetLogNumber(void)
|
||||
{
|
||||
switch (blackboxConfig()->device) {
|
||||
#ifdef USE_SDCARD
|
||||
case BLACKBOX_DEVICE_SDCARD:
|
||||
return blackboxSDCard.largestLogFileNumber;
|
||||
#endif
|
||||
default:
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Call once every loop iteration in order to maintain the global blackboxHeaderBudget with the number of bytes we can
|
||||
* transmit this iteration.
|
||||
|
|
|
|||
|
|
@ -67,6 +67,8 @@ bool blackboxDeviceBeginLog(void);
|
|||
bool blackboxDeviceEndLog(bool retainLog);
|
||||
|
||||
bool isBlackboxDeviceFull(void);
|
||||
bool isBlackboxDeviceWorking(void);
|
||||
int32_t blackboxGetLogNumber(void);
|
||||
|
||||
void blackboxReplenishHeaderBudget(void);
|
||||
blackboxBufferReserveStatus_e blackboxDeviceReserveBufferSpace(int32_t bytes);
|
||||
|
|
|
|||
|
|
@ -422,7 +422,6 @@ static const CMS_Menu cmsx_menuProfileOther = {
|
|||
static const OSD_Entry cmsx_menuFilterPerProfileEntries[] =
|
||||
{
|
||||
OSD_LABEL_DATA_ENTRY("-- FILTERING --", profileIndexString),
|
||||
OSD_SETTING_ENTRY("HARDWARE LPF", SETTING_GYRO_HARDWARE_LPF),
|
||||
OSD_SETTING_ENTRY("GYRO MAIN", SETTING_GYRO_MAIN_LPF_HZ),
|
||||
OSD_SETTING_ENTRY("DTERM LPF", SETTING_DTERM_LPF_HZ),
|
||||
#ifdef USE_DYNAMIC_FILTERS
|
||||
|
|
|
|||
|
|
@ -56,6 +56,8 @@
|
|||
#define RADIANS_TO_CENTIDEGREES(angle) (((angle) * 100.0f) / RAD)
|
||||
#define CENTIDEGREES_TO_RADIANS(angle) (((angle) * 0.01f) * RAD)
|
||||
|
||||
#define MILLIMETERS_TO_CENTIMETERS(mm) (mm / 10.0f)
|
||||
|
||||
#define CENTIMETERS_TO_CENTIFEET(cm) (cm / 0.3048f)
|
||||
#define CENTIMETERS_TO_FEET(cm) (cm / 30.48f)
|
||||
#define CENTIMETERS_TO_METERS(cm) (cm * 0.01f)
|
||||
|
|
@ -65,6 +67,8 @@
|
|||
#define METERS_TO_MILES(m) (m / 1609.344f)
|
||||
#define METERS_TO_NAUTICALMILES(m) (m / 1852.00f)
|
||||
|
||||
#define MWH_TO_WH(mWh) (mWh / 1000.0f)
|
||||
|
||||
#define CMSEC_TO_CENTIMPH(cms) (cms * 2.2369363f)
|
||||
#define CMSEC_TO_CENTIKPH(cms) (cms * 3.6f)
|
||||
#define CMSEC_TO_CENTIKNOTS(cms) (cms * 1.943845f)
|
||||
|
|
|
|||
|
|
@ -108,15 +108,6 @@ static const gyroFilterAndRateConfig_t gyroConfigs[] = {
|
|||
{ GYRO_LPF_256HZ, 3200, { BMI160_BWP_OSR4 | BMI160_ODR_3200_Hz} },
|
||||
{ GYRO_LPF_256HZ, 1600, { BMI160_BWP_OSR2 | BMI160_ODR_1600_Hz} },
|
||||
{ GYRO_LPF_256HZ, 800, { BMI160_BWP_NORMAL | BMI160_ODR_800_Hz } },
|
||||
|
||||
{ GYRO_LPF_188HZ, 800, { BMI160_BWP_OSR2 | BMI160_ODR_800_Hz } }, // ODR = 800 Hz, LPF = 128 Hz
|
||||
{ GYRO_LPF_188HZ, 400, { BMI160_BWP_NORMAL | BMI160_ODR_400_Hz } }, // ODR = 400 Hz, LPF = 137 Hz
|
||||
|
||||
{ GYRO_LPF_98HZ, 800, { BMI160_BWP_OSR4 | BMI160_ODR_800_Hz } }, // ODR = 800 Hz, LPF = 63 Hz
|
||||
{ GYRO_LPF_98HZ, 400, { BMI160_BWP_OSR2 | BMI160_ODR_400_Hz } }, // ODR = 400 Hz, LPF = 68 Hz
|
||||
|
||||
{ GYRO_LPF_42HZ, 800, { BMI160_BWP_OSR4 | BMI160_ODR_800_Hz } }, // ODR = 800 Hz, LPF = 63 Hz
|
||||
{ GYRO_LPF_42HZ, 400, { BMI160_BWP_OSR4 | BMI160_ODR_400_Hz } }, // ODR = 400 Hz, LPF = 34 Hz
|
||||
};
|
||||
|
||||
static void bmi160AccAndGyroInit(gyroDev_t *gyro)
|
||||
|
|
|
|||
|
|
@ -134,15 +134,6 @@ static const gyroFilterAndRateConfig_t gyroConfigs[] = {
|
|||
{ GYRO_LPF_256HZ, 3200, { BMI270_BWP_OSR4 | BMI270_ODR_3200} },
|
||||
{ GYRO_LPF_256HZ, 1600, { BMI270_BWP_OSR2 | BMI270_ODR_1600} },
|
||||
{ GYRO_LPF_256HZ, 800, { BMI270_BWP_NORM | BMI270_ODR_800 } },
|
||||
|
||||
{ GYRO_LPF_188HZ, 800, { BMI270_BWP_OSR2 | BMI270_ODR_800 } },
|
||||
{ GYRO_LPF_188HZ, 400, { BMI270_BWP_NORM | BMI270_ODR_400 } },
|
||||
|
||||
{ GYRO_LPF_98HZ, 800, { BMI270_BWP_OSR4 | BMI270_ODR_800 } },
|
||||
{ GYRO_LPF_98HZ, 400, { BMI270_BWP_OSR2 | BMI270_ODR_400 } },
|
||||
|
||||
{ GYRO_LPF_42HZ, 800, { BMI270_BWP_OSR4 | BMI270_ODR_800 } },
|
||||
{ GYRO_LPF_42HZ, 400, { BMI270_BWP_OSR4 | BMI270_ODR_400 } },
|
||||
};
|
||||
|
||||
// Toggle the CS to switch the device into SPI mode.
|
||||
|
|
|
|||
|
|
@ -198,21 +198,6 @@ static const gyroFilterAndRateConfig_t icm42605GyroConfigs[] = {
|
|||
{ GYRO_LPF_256HZ, 2000, { 3, 5 } }, /* 250 Hz LPF */
|
||||
{ GYRO_LPF_256HZ, 1000, { 1, 6 } }, /* 250 Hz LPF */
|
||||
{ GYRO_LPF_256HZ, 500, { 0, 15 } }, /* 250 Hz LPF */
|
||||
|
||||
{ GYRO_LPF_188HZ, 1000, { 3, 6 } }, /* 125 HZ */
|
||||
{ GYRO_LPF_188HZ, 500, { 1, 15 } }, /* 125 HZ */
|
||||
|
||||
{ GYRO_LPF_98HZ, 1000, { 4, 6 } }, /* 100 HZ*/
|
||||
{ GYRO_LPF_98HZ, 500, { 2, 15 } }, /* 100 HZ*/
|
||||
|
||||
{ GYRO_LPF_42HZ, 1000, { 6, 6 } }, /* 50 HZ */
|
||||
{ GYRO_LPF_42HZ, 500, { 4, 15 } },
|
||||
|
||||
{ GYRO_LPF_20HZ, 1000, { 7, 6 } }, /* 25 HZ */
|
||||
{ GYRO_LPF_20HZ, 500, { 6, 15 } },
|
||||
|
||||
{ GYRO_LPF_10HZ, 1000, { 7, 6 } }, /* 25 HZ */
|
||||
{ GYRO_LPF_10HZ, 500, { 7, 15 } } /* 12.5 HZ */
|
||||
};
|
||||
|
||||
static void icm42605AccAndGyroInit(gyroDev_t *gyro)
|
||||
|
|
|
|||
|
|
@ -50,21 +50,6 @@ static const gyroFilterAndRateConfig_t mpuGyroConfigs[] = {
|
|||
{ GYRO_LPF_256HZ, 1000, { MPU_DLPF_256HZ, 7 } },
|
||||
{ GYRO_LPF_256HZ, 666, { MPU_DLPF_256HZ, 11 } },
|
||||
{ GYRO_LPF_256HZ, 500, { MPU_DLPF_256HZ, 15 } },
|
||||
|
||||
{ GYRO_LPF_188HZ, 1000, { MPU_DLPF_188HZ, 0 } },
|
||||
{ GYRO_LPF_188HZ, 500, { MPU_DLPF_188HZ, 1 } },
|
||||
|
||||
{ GYRO_LPF_98HZ, 1000, { MPU_DLPF_98HZ, 0 } },
|
||||
{ GYRO_LPF_98HZ, 500, { MPU_DLPF_98HZ, 1 } },
|
||||
|
||||
{ GYRO_LPF_42HZ, 1000, { MPU_DLPF_42HZ, 0 } },
|
||||
{ GYRO_LPF_42HZ, 500, { MPU_DLPF_42HZ, 1 } },
|
||||
|
||||
{ GYRO_LPF_20HZ, 1000, { MPU_DLPF_20HZ, 0 } },
|
||||
{ GYRO_LPF_20HZ, 500, { MPU_DLPF_20HZ, 1 } },
|
||||
|
||||
{ GYRO_LPF_10HZ, 1000, { MPU_DLPF_10HZ, 0 } },
|
||||
{ GYRO_LPF_10HZ, 500, { MPU_DLPF_10HZ, 1 } }
|
||||
};
|
||||
|
||||
const gyroFilterAndRateConfig_t * mpuChooseGyroConfig(uint8_t desiredLpf, uint16_t desiredRateHz)
|
||||
|
|
|
|||
|
|
@ -135,6 +135,7 @@ typedef enum {
|
|||
DEVHW_VL53L1X,
|
||||
DEVHW_US42,
|
||||
DEVHW_TOF10120_I2C,
|
||||
DEVHW_TERARANGER_EVO_I2C,
|
||||
|
||||
/* Other hardware */
|
||||
DEVHW_MS4525, // Pitot meter
|
||||
|
|
|
|||
|
|
@ -178,6 +178,8 @@
|
|||
#define SYM_ALERT 0xDD // 221 General alert symbol
|
||||
#define SYM_TERRAIN_FOLLOWING 0xFB // 251 Terrain following (also Alt adjust)
|
||||
#define SYM_CROSS_TRACK_ERROR 0xFC // 252 Cross track error
|
||||
#define SYM_ADSB 0xFD // 253 ADBS
|
||||
#define SYM_BLACKBOX 0xFE // 254 Blackbox
|
||||
|
||||
|
||||
#define SYM_ADSB 0xFD // 253 ADSB
|
||||
|
|
|
|||
128
src/main/drivers/rangefinder/rangefinder_teraranger_evo.c
Normal file
128
src/main/drivers/rangefinder/rangefinder_teraranger_evo.c
Normal file
|
|
@ -0,0 +1,128 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight 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.
|
||||
*
|
||||
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "common/maths.h"
|
||||
|
||||
#if defined(USE_RANGEFINDER) && defined(USE_RANGEFINDER_TERARANGER_EVO_I2C)
|
||||
|
||||
#include "build/build_config.h"
|
||||
|
||||
#include "common/crc.h"
|
||||
|
||||
#include "drivers/time.h"
|
||||
#include "drivers/bus_i2c.h"
|
||||
|
||||
#include "drivers/rangefinder/rangefinder.h"
|
||||
#include "drivers/rangefinder/rangefinder_teraranger_evo.h"
|
||||
|
||||
#include "build/debug.h"
|
||||
|
||||
#define TERARANGER_EVO_DETECTION_CONE_DECIDEGREES 900
|
||||
#define TERARANGER_EVO_DETECTION_CONE_EXTENDED_DECIDEGREES 900
|
||||
|
||||
#define TERARANGER_EVO_I2C_ADDRESS 0x31
|
||||
#define TERARANGER_EVO_I2C_REGISTRY_TRIGGER_READING 0x00 // Write this command to the TeraRanger Evo and after a wait of approximately 500us read the 3 byte distance response
|
||||
#define TERARANGER_EVO_I2C_REGISTRY_WHO_AM_I 0x01 // Write this value to TeraRanger Evo via I2C and the device responds with 0xA
|
||||
#define TERARANGER_EVO_I2C_REGISTRY_CHANGE_BASE_ADDR 0xA2 // This command assigns a base address that will be memorised by the TerRanger Evo ie. power cycling the Evo will not restore the default I2C address.
|
||||
|
||||
#define TERARANGER_EVO_I2C_ANSWER_WHO_AM_I 0xA1
|
||||
|
||||
#define TERARANGER_EVO_VALUE_TOO_CLOSE 0x0000
|
||||
#define TERARANGER_EVO_VALUE_OUT_OF_RANGE 0xffff
|
||||
|
||||
static int16_t minimumReadingIntervalMs = 50;
|
||||
uint8_t triggerValue[0];
|
||||
volatile int32_t teraRangerMeasurementCm;
|
||||
static uint32_t timeOfLastMeasurementMs;
|
||||
static uint8_t dataBuff[3];
|
||||
|
||||
static void teraRangerInit(rangefinderDev_t *rangefinder){
|
||||
busWriteBuf(rangefinder->busDev, TERARANGER_EVO_I2C_REGISTRY_TRIGGER_READING, triggerValue, 1);
|
||||
}
|
||||
|
||||
void teraRangerUpdate(rangefinderDev_t *rangefinder){
|
||||
if (busReadBuf(rangefinder->busDev, TERARANGER_EVO_I2C_REGISTRY_TRIGGER_READING, dataBuff, 3)) {
|
||||
teraRangerMeasurementCm = MILLIMETERS_TO_CENTIMETERS(((int32_t)dataBuff[0] << 8 | (int32_t)dataBuff[1]));
|
||||
|
||||
if(dataBuff[2] == crc8_update(0, &dataBuff, 2)){
|
||||
if (teraRangerMeasurementCm == TERARANGER_EVO_VALUE_TOO_CLOSE || teraRangerMeasurementCm == TERARANGER_EVO_VALUE_OUT_OF_RANGE) {
|
||||
teraRangerMeasurementCm = RANGEFINDER_OUT_OF_RANGE;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
teraRangerMeasurementCm = RANGEFINDER_HARDWARE_FAILURE;
|
||||
}
|
||||
|
||||
const timeMs_t timeNowMs = millis();
|
||||
if (timeNowMs > timeOfLastMeasurementMs + minimumReadingIntervalMs) {
|
||||
// measurement repeat interval should be greater than minimumReadingIntervalMs
|
||||
// to avoid interference between connective measurements.
|
||||
timeOfLastMeasurementMs = timeNowMs;
|
||||
busWriteBuf(rangefinder->busDev, TERARANGER_EVO_I2C_ADDRESS, triggerValue, 1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int32_t teraRangerGetDistance(rangefinderDev_t *rangefinder){
|
||||
UNUSED(rangefinder);
|
||||
return teraRangerMeasurementCm;
|
||||
}
|
||||
|
||||
static bool deviceDetect(busDevice_t * busDev){
|
||||
for (int retry = 0; retry < 5; retry++) {
|
||||
uint8_t whoIamResult;
|
||||
|
||||
delay(150);
|
||||
|
||||
bool ack = busRead(busDev, TERARANGER_EVO_I2C_REGISTRY_WHO_AM_I, &whoIamResult);
|
||||
if (ack && whoIamResult == TERARANGER_EVO_I2C_ANSWER_WHO_AM_I) {
|
||||
return true;
|
||||
}
|
||||
};
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
bool teraRangerDetect(rangefinderDev_t *rangefinder){
|
||||
rangefinder->busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_TERARANGER_EVO_I2C, 0, OWNER_RANGEFINDER);
|
||||
if (rangefinder->busDev == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!deviceDetect(rangefinder->busDev)) {
|
||||
busDeviceDeInit(rangefinder->busDev);
|
||||
return false;
|
||||
}
|
||||
|
||||
rangefinder->delayMs = RANGEFINDER_TERA_EVO_TASK_PERIOD_MS;
|
||||
rangefinder->maxRangeCm = RANGEFINDER_TERA_EVO_MAX_RANGE_CM;
|
||||
rangefinder->detectionConeDeciDegrees = TERARANGER_EVO_DETECTION_CONE_DECIDEGREES;
|
||||
rangefinder->detectionConeExtendedDeciDegrees = TERARANGER_EVO_DETECTION_CONE_EXTENDED_DECIDEGREES;
|
||||
|
||||
rangefinder->init = &teraRangerInit;
|
||||
rangefinder->update = &teraRangerUpdate;
|
||||
rangefinder->read = &teraRangerGetDistance;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#endif
|
||||
29
src/main/drivers/rangefinder/rangefinder_teraranger_evo.h
Normal file
29
src/main/drivers/rangefinder/rangefinder_teraranger_evo.h
Normal file
|
|
@ -0,0 +1,29 @@
|
|||
/*
|
||||
* This file is part of INAV.
|
||||
*
|
||||
* This Source Code Form is subject to the terms of the Mozilla Public
|
||||
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
|
||||
* You can obtain one at http://mozilla.org/MPL/2.0/.
|
||||
*
|
||||
* Alternatively, the contents of this file may be used under the terms
|
||||
* of the GNU General Public License Version 3, as described below:
|
||||
*
|
||||
* This file is free software: you may copy, redistribute and/or modify
|
||||
* it under the terms of the GNU General Public License as published by the
|
||||
* Free Software Foundation, either version 3 of the License, or (at your
|
||||
* option) any later version.
|
||||
*
|
||||
* This file is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
|
||||
* Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see http://www.gnu.org/licenses/.
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#define RANGEFINDER_TERA_EVO_TASK_PERIOD_MS 70
|
||||
#define RANGEFINDER_TERA_EVO_MAX_RANGE_CM 600 // max distance depends on model https://www.terabee.com/sensors-modules/lidar-tof-range-finders/#individual-distance-measurement-sensors
|
||||
|
||||
bool teraRangerDetect(rangefinderDev_t *dev);
|
||||
|
|
@ -307,14 +307,6 @@ static void updateArmingStatus(void)
|
|||
DISABLE_ARMING_FLAG(ARMING_DISABLED_BOXFAILSAFE);
|
||||
}
|
||||
|
||||
/* CHECK: BOXKILLSWITCH */
|
||||
if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
|
||||
ENABLE_ARMING_FLAG(ARMING_DISABLED_BOXKILLSWITCH);
|
||||
}
|
||||
else {
|
||||
DISABLE_ARMING_FLAG(ARMING_DISABLED_BOXKILLSWITCH);
|
||||
}
|
||||
|
||||
/* CHECK: Do not allow arming if Servo AutoTrim is enabled */
|
||||
if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM)) {
|
||||
ENABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
|
||||
|
|
@ -507,25 +499,13 @@ bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm)
|
|||
return counter >= EMERGENCY_ARMING_MIN_ARM_COUNT;
|
||||
}
|
||||
|
||||
uint16_t emergencyInFlightRearmTimeMS(void)
|
||||
{
|
||||
uint16_t rearmMS = 0;
|
||||
|
||||
if (STATE(IN_FLIGHT_EMERG_REARM)) {
|
||||
timeMs_t currentTimeMs = millis();
|
||||
rearmMS = (uint16_t)((US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS) - currentTimeMs);
|
||||
}
|
||||
|
||||
return rearmMS;
|
||||
}
|
||||
|
||||
bool emergInflightRearmEnabled(void)
|
||||
{
|
||||
/* Emergency rearm allowed within 5s timeout period after disarm if craft still flying */
|
||||
timeMs_t currentTimeMs = millis();
|
||||
emergRearmStabiliseTimeout = 0;
|
||||
|
||||
if ((lastDisarmReason != DISARM_SWITCH && lastDisarmReason != DISARM_KILLSWITCH) ||
|
||||
if ((lastDisarmReason != DISARM_SWITCH) ||
|
||||
(currentTimeMs > US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS)) {
|
||||
return false;
|
||||
}
|
||||
|
|
@ -892,6 +872,7 @@ static void applyThrottleTiltCompensation(void)
|
|||
|
||||
void taskMainPidLoop(timeUs_t currentTimeUs)
|
||||
{
|
||||
|
||||
cycleTime = getTaskDeltaTime(TASK_SELF);
|
||||
dT = (float)cycleTime * 0.000001f;
|
||||
|
||||
|
|
@ -910,8 +891,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
|
|||
}
|
||||
}
|
||||
|
||||
if (armTime > 1 * USECS_PER_SEC) {
|
||||
// reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
|
||||
if (armTime > 1 * USECS_PER_SEC) { // reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
|
||||
DISABLE_STATE(IN_FLIGHT_EMERG_REARM);
|
||||
}
|
||||
|
||||
|
|
@ -1032,6 +1012,10 @@ float getFlightTime(void)
|
|||
return US2S(flightTime);
|
||||
}
|
||||
|
||||
void resetFlightTime(void) {
|
||||
flightTime = 0;
|
||||
}
|
||||
|
||||
float getArmTime(void)
|
||||
{
|
||||
return US2S(armTime);
|
||||
|
|
|
|||
|
|
@ -27,7 +27,6 @@ typedef enum disarmReason_e {
|
|||
DISARM_STICKS = 2,
|
||||
DISARM_SWITCH_3D = 3,
|
||||
DISARM_SWITCH = 4,
|
||||
DISARM_KILLSWITCH = 5,
|
||||
DISARM_FAILSAFE = 6,
|
||||
DISARM_NAVIGATION = 7,
|
||||
DISARM_LANDING = 8,
|
||||
|
|
@ -42,12 +41,11 @@ timeUs_t getLastDisarmTimeUs(void);
|
|||
void tryArm(void);
|
||||
disarmReason_t getDisarmReason(void);
|
||||
|
||||
uint16_t emergencyInFlightRearmTimeMS(void);
|
||||
bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm);
|
||||
bool emergInflightRearmEnabled(void);
|
||||
|
||||
bool areSensorsCalibrating(void);
|
||||
float getFlightTime(void);
|
||||
void resetFlightTime(void);
|
||||
float getArmTime(void);
|
||||
|
||||
void fcReboot(bool bootLoader);
|
||||
|
|
@ -504,6 +504,14 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
|
|||
sbufWriteU32(dst, 0); //Input reversing is not required since it can be done on mixer level
|
||||
}
|
||||
break;
|
||||
case MSP2_INAV_SERVO_CONFIG:
|
||||
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
|
||||
sbufWriteU16(dst, servoParams(i)->min);
|
||||
sbufWriteU16(dst, servoParams(i)->max);
|
||||
sbufWriteU16(dst, servoParams(i)->middle);
|
||||
sbufWriteU8(dst, servoParams(i)->rate);
|
||||
}
|
||||
break;
|
||||
case MSP_SERVO_MIX_RULES:
|
||||
for (int i = 0; i < MAX_SERVO_RULES; i++) {
|
||||
sbufWriteU8(dst, customServoMixers(i)->targetChannel);
|
||||
|
|
@ -670,11 +678,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
|
|||
sbufWriteU16(dst, getRSSI());
|
||||
break;
|
||||
|
||||
case MSP_ARMING_CONFIG:
|
||||
sbufWriteU8(dst, 0);
|
||||
sbufWriteU8(dst, armingConfig()->disarm_kill_switch);
|
||||
break;
|
||||
|
||||
case MSP_LOOP_TIME:
|
||||
sbufWriteU16(dst, gyroConfig()->looptime);
|
||||
break;
|
||||
|
|
@ -769,7 +772,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
|
|||
sbufWriteU16(dst, PWM_RANGE_MIDDLE);
|
||||
|
||||
sbufWriteU16(dst, 0); // Was min_throttle
|
||||
sbufWriteU16(dst, motorConfig()->maxthrottle);
|
||||
sbufWriteU16(dst, getMaxThrottle());
|
||||
sbufWriteU16(dst, motorConfig()->mincommand);
|
||||
|
||||
sbufWriteU16(dst, currentBatteryProfile->failsafe_throttle);
|
||||
|
|
@ -810,7 +813,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
|
|||
sbufWriteU16(dst, PWM_RANGE_MIDDLE);
|
||||
|
||||
sbufWriteU16(dst, 0); //Was min_throttle
|
||||
sbufWriteU16(dst, motorConfig()->maxthrottle);
|
||||
sbufWriteU16(dst, getMaxThrottle());
|
||||
sbufWriteU16(dst, motorConfig()->mincommand);
|
||||
|
||||
sbufWriteU16(dst, currentBatteryProfile->failsafe_throttle);
|
||||
|
|
@ -895,13 +898,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
|
|||
sbufWriteU8(dst, currentBatteryProfile->capacity.unit);
|
||||
break;
|
||||
|
||||
case MSP_MOTOR_PINS:
|
||||
// FIXME This is hardcoded and should not be.
|
||||
for (int i = 0; i < 8; i++) {
|
||||
sbufWriteU8(dst, i + 1);
|
||||
}
|
||||
break;
|
||||
|
||||
#ifdef USE_GPS
|
||||
case MSP_RAW_GPS:
|
||||
sbufWriteU8(dst, gpsSol.fixType);
|
||||
|
|
@ -1282,7 +1278,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
|
|||
sbufWriteU8(dst, 0); //BF: pidProfile()->vbatPidCompensation
|
||||
sbufWriteU8(dst, 0); //BF: pidProfile()->setpointRelaxRatio
|
||||
sbufWriteU8(dst, 0);
|
||||
sbufWriteU16(dst, pidProfile()->pidSumLimit);
|
||||
sbufWriteU16(dst, 0); //Was pidsum limit
|
||||
sbufWriteU8(dst, 0); //BF: pidProfile()->itermThrottleGain
|
||||
|
||||
/*
|
||||
|
|
@ -1300,7 +1296,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
|
|||
sbufWriteU8(dst, pidProfile()->heading_hold_rate_limit);
|
||||
sbufWriteU8(dst, HEADING_HOLD_ERROR_LPF_FREQ);
|
||||
sbufWriteU16(dst, 0);
|
||||
sbufWriteU8(dst, gyroConfig()->gyro_lpf);
|
||||
sbufWriteU8(dst, GYRO_LPF_256HZ);
|
||||
sbufWriteU8(dst, accelerometerConfig()->acc_lpf_hz);
|
||||
sbufWriteU8(dst, 0); //reserved
|
||||
sbufWriteU8(dst, 0); //reserved
|
||||
|
|
@ -1656,6 +1652,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
|
|||
sbufWriteU8(dst, ezTune()->aggressiveness);
|
||||
sbufWriteU8(dst, ezTune()->rate);
|
||||
sbufWriteU8(dst, ezTune()->expo);
|
||||
sbufWriteU8(dst, ezTune()->snappiness);
|
||||
}
|
||||
break;
|
||||
#endif
|
||||
|
|
@ -1828,14 +1825,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
break;
|
||||
#endif
|
||||
|
||||
case MSP_SET_ARMING_CONFIG:
|
||||
if (dataSize == 2) {
|
||||
sbufReadU8(src); //Swallow the first byte, used to be auto_disarm_delay
|
||||
armingConfigMutable()->disarm_kill_switch = !!sbufReadU8(src);
|
||||
} else
|
||||
return MSP_RESULT_ERROR;
|
||||
break;
|
||||
|
||||
case MSP_SET_LOOP_TIME:
|
||||
if (sbufReadU16Safe(&tmp_u16, src))
|
||||
gyroConfigMutable()->looptime = tmp_u16;
|
||||
|
|
@ -1971,7 +1960,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
sbufReadU16(src); // midrc
|
||||
|
||||
sbufReadU16(src); //Was min_throttle
|
||||
motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
|
||||
sbufReadU16(src); //Was maxThrottle
|
||||
motorConfigMutable()->mincommand = constrain(sbufReadU16(src), 0, PWM_RANGE_MAX);
|
||||
|
||||
currentBatteryProfileMutable->failsafe_throttle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
|
||||
|
|
@ -2019,7 +2008,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
sbufReadU16(src); // midrc
|
||||
|
||||
sbufReadU16(src); // was min_throttle
|
||||
motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
|
||||
sbufReadU16(src); // was maxThrottle
|
||||
motorConfigMutable()->mincommand = constrain(sbufReadU16(src), 0, PWM_RANGE_MAX);
|
||||
|
||||
currentBatteryProfileMutable->failsafe_throttle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
|
||||
|
|
@ -2149,6 +2138,22 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
}
|
||||
break;
|
||||
|
||||
case MSP2_INAV_SET_SERVO_CONFIG:
|
||||
if (dataSize != 8) {
|
||||
return MSP_RESULT_ERROR;
|
||||
}
|
||||
tmp_u8 = sbufReadU8(src);
|
||||
if (tmp_u8 >= MAX_SUPPORTED_SERVOS) {
|
||||
return MSP_RESULT_ERROR;
|
||||
} else {
|
||||
servoParamsMutable(tmp_u8)->min = sbufReadU16(src);
|
||||
servoParamsMutable(tmp_u8)->max = sbufReadU16(src);
|
||||
servoParamsMutable(tmp_u8)->middle = sbufReadU16(src);
|
||||
servoParamsMutable(tmp_u8)->rate = sbufReadU8(src);
|
||||
servoComputeScalingFactors(tmp_u8);
|
||||
}
|
||||
break;
|
||||
|
||||
case MSP_SET_SERVO_MIX_RULE:
|
||||
sbufReadU8Safe(&tmp_u8, src);
|
||||
if ((dataSize == 9) && (tmp_u8 < MAX_SERVO_RULES)) {
|
||||
|
|
@ -2327,7 +2332,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
sbufReadU8(src); //BF: pidProfileMutable()->vbatPidCompensation
|
||||
sbufReadU8(src); //BF: pidProfileMutable()->setpointRelaxRatio
|
||||
sbufReadU8(src);
|
||||
pidProfileMutable()->pidSumLimit = sbufReadU16(src);
|
||||
sbufReadU16(src); // Was pidsumLimit
|
||||
sbufReadU8(src); //BF: pidProfileMutable()->itermThrottleGain
|
||||
|
||||
/*
|
||||
|
|
@ -2348,7 +2353,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
pidProfileMutable()->heading_hold_rate_limit = sbufReadU8(src);
|
||||
sbufReadU8(src); //HEADING_HOLD_ERROR_LPF_FREQ
|
||||
sbufReadU16(src); //Legacy yaw_jump_prevention_limit
|
||||
gyroConfigMutable()->gyro_lpf = sbufReadU8(src);
|
||||
sbufReadU8(src); // was gyro lpf
|
||||
accelerometerConfigMutable()->acc_lpf_hz = sbufReadU8(src);
|
||||
sbufReadU8(src); //reserved
|
||||
sbufReadU8(src); //reserved
|
||||
|
|
@ -3252,7 +3257,11 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
|
||||
case MSP2_INAV_EZ_TUNE_SET:
|
||||
{
|
||||
if (dataSize == 10) {
|
||||
|
||||
if (dataSize < 10 || dataSize > 11) {
|
||||
return MSP_RESULT_ERROR;
|
||||
}
|
||||
|
||||
ezTuneMutable()->enabled = sbufReadU8(src);
|
||||
ezTuneMutable()->filterHz = sbufReadU16(src);
|
||||
ezTuneMutable()->axisRatio = sbufReadU8(src);
|
||||
|
|
@ -3263,10 +3272,10 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
ezTuneMutable()->rate = sbufReadU8(src);
|
||||
ezTuneMutable()->expo = sbufReadU8(src);
|
||||
|
||||
ezTuneUpdate();
|
||||
} else {
|
||||
return MSP_RESULT_ERROR;
|
||||
if (dataSize == 11) {
|
||||
ezTuneMutable()->snappiness = sbufReadU8(src);
|
||||
}
|
||||
ezTuneUpdate();
|
||||
}
|
||||
break;
|
||||
|
||||
|
|
|
|||
|
|
@ -76,7 +76,6 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
|
|||
{ .boxId = BOXTURNASSIST, .boxName = "TURN ASSIST", .permanentId = 35 },
|
||||
{ .boxId = BOXNAVLAUNCH, .boxName = "NAV LAUNCH", .permanentId = 36 },
|
||||
{ .boxId = BOXAUTOTRIM, .boxName = "SERVO AUTOTRIM", .permanentId = 37 },
|
||||
{ .boxId = BOXKILLSWITCH, .boxName = "KILLSWITCH", .permanentId = 38 },
|
||||
{ .boxId = BOXCAMERA1, .boxName = "CAMERA CONTROL 1", .permanentId = 39 },
|
||||
{ .boxId = BOXCAMERA2, .boxName = "CAMERA CONTROL 2", .permanentId = 40 },
|
||||
{ .boxId = BOXCAMERA3, .boxName = "CAMERA CONTROL 3", .permanentId = 41 },
|
||||
|
|
@ -214,15 +213,12 @@ void initActiveBoxIds(void)
|
|||
ADD_ACTIVE_BOX(BOXFPVANGLEMIX);
|
||||
}
|
||||
|
||||
bool navReadyAltControl = sensors(SENSOR_BARO);
|
||||
bool navReadyAltControl = getHwBarometerStatus() != HW_SENSOR_NONE;
|
||||
#ifdef USE_GPS
|
||||
navReadyAltControl = navReadyAltControl || (feature(FEATURE_GPS) && (STATE(AIRPLANE) || positionEstimationConfig()->use_gps_no_baro));
|
||||
|
||||
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
|
||||
bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS);
|
||||
if (STATE(MULTIROTOR)) {
|
||||
navReadyPosControl = navReadyPosControl && getHwCompassStatus() != HW_SENSOR_NONE;
|
||||
}
|
||||
|
||||
if (STATE(ALTITUDE_CONTROL) && navReadyAltControl && (navReadyPosControl || navFlowDeadReckoning)) {
|
||||
ADD_ACTIVE_BOX(BOXNAVPOSHOLD);
|
||||
|
|
@ -320,7 +316,6 @@ void initActiveBoxIds(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
ADD_ACTIVE_BOX(BOXKILLSWITCH);
|
||||
ADD_ACTIVE_BOX(BOXFAILSAFE);
|
||||
|
||||
#if defined(USE_RCDEVICE) || defined(USE_MSP_DISPLAYPORT)
|
||||
|
|
@ -405,7 +400,6 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
|
|||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_LAUNCH_MODE)), BOXNAVLAUNCH);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(AUTO_TUNE)), BOXAUTOTUNE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAUTOTRIM)), BOXAUTOTRIM);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXKILLSWITCH)), BOXKILLSWITCH);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)), BOXHOMERESET);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA1)), BOXCAMERA1);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA2)), BOXCAMERA2);
|
||||
|
|
|
|||
|
|
@ -87,11 +87,11 @@ PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
|
|||
.airmodeThrottleThreshold = SETTING_AIRMODE_THROTTLE_THRESHOLD_DEFAULT,
|
||||
);
|
||||
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 2);
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 3);
|
||||
|
||||
PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
|
||||
.fixed_wing_auto_arm = SETTING_FIXED_WING_AUTO_ARM_DEFAULT,
|
||||
.disarm_kill_switch = SETTING_DISARM_KILL_SWITCH_DEFAULT,
|
||||
.disarm_always = SETTING_DISARM_ALWAYS_DEFAULT,
|
||||
.switchDisarmDelayMs = SETTING_SWITCH_DISARM_DELAY_DEFAULT,
|
||||
.prearmTimeoutMs = SETTING_PREARM_TIMEOUT_DEFAULT,
|
||||
);
|
||||
|
|
@ -231,7 +231,7 @@ void processRcStickPositions(bool isThrottleLow)
|
|||
if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) {
|
||||
const timeMs_t disarmDelay = currentTimeMs - rcDisarmTimeMs;
|
||||
if (disarmDelay > armingConfig()->switchDisarmDelayMs) {
|
||||
if (armingConfig()->disarm_kill_switch || isThrottleLow) {
|
||||
if (armingConfig()->disarm_always || isThrottleLow) {
|
||||
disarm(DISARM_SWITCH);
|
||||
}
|
||||
}
|
||||
|
|
@ -240,11 +240,6 @@ void processRcStickPositions(bool isThrottleLow)
|
|||
rcDisarmTimeMs = currentTimeMs;
|
||||
}
|
||||
}
|
||||
|
||||
// KILLSWITCH disarms instantly
|
||||
if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
|
||||
disarm(DISARM_KILLSWITCH);
|
||||
}
|
||||
}
|
||||
|
||||
if (rcDelayCommand != 20) {
|
||||
|
|
|
|||
|
|
@ -95,7 +95,7 @@ PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
|
|||
|
||||
typedef struct armingConfig_s {
|
||||
bool fixed_wing_auto_arm; // Auto-arm fixed wing aircraft on throttle up and never disarm
|
||||
bool disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value
|
||||
bool disarm_always; // Disarm motors regardless of throttle value
|
||||
uint16_t switchDisarmDelayMs; // additional delay between ARM box going off and actual disarm
|
||||
uint16_t prearmTimeoutMs; // duration for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout.
|
||||
} armingConfig_t;
|
||||
|
|
|
|||
|
|
@ -39,7 +39,7 @@ int16_t lookupThrottleRCMid; // THROTTLE curve mid point
|
|||
void generateThrottleCurve(const controlRateConfig_t *controlRateConfig)
|
||||
{
|
||||
const int minThrottle = getThrottleIdleValue();
|
||||
lookupThrottleRCMid = minThrottle + (int32_t)(motorConfig()->maxthrottle - minThrottle) * controlRateConfig->throttle.rcMid8 / 100; // [MINTHROTTLE;MAXTHROTTLE]
|
||||
lookupThrottleRCMid = minThrottle + (int32_t)(getMaxThrottle() - minThrottle) * controlRateConfig->throttle.rcMid8 / 100; // [MINTHROTTLE;MAXTHROTTLE]
|
||||
|
||||
for (int i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
|
||||
const int16_t tmp = 10 * i - controlRateConfig->throttle.rcMid8;
|
||||
|
|
@ -49,7 +49,7 @@ void generateThrottleCurve(const controlRateConfig_t *controlRateConfig)
|
|||
if (tmp < 0)
|
||||
y = controlRateConfig->throttle.rcMid8;
|
||||
lookupThrottleRC[i] = 10 * controlRateConfig->throttle.rcMid8 + tmp * (100 - controlRateConfig->throttle.rcExpo8 + (int32_t) controlRateConfig->throttle.rcExpo8 * (tmp * tmp) / (y * y)) / 10;
|
||||
lookupThrottleRC[i] = minThrottle + (int32_t) (motorConfig()->maxthrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
|
||||
lookupThrottleRC[i] = minThrottle + (int32_t) (getMaxThrottle() - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -62,7 +62,7 @@ int16_t rcLookup(int32_t stickDeflection, uint8_t expo)
|
|||
uint16_t rcLookupThrottle(uint16_t absoluteDeflection)
|
||||
{
|
||||
if (absoluteDeflection > 999)
|
||||
return motorConfig()->maxthrottle;
|
||||
return getMaxThrottle();
|
||||
|
||||
const uint8_t lookupStep = absoluteDeflection / 100;
|
||||
return lookupThrottleRC[lookupStep] + (absoluteDeflection - lookupStep * 100) * (lookupThrottleRC[lookupStep + 1] - lookupThrottleRC[lookupStep]) / 100;
|
||||
|
|
|
|||
|
|
@ -49,7 +49,6 @@ typedef enum {
|
|||
BOXAIRMODE = 20,
|
||||
BOXHOMERESET = 21,
|
||||
BOXGCSNAV = 22,
|
||||
BOXKILLSWITCH = 23, // old HEADING LOCK
|
||||
BOXSURFACE = 24,
|
||||
BOXFLAPERON = 25,
|
||||
BOXTURNASSIST = 26,
|
||||
|
|
|
|||
|
|
@ -34,7 +34,7 @@ static EXTENDED_FASTRAM uint32_t enabledSensors = 0;
|
|||
#if !defined(CLI_MINIMAL_VERBOSITY)
|
||||
const char *armingDisableFlagNames[]= {
|
||||
"FS", "ANGLE", "CAL", "OVRLD", "NAV", "COMPASS",
|
||||
"ACC", "ARMSW", "HWFAIL", "BOXFS", "KILLSW", "RX",
|
||||
"ACC", "ARMSW", "HWFAIL", "BOXFS", "RX",
|
||||
"THR", "CLI", "CMS", "OSD", "ROLL/PITCH", "AUTOTRIM", "OOM",
|
||||
"SETTINGFAIL", "PWMOUT", "NOPREARM", "DSHOTBEEPER", "LANDED"
|
||||
};
|
||||
|
|
@ -50,7 +50,6 @@ const armingFlag_e armDisableReasonsChecklist[] = {
|
|||
ARMING_DISABLED_NAVIGATION_UNSAFE,
|
||||
ARMING_DISABLED_ARM_SWITCH,
|
||||
ARMING_DISABLED_BOXFAILSAFE,
|
||||
ARMING_DISABLED_BOXKILLSWITCH,
|
||||
ARMING_DISABLED_THROTTLE,
|
||||
ARMING_DISABLED_CLI,
|
||||
ARMING_DISABLED_CMS_MENU,
|
||||
|
|
|
|||
|
|
@ -34,7 +34,7 @@ typedef enum {
|
|||
ARMING_DISABLED_ARM_SWITCH = (1 << 14),
|
||||
ARMING_DISABLED_HARDWARE_FAILURE = (1 << 15),
|
||||
ARMING_DISABLED_BOXFAILSAFE = (1 << 16),
|
||||
ARMING_DISABLED_BOXKILLSWITCH = (1 << 17),
|
||||
|
||||
ARMING_DISABLED_RC_LINK = (1 << 18),
|
||||
ARMING_DISABLED_THROTTLE = (1 << 19),
|
||||
ARMING_DISABLED_CLI = (1 << 20),
|
||||
|
|
@ -53,7 +53,7 @@ typedef enum {
|
|||
ARMING_DISABLED_SYSTEM_OVERLOADED | ARMING_DISABLED_NAVIGATION_UNSAFE |
|
||||
ARMING_DISABLED_COMPASS_NOT_CALIBRATED | ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED |
|
||||
ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_HARDWARE_FAILURE | ARMING_DISABLED_BOXFAILSAFE |
|
||||
ARMING_DISABLED_BOXKILLSWITCH | ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI |
|
||||
ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI |
|
||||
ARMING_DISABLED_CMS_MENU | ARMING_DISABLED_OSD_MENU | ARMING_DISABLED_ROLLPITCH_NOT_CENTERED |
|
||||
ARMING_DISABLED_SERVO_AUTOTRIM | ARMING_DISABLED_OOM | ARMING_DISABLED_INVALID_SETTING |
|
||||
ARMING_DISABLED_PWM_OUTPUT_ERROR | ARMING_DISABLED_NO_PREARM | ARMING_DISABLED_DSHOT_BEEPER |
|
||||
|
|
|
|||
|
|
@ -1,13 +1,11 @@
|
|||
tables:
|
||||
- name: alignment
|
||||
values: ["DEFAULT", "CW0", "CW90", "CW180", "CW270", "CW0FLIP", "CW90FLIP", "CW180FLIP", "CW270FLIP"]
|
||||
- name: gyro_lpf
|
||||
values: ["256HZ", "188HZ", "98HZ", "42HZ", "20HZ", "10HZ"]
|
||||
- name: acc_hardware
|
||||
values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX", "FAKE"]
|
||||
enum: accelerationSensor_e
|
||||
- name: rangefinder_hardware
|
||||
values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE"]
|
||||
values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE", "TERARANGER_EVO"]
|
||||
enum: rangefinderType_e
|
||||
- name: mag_hardware
|
||||
values: ["NONE", "AUTO", "HMC5883", "AK8975", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]
|
||||
|
|
@ -68,9 +66,6 @@ tables:
|
|||
- name: osd_stats_energy_unit
|
||||
values: ["MAH", "WH"]
|
||||
enum: osd_stats_energy_unit_e
|
||||
- name: osd_stats_min_voltage_unit
|
||||
values: ["BATTERY", "CELL"]
|
||||
enum: osd_stats_min_voltage_unit_e
|
||||
- name: osd_video_system
|
||||
values: ["AUTO", "PAL", "NTSC", "HDZERO", "DJIWTF", "AVATAR", "BF43COMPAT", "BFHDCOMPAT"]
|
||||
enum: videoSystem_e
|
||||
|
|
@ -182,7 +177,7 @@ tables:
|
|||
values: ["OFF", "ON", "FS"]
|
||||
enum: rthTrackbackMode_e
|
||||
- name: dynamic_gyro_notch_mode
|
||||
values: ["2D", "3D_R", "3D_P", "3D_Y", "3D_RP", "3D_RY", "3D_PY", "3D"]
|
||||
values: ["2D", "3D"]
|
||||
enum: dynamicGyroNotchMode_e
|
||||
- name: nav_fw_wp_turn_smoothing
|
||||
values: ["OFF", "ON", "ON-CUT"]
|
||||
|
|
@ -220,32 +215,17 @@ 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: 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"
|
||||
field: gyro_lpf
|
||||
table: gyro_lpf
|
||||
- name: gyro_anti_aliasing_lpf_hz
|
||||
description: "Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz"
|
||||
default_value: 250
|
||||
field: gyro_anti_aliasing_lpf_hz
|
||||
max: 1000
|
||||
- name: gyro_anti_aliasing_lpf_type
|
||||
description: "Specifies the type of the software LPF of the gyro signals."
|
||||
default_value: "PT1"
|
||||
field: gyro_anti_aliasing_lpf_type
|
||||
table: filter_type
|
||||
- name: gyro_main_lpf_hz
|
||||
description: "Software based gyro main lowpass filter. Value is cutoff frequency (Hz)"
|
||||
default_value: 60
|
||||
field: gyro_main_lpf_hz
|
||||
min: 0
|
||||
max: 500
|
||||
- name: gyro_main_lpf_type
|
||||
description: "Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation."
|
||||
default_value: BIQUAD
|
||||
field: gyro_main_lpf_type
|
||||
table: filter_type
|
||||
- name: gyro_use_dyn_lpf
|
||||
description: "Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position."
|
||||
default_value: OFF
|
||||
|
|
@ -752,12 +732,6 @@ groups:
|
|||
type: motorConfig_t
|
||||
headers: ["flight/mixer.h"]
|
||||
members:
|
||||
- name: max_throttle
|
||||
description: "This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK for everyone (legacy). For modern ESCs, higher values (c. 2000) may be more appropriate. If you have brushed motors, the value should be set to 2000."
|
||||
default_value: 1850
|
||||
field: maxthrottle
|
||||
min: PWM_RANGE_MIN
|
||||
max: PWM_RANGE_MAX
|
||||
- name: min_command
|
||||
description: "This is the PWM value sent to ESCs when they are not armed. If ESCs beep slowly when powered up, try decreasing this value. It can also be used for calibrating all ESCs at once."
|
||||
default_value: 1000
|
||||
|
|
@ -1204,8 +1178,6 @@ groups:
|
|||
field: mixer_config.tailsitterOrientationOffset
|
||||
type: bool
|
||||
|
||||
|
||||
|
||||
- name: PG_REVERSIBLE_MOTORS_CONFIG
|
||||
type: reversibleMotorsConfig_t
|
||||
members:
|
||||
|
|
@ -1496,8 +1468,8 @@ groups:
|
|||
description: "Auto-arm fixed wing aircraft on throttle above min_check, and disarming with stick commands are disabled, so power cycle is required to disarm. Requires enabled motorstop and no arm switch configured."
|
||||
default_value: OFF
|
||||
type: bool
|
||||
- name: disarm_kill_switch
|
||||
description: "Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel."
|
||||
- name: disarm_always
|
||||
description: "Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low."
|
||||
default_value: ON
|
||||
type: bool
|
||||
- name: switch_disarm_delay
|
||||
|
|
@ -1583,6 +1555,12 @@ groups:
|
|||
field: expo
|
||||
min: 0
|
||||
max: 200
|
||||
- name: ez_snappiness
|
||||
description: "EzTune snappiness"
|
||||
default_value: 0
|
||||
field: snappiness
|
||||
min: 0
|
||||
max: 100
|
||||
|
||||
- name: PG_RPM_FILTER_CONFIG
|
||||
headers: ["flight/rpm_filter.h"]
|
||||
|
|
@ -1690,12 +1668,12 @@ groups:
|
|||
members:
|
||||
- name: deadband
|
||||
description: "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."
|
||||
default_value: 5
|
||||
default_value: 2
|
||||
min: 0
|
||||
max: 32
|
||||
- name: yaw_deadband
|
||||
description: "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."
|
||||
default_value: 5
|
||||
default_value: 2
|
||||
min: 0
|
||||
max: 100
|
||||
- name: pos_hold_deadband
|
||||
|
|
@ -1968,18 +1946,6 @@ groups:
|
|||
field: fixedWingYawItermBankFreeze
|
||||
min: 0
|
||||
max: 90
|
||||
- name: pidsum_limit
|
||||
description: "A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help"
|
||||
default_value: 500
|
||||
field: pidSumLimit
|
||||
min: PID_SUM_LIMIT_MIN
|
||||
max: PID_SUM_LIMIT_MAX
|
||||
- name: pidsum_limit_yaw
|
||||
description: "A limitation to overall amount of correction Flight PID can request on each axis (Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help"
|
||||
default_value: 350
|
||||
field: pidSumLimitYaw
|
||||
min: PID_SUM_LIMIT_MIN
|
||||
max: PID_SUM_LIMIT_MAX
|
||||
- name: iterm_windup
|
||||
description: "Used to prevent Iterm accumulation on during maneuvers. Iterm will be dampened when motors are reaching it's limit (when requested motor correction range is above percentage specified by this parameter)"
|
||||
default_value: 50
|
||||
|
|
@ -2515,7 +2481,7 @@ groups:
|
|||
min: 10
|
||||
max: 2000
|
||||
- name: nav_min_ground_speed
|
||||
description: "Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s."
|
||||
description: "Minimum ground speed for navigation flight modes [m/s]. Currently, this only affects fixed wing. Default 7 m/s."
|
||||
default_value: 7
|
||||
field: general.min_ground_speed
|
||||
min: 6
|
||||
|
|
@ -2877,10 +2843,10 @@ groups:
|
|||
min: 100
|
||||
max: 10000
|
||||
- name: nav_fw_launch_accel
|
||||
description: "Forward acceleration threshold for bungee launch of throw launch [cm/s/s], 1G = 981 cm/s/s"
|
||||
description: "Forward acceleration threshold for bungee launch or throw launch [cm/s/s], 1G = 981 cm/s/s"
|
||||
default_value: 1863
|
||||
field: fw.launch_accel_thresh
|
||||
min: 1000
|
||||
min: 1500
|
||||
max: 20000
|
||||
- name: nav_fw_launch_max_angle
|
||||
description: "Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]"
|
||||
|
|
@ -2900,6 +2866,13 @@ groups:
|
|||
field: fw.launch_idle_motor_timer
|
||||
min: 0
|
||||
max: 60000
|
||||
- name: nav_fw_launch_wiggle_to_wake_idle
|
||||
description: "Trigger the idle throttle by wiggling the plane. 0 = disabled. 1 and 2 signify 1 or 2 yaw wiggles to activate. 1 wiggle has a higher detection point, for airplanes without a tail. 2 wiggles has a lower detection point, but requires the repeated action. This is intended for larger models and airplanes with tails."
|
||||
field: fw.launch_wiggle_wake_idle
|
||||
type: uint8_t
|
||||
default_value: 0
|
||||
min: 0
|
||||
max: 2
|
||||
- name: nav_fw_launch_motor_delay
|
||||
description: "Delay between detected launch and launch sequence start and throttling up (ms)"
|
||||
default_value: 500
|
||||
|
|
@ -3168,18 +3141,17 @@ groups:
|
|||
field: stats_energy_unit
|
||||
table: osd_stats_energy_unit
|
||||
type: uint8_t
|
||||
- name: osd_stats_min_voltage_unit
|
||||
description: "Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats."
|
||||
default_value: "BATTERY"
|
||||
field: stats_min_voltage_unit
|
||||
table: osd_stats_min_voltage_unit
|
||||
type: uint8_t
|
||||
- name: osd_stats_page_auto_swap_time
|
||||
description: "Auto swap display time interval between disarm stats pages (seconds). Reverts to manual control when Roll stick used to change pages. Disabled when set to 0."
|
||||
default_value: 3
|
||||
field: stats_page_auto_swap_time
|
||||
min: 0
|
||||
max: 10
|
||||
- name: osd_stats_show_metric_efficiency
|
||||
description: "Enabling this option will show metric efficiency statistics on the post flight stats screen. In addition to the efficiency statistics in your chosen units."
|
||||
default_value: OFF
|
||||
type: bool
|
||||
field: stats_show_metric_efficiency
|
||||
- name: osd_rssi_alarm
|
||||
description: "Value below which to make the OSD RSSI indicator blink"
|
||||
default_value: 20
|
||||
|
|
@ -3500,6 +3472,12 @@ groups:
|
|||
condition: USE_WIND_ESTIMATOR
|
||||
field: estimations_wind_compensation
|
||||
type: bool
|
||||
- name: osd_estimations_wind_mps
|
||||
description: "Wind speed estimation in m/s"
|
||||
default_value: OFF
|
||||
condition: USE_WIND_ESTIMATOR
|
||||
field: estimations_wind_mps
|
||||
type: bool
|
||||
|
||||
- name: osd_failsafe_switch_layout
|
||||
description: "If enabled the OSD automatically switches to the first layout during failsafe"
|
||||
|
|
@ -4001,12 +3979,6 @@ groups:
|
|||
headers: ["io/osd_dji_hd.h"]
|
||||
condition: USE_DJI_HD_OSD
|
||||
members:
|
||||
- name: dji_workarounds
|
||||
description: "Enables workarounds for different versions of MSP protocol used"
|
||||
field: proto_workarounds
|
||||
min: 0
|
||||
max: UINT8_MAX
|
||||
default_value: 1
|
||||
- name: dji_use_name_for_messages
|
||||
description: "Re-purpose the craft name field for messages."
|
||||
default_value: ON
|
||||
|
|
|
|||
|
|
@ -41,8 +41,8 @@ void dynamicLpfGyroTask(void) {
|
|||
return;
|
||||
}
|
||||
|
||||
const float throttleConstrained = (float) constrain(rcCommand[THROTTLE], getThrottleIdleValue(), motorConfig()->maxthrottle);
|
||||
const float throttle = scaleRangef(throttleConstrained, getThrottleIdleValue(), motorConfig()->maxthrottle, 0.0f, 1.0f);
|
||||
const float throttleConstrained = (float) constrain(rcCommand[THROTTLE], getThrottleIdleValue(), getMaxThrottle());
|
||||
const float throttle = scaleRangef(throttleConstrained, getThrottleIdleValue(), getMaxThrottle(), 0.0f, 1.0f);
|
||||
const float cutoffFreq = dynLpfCutoffFreq(throttle, gyroConfig()->gyroDynamicLpfMinHz, gyroConfig()->gyroDynamicLpfMaxHz, gyroConfig()->gyroDynamicLpfCurveExpo);
|
||||
|
||||
DEBUG_SET(DEBUG_DYNAMIC_GYRO_LPF, 0, cutoffFreq);
|
||||
|
|
|
|||
|
|
@ -34,7 +34,9 @@
|
|||
#include "sensors/gyro.h"
|
||||
#include "fc/controlrate_profile.h"
|
||||
|
||||
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(ezTuneSettings_t, ezTune, PG_EZ_TUNE, 0);
|
||||
#include "rx/rx.h"
|
||||
|
||||
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(ezTuneSettings_t, ezTune, PG_EZ_TUNE, 1);
|
||||
|
||||
PG_RESET_TEMPLATE(ezTuneSettings_t, ezTune,
|
||||
.enabled = SETTING_EZ_ENABLED_DEFAULT,
|
||||
|
|
@ -46,6 +48,7 @@ PG_RESET_TEMPLATE(ezTuneSettings_t, ezTune,
|
|||
.aggressiveness = SETTING_EZ_AGGRESSIVENESS_DEFAULT,
|
||||
.rate = SETTING_EZ_RATE_DEFAULT,
|
||||
.expo = SETTING_EZ_EXPO_DEFAULT,
|
||||
.snappiness = SETTING_EZ_SNAPPINESS_DEFAULT,
|
||||
);
|
||||
|
||||
#define EZ_TUNE_PID_RP_DEFAULT { 40, 75, 23, 100 }
|
||||
|
|
@ -70,6 +73,9 @@ static float getYawPidScale(float input) {
|
|||
void ezTuneUpdate(void) {
|
||||
if (ezTune()->enabled) {
|
||||
|
||||
//Enforce RC auto smoothing
|
||||
rxConfigMutable()->autoSmooth = 1;
|
||||
|
||||
// Setup filtering
|
||||
//Set Dterm LPF
|
||||
pidProfileMutable()->dterm_lpf_hz = MAX(ezTune()->filterHz - 5, 50);
|
||||
|
|
@ -77,11 +83,9 @@ void ezTuneUpdate(void) {
|
|||
|
||||
//Set main gyro filter
|
||||
gyroConfigMutable()->gyro_main_lpf_hz = ezTune()->filterHz;
|
||||
gyroConfigMutable()->gyro_main_lpf_type = FILTER_PT1;
|
||||
|
||||
//Set anti-aliasing filter
|
||||
gyroConfigMutable()->gyro_anti_aliasing_lpf_hz = SETTING_GYRO_ANTI_ALIASING_LPF_HZ_DEFAULT;
|
||||
gyroConfigMutable()->gyro_anti_aliasing_lpf_type = FILTER_PT1;
|
||||
|
||||
//Enable Smith predictor
|
||||
pidProfileMutable()->smithPredictorDelay = computePt1FilterDelayMs(ezTune()->filterHz);
|
||||
|
|
@ -139,5 +143,8 @@ void ezTuneUpdate(void) {
|
|||
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcExpo8 = scaleRange(ezTune()->rate, 0, 200, 40, 100);
|
||||
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcYawExpo8 = scaleRange(ezTune()->rate, 0, 200, 40, 100);
|
||||
|
||||
//D-Boost snappiness
|
||||
pidProfileMutable()->dBoostMin = scaleRangef(ezTune()->snappiness, 0, 100, 1.0f, 0.0f);
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -36,6 +36,7 @@ typedef struct ezTuneSettings_s {
|
|||
uint8_t aggressiveness;
|
||||
uint8_t rate;
|
||||
uint8_t expo;
|
||||
uint8_t snappiness;
|
||||
} ezTuneSettings_t;
|
||||
|
||||
PG_DECLARE_PROFILE(ezTuneSettings_t, ezTune);
|
||||
|
|
|
|||
|
|
@ -57,6 +57,9 @@
|
|||
|
||||
#include "sensors/battery.h"
|
||||
|
||||
#define MAX_THROTTLE 2000
|
||||
#define MAX_THROTTLE_ROVER 1850
|
||||
|
||||
FASTRAM int16_t motor[MAX_SUPPORTED_MOTORS];
|
||||
FASTRAM int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
|
||||
static float motorMixRange;
|
||||
|
|
@ -83,12 +86,11 @@ PG_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig,
|
|||
.neutral = SETTING_3D_NEUTRAL_DEFAULT
|
||||
);
|
||||
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 10);
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 11);
|
||||
|
||||
PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
|
||||
.motorPwmProtocol = SETTING_MOTOR_PWM_PROTOCOL_DEFAULT,
|
||||
.motorPwmRate = SETTING_MOTOR_PWM_RATE_DEFAULT,
|
||||
.maxthrottle = SETTING_MAX_THROTTLE_DEFAULT,
|
||||
.mincommand = SETTING_MIN_COMMAND_DEFAULT,
|
||||
.motorPoleCount = SETTING_MOTOR_POLES_DEFAULT, // Most brushless motors that we use are 14 poles
|
||||
);
|
||||
|
|
@ -106,7 +108,7 @@ void pgResetFn_timerOverrides(timerOverride_t *instance)
|
|||
int getThrottleIdleValue(void)
|
||||
{
|
||||
if (!throttleIdleValue) {
|
||||
throttleIdleValue = motorConfig()->mincommand + (((motorConfig()->maxthrottle - motorConfig()->mincommand) / 100.0f) * currentBatteryProfile->motor.throttleIdle);
|
||||
throttleIdleValue = motorConfig()->mincommand + (((getMaxThrottle() - motorConfig()->mincommand) / 100.0f) * currentBatteryProfile->motor.throttleIdle);
|
||||
}
|
||||
|
||||
return throttleIdleValue;
|
||||
|
|
@ -242,11 +244,11 @@ void mixerResetDisarmedMotors(void)
|
|||
if (feature(FEATURE_REVERSIBLE_MOTORS)) {
|
||||
motorZeroCommand = reversibleMotorsConfig()->neutral;
|
||||
throttleRangeMin = throttleDeadbandHigh;
|
||||
throttleRangeMax = motorConfig()->maxthrottle;
|
||||
throttleRangeMax = getMaxThrottle();
|
||||
} else {
|
||||
motorZeroCommand = motorConfig()->mincommand;
|
||||
throttleRangeMin = throttleIdleValue;
|
||||
throttleRangeMax = motorConfig()->maxthrottle;
|
||||
throttleRangeMax = getMaxThrottle();
|
||||
}
|
||||
|
||||
reversibleMotorsThrottleState = MOTOR_DIRECTION_FORWARD;
|
||||
|
|
@ -357,7 +359,7 @@ static void applyTurtleModeToMotors(void) {
|
|||
|
||||
motorOutputNormalised = MIN(1.0f, flipPower * motorOutputNormalised);
|
||||
|
||||
motor[i] = (int16_t)scaleRangef(motorOutputNormalised, 0, 1, motorConfig()->mincommand, motorConfig()->maxthrottle);
|
||||
motor[i] = (int16_t)scaleRangef(motorOutputNormalised, 0, 1, motorConfig()->mincommand, getMaxThrottle());
|
||||
}
|
||||
} else {
|
||||
// Disarmed mode
|
||||
|
|
@ -407,7 +409,7 @@ void FAST_CODE writeMotors(void)
|
|||
throttleIdleValue,
|
||||
DSHOT_DISARM_COMMAND,
|
||||
motorConfig()->mincommand,
|
||||
motorConfig()->maxthrottle,
|
||||
getMaxThrottle(),
|
||||
DSHOT_MIN_THROTTLE,
|
||||
DSHOT_MAX_THROTTLE,
|
||||
true
|
||||
|
|
@ -424,7 +426,7 @@ void FAST_CODE writeMotors(void)
|
|||
throttleRangeMin,
|
||||
throttleRangeMax,
|
||||
reversibleMotorsConfig()->deadband_high,
|
||||
motorConfig()->maxthrottle,
|
||||
getMaxThrottle(),
|
||||
true
|
||||
);
|
||||
} else {
|
||||
|
|
@ -551,7 +553,7 @@ void FAST_CODE mixTable(void)
|
|||
#ifdef USE_PROGRAMMING_FRAMEWORK
|
||||
if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_THROTTLE)) {
|
||||
throttleRangeMin = throttleIdleValue;
|
||||
throttleRangeMax = motorConfig()->maxthrottle;
|
||||
throttleRangeMax = getMaxThrottle();
|
||||
mixerThrottleCommand = constrain(logicConditionValuesByType[LOGIC_CONDITION_OVERRIDE_THROTTLE], throttleRangeMin, throttleRangeMax);
|
||||
} else
|
||||
#endif
|
||||
|
|
@ -562,7 +564,7 @@ void FAST_CODE mixTable(void)
|
|||
* Throttle is above deadband, FORWARD direction
|
||||
*/
|
||||
reversibleMotorsThrottleState = MOTOR_DIRECTION_FORWARD;
|
||||
throttleRangeMax = motorConfig()->maxthrottle;
|
||||
throttleRangeMax = getMaxThrottle();
|
||||
throttleRangeMin = throttleDeadbandHigh;
|
||||
DISABLE_STATE(SET_REVERSIBLE_MOTORS_FORWARD);
|
||||
} else if (rcCommand[THROTTLE] <= throttleDeadbandLow) {
|
||||
|
|
@ -591,7 +593,7 @@ void FAST_CODE mixTable(void)
|
|||
} else {
|
||||
mixerThrottleCommand = rcCommand[THROTTLE];
|
||||
throttleRangeMin = throttleIdleValue;
|
||||
throttleRangeMax = motorConfig()->maxthrottle;
|
||||
throttleRangeMax = getMaxThrottle();
|
||||
|
||||
// Throttle scaling to limit max throttle when battery is full
|
||||
#ifdef USE_PROGRAMMING_FRAMEWORK
|
||||
|
|
@ -630,7 +632,7 @@ void FAST_CODE mixTable(void)
|
|||
motor[i] = rpyMix[i] + constrain(mixerThrottleCommand * currentMixer[i].throttle, throttleMin, throttleMax);
|
||||
|
||||
if (failsafeIsActive()) {
|
||||
motor[i] = constrain(motor[i], motorConfig()->mincommand, motorConfig()->maxthrottle);
|
||||
motor[i] = constrain(motor[i], motorConfig()->mincommand, getMaxThrottle());
|
||||
} else {
|
||||
motor[i] = constrain(motor[i], throttleRangeMin, throttleRangeMax);
|
||||
}
|
||||
|
|
@ -652,7 +654,7 @@ int16_t getThrottlePercent(bool useScaled)
|
|||
int16_t thr = constrain(mixerThrottleCommand, PWM_RANGE_MIN, PWM_RANGE_MAX);
|
||||
|
||||
if (useScaled) {
|
||||
thr = (thr - throttleIdleValue) * 100 / (motorConfig()->maxthrottle - throttleIdleValue);
|
||||
thr = (thr - throttleIdleValue) * 100 / (getMaxThrottle() - throttleIdleValue);
|
||||
} else {
|
||||
thr = (rxGetChannelValue(THROTTLE) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN);
|
||||
}
|
||||
|
|
@ -667,7 +669,7 @@ uint16_t setDesiredThrottle(uint16_t throttle, bool allowMotorStop)
|
|||
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
|
||||
return throttle;
|
||||
}
|
||||
return constrain(throttle, throttleIdleValue, motorConfig()->maxthrottle);
|
||||
return constrain(throttle, throttleIdleValue, getMaxThrottle());
|
||||
}
|
||||
|
||||
motorStatus_e getMotorStatus(void)
|
||||
|
|
@ -725,3 +727,18 @@ bool areMotorsRunning(void)
|
|||
|
||||
return false;
|
||||
}
|
||||
|
||||
uint16_t getMaxThrottle() {
|
||||
|
||||
static uint16_t throttle = 0;
|
||||
|
||||
if (throttle == 0) {
|
||||
if (STATE(ROVER) || STATE(BOAT)) {
|
||||
throttle = MAX_THROTTLE_ROVER;
|
||||
} else {
|
||||
throttle = MAX_THROTTLE;
|
||||
}
|
||||
}
|
||||
|
||||
return throttle;
|
||||
}
|
||||
|
|
@ -81,7 +81,6 @@ PG_DECLARE(reversibleMotorsConfig_t, reversibleMotorsConfig);
|
|||
|
||||
typedef struct motorConfig_s {
|
||||
// PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
|
||||
uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000
|
||||
uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
|
||||
uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz)
|
||||
uint8_t motorPwmProtocol;
|
||||
|
|
@ -131,3 +130,5 @@ void stopPwmAllMotors(void);
|
|||
|
||||
void loadPrimaryMotorMixer(void);
|
||||
bool areMotorsRunning(void);
|
||||
|
||||
uint16_t getMaxThrottle(void);
|
||||
|
|
@ -99,7 +99,6 @@ typedef struct {
|
|||
biquadFilter_t dBoostGyroLpf;
|
||||
float dBoostTargetAcceleration;
|
||||
#endif
|
||||
uint16_t pidSumLimit;
|
||||
filterApply4FnPtr ptermFilterApplyFn;
|
||||
bool itermLimitActive;
|
||||
bool itermFreezeActive;
|
||||
|
|
@ -170,7 +169,7 @@ static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
|
|||
static EXTENDED_FASTRAM float fixedWingLevelTrim;
|
||||
static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController;
|
||||
|
||||
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 6);
|
||||
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 7);
|
||||
|
||||
PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
|
||||
.bank_mc = {
|
||||
|
|
@ -264,8 +263,6 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
|
|||
|
||||
.max_angle_inclination[FD_ROLL] = SETTING_MAX_ANGLE_INCLINATION_RLL_DEFAULT,
|
||||
.max_angle_inclination[FD_PITCH] = SETTING_MAX_ANGLE_INCLINATION_PIT_DEFAULT,
|
||||
.pidSumLimit = SETTING_PIDSUM_LIMIT_DEFAULT,
|
||||
.pidSumLimitYaw = SETTING_PIDSUM_LIMIT_YAW_DEFAULT,
|
||||
.pidItermLimitPercent = SETTING_PID_ITERM_LIMIT_PERCENT_DEFAULT,
|
||||
|
||||
.fixedWingReferenceAirspeed = SETTING_FW_REFERENCE_AIRSPEED_DEFAULT,
|
||||
|
|
@ -466,8 +463,8 @@ static float calculateMultirotorTPAFactor(void)
|
|||
// TPA should be updated only when TPA is actually set
|
||||
if (currentControlRateProfile->throttle.dynPID == 0 || rcCommand[THROTTLE] < currentControlRateProfile->throttle.pa_breakpoint) {
|
||||
tpaFactor = 1.0f;
|
||||
} else if (rcCommand[THROTTLE] < motorConfig()->maxthrottle) {
|
||||
tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (rcCommand[THROTTLE] - currentControlRateProfile->throttle.pa_breakpoint) / (float)(motorConfig()->maxthrottle - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f;
|
||||
} else if (rcCommand[THROTTLE] < getMaxThrottle()) {
|
||||
tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (rcCommand[THROTTLE] - currentControlRateProfile->throttle.pa_breakpoint) / (float)(getMaxThrottle() - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f;
|
||||
} else {
|
||||
tpaFactor = (100 - currentControlRateProfile->throttle.dynPID) / 100.0f;
|
||||
}
|
||||
|
|
@ -772,12 +769,14 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
|
|||
|
||||
applyItermLimiting(pidState);
|
||||
|
||||
const uint16_t limit = getPidSumLimit(axis);
|
||||
|
||||
if (pidProfile()->pidItermLimitPercent != 0){
|
||||
float itermLimit = pidState->pidSumLimit * pidProfile()->pidItermLimitPercent * 0.01f;
|
||||
float itermLimit = limit * pidProfile()->pidItermLimitPercent * 0.01f;
|
||||
pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -itermLimit, +itermLimit);
|
||||
}
|
||||
|
||||
axisPID[axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf + newDTerm, -pidState->pidSumLimit, +pidState->pidSumLimit);
|
||||
axisPID[axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf + newDTerm, -limit, +limit);
|
||||
|
||||
if (FLIGHT_MODE(SOARING_MODE) && axis == FD_PITCH && calculateRollPitchCenterStatus() == CENTERED) {
|
||||
if (!angleFreefloatDeadband(DEGREES_TO_DECIDEGREES(navConfig()->fw.soaring_pitch_deadband), FD_PITCH)) {
|
||||
|
|
@ -787,7 +786,7 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
|
|||
|
||||
#ifdef USE_AUTOTUNE_FIXED_WING
|
||||
if (FLIGHT_MODE(AUTO_TUNE) && !FLIGHT_MODE(MANUAL_MODE)) {
|
||||
autotuneFixedWingUpdate(axis, rateTarget, pidState->gyroRate, constrainf(newPTerm + newFFTerm, -pidState->pidSumLimit, +pidState->pidSumLimit));
|
||||
autotuneFixedWingUpdate(axis, rateTarget, pidState->gyroRate, constrainf(newPTerm + newFFTerm, -limit, +limit));
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
@ -836,9 +835,11 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
|
|||
*/
|
||||
const float newCDTerm = rateTargetDeltaFiltered * pidState->kCD;
|
||||
|
||||
const uint16_t limit = getPidSumLimit(axis);
|
||||
|
||||
// TODO: Get feedback from mixer on available correction range for each axis
|
||||
const float newOutput = newPTerm + newDTerm + pidState->errorGyroIf + newCDTerm;
|
||||
const float newOutputLimited = constrainf(newOutput, -pidState->pidSumLimit, +pidState->pidSumLimit);
|
||||
const float newOutputLimited = constrainf(newOutput, -limit, +limit);
|
||||
|
||||
float itermErrorRate = applyItermRelax(axis, rateTarget, rateError);
|
||||
|
||||
|
|
@ -850,7 +851,7 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
|
|||
+ ((newOutputLimited - newOutput) * pidState->kT * antiWindupScaler * dT);
|
||||
|
||||
if (pidProfile()->pidItermLimitPercent != 0){
|
||||
float itermLimit = pidState->pidSumLimit * pidProfile()->pidItermLimitPercent * 0.01f;
|
||||
float itermLimit = limit * pidProfile()->pidItermLimitPercent * 0.01f;
|
||||
pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -itermLimit, +itermLimit);
|
||||
}
|
||||
|
||||
|
|
@ -1284,14 +1285,12 @@ void pidInit(void)
|
|||
|
||||
pidState[axis].axis = axis;
|
||||
if (axis == FD_YAW) {
|
||||
pidState[axis].pidSumLimit = pidProfile()->pidSumLimitYaw;
|
||||
if (yawLpfHz) {
|
||||
pidState[axis].ptermFilterApplyFn = (filterApply4FnPtr) pt1FilterApply4;
|
||||
} else {
|
||||
pidState[axis].ptermFilterApplyFn = (filterApply4FnPtr) nullFilterApply4;
|
||||
}
|
||||
} else {
|
||||
pidState[axis].pidSumLimit = pidProfile()->pidSumLimit;
|
||||
pidState[axis].ptermFilterApplyFn = (filterApply4FnPtr) nullFilterApply4;
|
||||
}
|
||||
}
|
||||
|
|
@ -1408,3 +1407,11 @@ float getFixedWingLevelTrim(void)
|
|||
{
|
||||
return STATE(AIRPLANE) ? fixedWingLevelTrim : 0;
|
||||
}
|
||||
|
||||
uint16_t getPidSumLimit(const flight_dynamics_index_t axis) {
|
||||
if (axis == FD_YAW) {
|
||||
return STATE(MULTIROTOR) ? 400 : 500;
|
||||
} else {
|
||||
return 500;
|
||||
}
|
||||
}
|
||||
|
|
@ -115,8 +115,6 @@ typedef struct pidProfile_s {
|
|||
|
||||
int16_t max_angle_inclination[ANGLE_INDEX_COUNT]; // Max possible inclination (roll and pitch axis separately
|
||||
|
||||
uint16_t pidSumLimit;
|
||||
uint16_t pidSumLimitYaw;
|
||||
uint16_t pidItermLimitPercent;
|
||||
|
||||
// Airplane-specific parameters
|
||||
|
|
@ -221,3 +219,4 @@ bool isFixedWingLevelTrimActive(void);
|
|||
void updateFixedWingLevelTrim(timeUs_t currentTimeUs);
|
||||
float getFixedWingLevelTrim(void);
|
||||
bool isAngleHoldLevel(void);
|
||||
uint16_t getPidSumLimit(const flight_dynamics_index_t axis);
|
||||
|
|
@ -171,7 +171,7 @@ void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRa
|
|||
float gainFF = tuneCurrent[axis].gainFF;
|
||||
float maxDesiredRate = maxRateSetting;
|
||||
|
||||
const float pidSumLimit = (axis == FD_YAW) ? pidProfile()->pidSumLimitYaw : pidProfile()->pidSumLimit;
|
||||
const float pidSumLimit = getPidSumLimit(axis);
|
||||
const float absDesiredRate = fabsf(desiredRate);
|
||||
const float absReachedRate = fabsf(reachedRate);
|
||||
const float absPidOutput = fabsf(pidOutput);
|
||||
|
|
|
|||
|
|
@ -44,46 +44,25 @@ void secondaryDynamicGyroNotchFiltersInit(secondaryDynamicGyroNotchState_t *stat
|
|||
state->enabled = gyroConfig()->dynamicGyroNotchMode != DYNAMIC_NOTCH_MODE_2D;
|
||||
state->looptime = getLooptime();
|
||||
|
||||
if (
|
||||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_R ||
|
||||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RP ||
|
||||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RY ||
|
||||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D
|
||||
) {
|
||||
if (gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D) {
|
||||
/*
|
||||
* Enable ROLL filter
|
||||
*/
|
||||
biquadFilterInit(&state->filters[FD_ROLL], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
|
||||
state->filtersApplyFn[FD_ROLL] = (filterApplyFnPtr)biquadFilterApplyDF1;
|
||||
}
|
||||
|
||||
if (
|
||||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_P ||
|
||||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RP ||
|
||||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_PY ||
|
||||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D
|
||||
) {
|
||||
/*
|
||||
* Enable PITCH filter
|
||||
*/
|
||||
biquadFilterInit(&state->filters[FD_PITCH], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
|
||||
state->filtersApplyFn[FD_PITCH] = (filterApplyFnPtr)biquadFilterApplyDF1;
|
||||
}
|
||||
|
||||
if (
|
||||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_Y ||
|
||||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_PY ||
|
||||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RY ||
|
||||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D
|
||||
) {
|
||||
/*
|
||||
* Enable YAW filter
|
||||
*/
|
||||
biquadFilterInit(&state->filters[FD_YAW], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
|
||||
state->filtersApplyFn[FD_YAW] = (filterApplyFnPtr)biquadFilterApplyDF1;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
void secondaryDynamicGyroNotchFiltersUpdate(secondaryDynamicGyroNotchState_t *state, int axis, float frequency[]) {
|
||||
|
|
|
|||
1020
src/main/io/osd.c
1020
src/main/io/osd.c
File diff suppressed because it is too large
Load diff
|
|
@ -75,7 +75,6 @@
|
|||
#define OSD_MSG_PITOT_FAIL "PITOT METER FAILURE"
|
||||
#define OSD_MSG_HW_FAIL "HARDWARE FAILURE"
|
||||
#define OSD_MSG_FS_EN "FAILSAFE MODE ENABLED"
|
||||
#define OSD_MSG_KILL_SW_EN "KILLSWITCH MODE ENABLED"
|
||||
#define OSD_MSG_NO_RC_LINK "NO RC LINK"
|
||||
#define OSD_MSG_THROTTLE_NOT_LOW "THROTTLE IS NOT LOW"
|
||||
#define OSD_MSG_ROLLPITCH_OFFCENTER "ROLLPITCH NOT CENTERED"
|
||||
|
|
@ -286,6 +285,7 @@ typedef enum {
|
|||
OSD_CUSTOM_ELEMENT_3,
|
||||
OSD_ADSB_WARNING,
|
||||
OSD_ADSB_INFO,
|
||||
OSD_BLACKBOX,
|
||||
OSD_ITEM_COUNT // MUST BE LAST
|
||||
} osd_items_e;
|
||||
|
||||
|
|
@ -304,11 +304,6 @@ typedef enum {
|
|||
OSD_STATS_ENERGY_UNIT_WH,
|
||||
} osd_stats_energy_unit_e;
|
||||
|
||||
typedef enum {
|
||||
OSD_STATS_MIN_VOLTAGE_UNIT_BATTERY,
|
||||
OSD_STATS_MIN_VOLTAGE_UNIT_CELL,
|
||||
} osd_stats_min_voltage_unit_e;
|
||||
|
||||
typedef enum {
|
||||
OSD_CROSSHAIRS_STYLE_DEFAULT,
|
||||
OSD_CROSSHAIRS_STYLE_AIRCRAFT,
|
||||
|
|
@ -418,11 +413,12 @@ typedef struct osdConfig_s {
|
|||
|
||||
uint8_t units; // from osd_unit_e
|
||||
uint8_t stats_energy_unit; // from osd_stats_energy_unit_e
|
||||
uint8_t stats_min_voltage_unit; // from osd_stats_min_voltage_unit_e
|
||||
uint8_t stats_page_auto_swap_time; // stats page auto swap interval time (seconds)
|
||||
bool stats_show_metric_efficiency; // If true, show metric efficiency as well as for the selected units
|
||||
|
||||
#ifdef USE_WIND_ESTIMATOR
|
||||
bool estimations_wind_compensation; // use wind compensation for estimated remaining flight/distance
|
||||
bool estimations_wind_mps; // wind speed estimation in m/s
|
||||
#endif
|
||||
uint8_t coordinate_digits;
|
||||
bool osd_failsafe_switch_layout;
|
||||
|
|
|
|||
|
|
@ -122,11 +122,10 @@
|
|||
* but reuse the packet decoder to minimize code duplication
|
||||
*/
|
||||
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(djiOsdConfig_t, djiOsdConfig, PG_DJI_OSD_CONFIG, 2);
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(djiOsdConfig_t, djiOsdConfig, PG_DJI_OSD_CONFIG, 3);
|
||||
PG_RESET_TEMPLATE(djiOsdConfig_t, djiOsdConfig,
|
||||
.use_name_for_messages = SETTING_DJI_USE_NAME_FOR_MESSAGES_DEFAULT,
|
||||
.esc_temperature_source = SETTING_DJI_ESC_TEMP_SOURCE_DEFAULT,
|
||||
.proto_workarounds = SETTING_DJI_WORKAROUNDS_DEFAULT,
|
||||
.messageSpeedSource = SETTING_DJI_MESSAGE_SPEED_SOURCE_DEFAULT,
|
||||
.rssi_source = SETTING_DJI_RSSI_SOURCE_DEFAULT,
|
||||
.useAdjustments = SETTING_DJI_USE_ADJUSTMENTS_DEFAULT,
|
||||
|
|
@ -505,8 +504,6 @@ static char * osdArmingDisabledReasonMessage(void)
|
|||
// return OSD_MESSAGE_STR("HARDWARE FAILURE");
|
||||
case ARMING_DISABLED_BOXFAILSAFE:
|
||||
return OSD_MESSAGE_STR("FAILSAFE ENABLED");
|
||||
case ARMING_DISABLED_BOXKILLSWITCH:
|
||||
return OSD_MESSAGE_STR("KILLSWITCH ENABLED");
|
||||
case ARMING_DISABLED_RC_LINK:
|
||||
return OSD_MESSAGE_STR("NO RC LINK");
|
||||
case ARMING_DISABLED_THROTTLE:
|
||||
|
|
@ -1349,12 +1346,11 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
|
|||
break;
|
||||
|
||||
case DJI_MSP_ESC_SENSOR_DATA:
|
||||
if (djiOsdConfig()->proto_workarounds & DJI_OSD_USE_NON_STANDARD_MSP_ESC_SENSOR_DATA) {
|
||||
// Version 1.00.06 of DJI firmware is not using the standard MSP_ESC_SENSOR_DATA
|
||||
{
|
||||
uint16_t protoRpm = 0;
|
||||
int16_t protoTemp = 0;
|
||||
|
||||
#if defined(USE_ESC_SENSOR)
|
||||
#if defined(USE_ESC_SENSOR)
|
||||
if (STATE(ESC_SENSOR_ENABLED) && getMotorCount() > 0) {
|
||||
uint32_t motorRpmAcc = 0;
|
||||
int32_t motorTempAcc = 0;
|
||||
|
|
@ -1368,7 +1364,7 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
|
|||
protoRpm = motorRpmAcc / getMotorCount();
|
||||
protoTemp = motorTempAcc / getMotorCount();
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
switch (djiOsdConfig()->esc_temperature_source) {
|
||||
// This is ESC temperature (as intended)
|
||||
|
|
@ -1393,47 +1389,6 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
|
|||
sbufWriteU8(dst, protoTemp);
|
||||
sbufWriteU16(dst, protoRpm);
|
||||
}
|
||||
else {
|
||||
// Use standard MSP_ESC_SENSOR_DATA message
|
||||
sbufWriteU8(dst, getMotorCount());
|
||||
for (int i = 0; i < getMotorCount(); i++) {
|
||||
uint16_t motorRpm = 0;
|
||||
int16_t motorTemp = 0;
|
||||
|
||||
// If ESC_SENSOR is enabled, pull the telemetry data and get motor RPM
|
||||
#if defined(USE_ESC_SENSOR)
|
||||
if (STATE(ESC_SENSOR_ENABLED)) {
|
||||
const escSensorData_t * escSensor = getEscTelemetry(i);
|
||||
motorRpm = escSensor->rpm;
|
||||
motorTemp = escSensor->temperature;
|
||||
}
|
||||
#endif
|
||||
|
||||
// Now populate temperature field (which we may override for different purposes)
|
||||
switch (djiOsdConfig()->esc_temperature_source) {
|
||||
// This is ESC temperature (as intended)
|
||||
case DJI_OSD_TEMP_ESC:
|
||||
// No-op, temperature is already set to ESC
|
||||
break;
|
||||
|
||||
// Re-purpose the field for core temperature
|
||||
case DJI_OSD_TEMP_CORE:
|
||||
getIMUTemperature(&motorTemp);
|
||||
motorTemp = motorTemp / 10;
|
||||
break;
|
||||
|
||||
// Re-purpose the field for baro temperature
|
||||
case DJI_OSD_TEMP_BARO:
|
||||
getBaroTemperature(&motorTemp);
|
||||
motorTemp = motorTemp / 10;
|
||||
break;
|
||||
}
|
||||
|
||||
// Add data for this motor to the packet
|
||||
sbufWriteU8(dst, motorTemp);
|
||||
sbufWriteU16(dst, motorRpm);
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case DJI_MSP_OSD_CONFIG:
|
||||
|
|
@ -1456,7 +1411,7 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
|
|||
sbufWriteU16(dst, 0); // BF: gyroConfig()->gyro_soft_notch_hz_2
|
||||
sbufWriteU16(dst, 1); // BF: gyroConfig()->gyro_soft_notch_cutoff_2
|
||||
sbufWriteU8(dst, 0); // BF: currentPidProfile->dterm_filter_type
|
||||
sbufWriteU8(dst, gyroConfig()->gyro_lpf); // BF: gyroConfig()->gyro_hardware_lpf);
|
||||
sbufWriteU8(dst, GYRO_LPF_256HZ); // BF: gyroConfig()->gyro_hardware_lpf);
|
||||
sbufWriteU8(dst, 0); // BF: DEPRECATED: gyro_32khz_hardware_lpf
|
||||
sbufWriteU16(dst, gyroConfig()->gyro_main_lpf_hz); // BF: gyroConfig()->gyro_lowpass_hz);
|
||||
sbufWriteU16(dst, 0); // BF: gyroConfig()->gyro_lowpass2_hz);
|
||||
|
|
|
|||
|
|
@ -84,7 +84,6 @@ enum djiOsdProtoWorkarounds_e {
|
|||
typedef struct djiOsdConfig_s {
|
||||
uint8_t use_name_for_messages;
|
||||
uint8_t esc_temperature_source;
|
||||
uint8_t proto_workarounds;
|
||||
uint8_t messageSpeedSource;
|
||||
uint8_t rssi_source;
|
||||
uint8_t useAdjustments;
|
||||
|
|
|
|||
|
|
@ -163,9 +163,6 @@
|
|||
|
||||
#define MSP_SONAR_ALTITUDE 58 //out message get surface altitude [cm]
|
||||
|
||||
#define MSP_ARMING_CONFIG 61 //out message Returns auto_disarm_delay and disarm_kill_switch parameters
|
||||
#define MSP_SET_ARMING_CONFIG 62 //in message Sets auto_disarm_delay and disarm_kill_switch parameters
|
||||
|
||||
//
|
||||
// Baseflight MSP commands (if enabled they exist in Cleanflight)
|
||||
//
|
||||
|
|
@ -207,7 +204,6 @@
|
|||
|
||||
#define MSP_FILTER_CONFIG 92
|
||||
#define MSP_SET_FILTER_CONFIG 93
|
||||
|
||||
#define MSP_PID_ADVANCED 94
|
||||
#define MSP_SET_PID_ADVANCED 95
|
||||
|
||||
|
|
@ -248,7 +244,6 @@
|
|||
#define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
|
||||
#define MSP_ACTIVEBOXES 113 //out message Active box flags (full width, more than 32 bits)
|
||||
#define MSP_MISC 114 //out message powermeter trig
|
||||
#define MSP_MOTOR_PINS 115 //out message which pins are in use for motors & servos, for GUI
|
||||
#define MSP_BOXNAMES 116 //out message the aux switch names
|
||||
#define MSP_PIDNAMES 117 //out message the PID names
|
||||
#define MSP_WP 118 //out message get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
|
||||
|
|
|
|||
|
|
@ -108,3 +108,5 @@
|
|||
#define MSP2_INAV_CUSTOM_OSD_ELEMENTS 0x2100
|
||||
#define MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS 0x2101
|
||||
|
||||
#define MSP2_INAV_SERVO_CONFIG 0x2200
|
||||
#define MSP2_INAV_SET_SERVO_CONFIG 0x2201
|
||||
|
|
@ -225,20 +225,20 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
|
|||
.launch_time_thresh = SETTING_NAV_FW_LAUNCH_DETECT_TIME_DEFAULT, // 40ms
|
||||
.launch_motor_timer = SETTING_NAV_FW_LAUNCH_MOTOR_DELAY_DEFAULT, // ms
|
||||
.launch_idle_motor_timer = SETTING_NAV_FW_LAUNCH_IDLE_MOTOR_DELAY_DEFAULT, // ms
|
||||
.launch_motor_spinup_time = SETTING_NAV_FW_LAUNCH_SPINUP_TIME_DEFAULT, // ms, time to gredually increase throttle from idle to launch
|
||||
.launch_wiggle_wake_idle = SETTING_NAV_FW_LAUNCH_WIGGLE_TO_WAKE_IDLE_DEFAULT, // uint8_t
|
||||
.launch_motor_spinup_time = SETTING_NAV_FW_LAUNCH_SPINUP_TIME_DEFAULT, // ms, time to greaually increase throttle from idle to launch
|
||||
.launch_end_time = SETTING_NAV_FW_LAUNCH_END_TIME_DEFAULT, // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode
|
||||
.launch_min_time = SETTING_NAV_FW_LAUNCH_MIN_TIME_DEFAULT, // ms, min time in launch mode
|
||||
.launch_timeout = SETTING_NAV_FW_LAUNCH_TIMEOUT_DEFAULT, // ms, timeout for launch procedure
|
||||
.launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT, // cm, altitude where to consider launch ended
|
||||
.launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT, // 18 degrees
|
||||
.launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT, // 45 deg
|
||||
.launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT,// OFF
|
||||
.launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT, // OFF
|
||||
.launch_land_abort_deadband = SETTING_NAV_FW_LAUNCH_LAND_ABORT_DEADBAND_DEFAULT, // 100 us
|
||||
|
||||
.allow_manual_thr_increase = SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE_DEFAULT,
|
||||
.useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT,
|
||||
.yawControlDeadband = SETTING_NAV_FW_YAW_DEADBAND_DEFAULT,
|
||||
.soaring_pitch_deadband = SETTING_NAV_FW_SOARING_PITCH_DEADBAND_DEFAULT,// pitch angle mode deadband when Saoring mode enabled
|
||||
.soaring_pitch_deadband = SETTING_NAV_FW_SOARING_PITCH_DEADBAND_DEFAULT, // pitch angle mode deadband when Saoring mode enabled
|
||||
.wp_tracking_accuracy = SETTING_NAV_FW_WP_TRACKING_ACCURACY_DEFAULT, // 0, improves course tracking accuracy during FW WP missions
|
||||
.wp_tracking_max_angle = SETTING_NAV_FW_WP_TRACKING_MAX_ANGLE_DEFAULT, // 60 degs
|
||||
.wp_turn_smoothing = SETTING_NAV_FW_WP_TURN_SMOOTHING_DEFAULT, // 0, smooths turns during FW WP mode missions
|
||||
|
|
|
|||
|
|
@ -193,9 +193,9 @@ typedef enum {
|
|||
} navRTHClimbFirst_e;
|
||||
|
||||
typedef enum { // keep aligned with fixedWingLaunchState_t
|
||||
FW_LAUNCH_DETECTED = 4,
|
||||
FW_LAUNCH_ABORTED = 9,
|
||||
FW_LAUNCH_FLYING = 10,
|
||||
FW_LAUNCH_DETECTED = 5,
|
||||
FW_LAUNCH_ABORTED = 10,
|
||||
FW_LAUNCH_FLYING = 11,
|
||||
} navFwLaunchStatus_e;
|
||||
|
||||
typedef enum {
|
||||
|
|
@ -366,6 +366,7 @@ typedef struct navConfig_s {
|
|||
uint16_t launch_time_thresh; // Time threshold for launch detection (ms)
|
||||
uint16_t launch_motor_timer; // Time to wait before setting launch_throttle (ms)
|
||||
uint16_t launch_idle_motor_timer; // Time to wait before motor starts at_idle throttle (ms)
|
||||
uint8_t launch_wiggle_wake_idle; // Activate the idle throttle by wiggling the plane. 0 = disabled, 1 or 2 specify the number of wiggles.
|
||||
uint16_t launch_motor_spinup_time; // Time to speed-up motors from idle to launch_throttle (ESC desync prevention)
|
||||
uint16_t launch_end_time; // Time to make the transition from launch angle to leveled and throttle transition from launch throttle to the stick position
|
||||
uint16_t launch_min_time; // Minimum time in launch mode to prevent possible bump of the sticks from leaving launch mode early
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
/* this file is automatically generated by src/utils/declination.py - DO NOT EDIT! */
|
||||
|
||||
|
||||
/* Updated on 2019-05-16 19:59:45.672184 */
|
||||
/* Updated on 2024-04-19 12:54:15.842704 */
|
||||
|
||||
|
||||
#include <stdint.h>
|
||||
|
|
@ -16,25 +16,25 @@
|
|||
#define SAMPLING_MAX_LAT 90.00000f
|
||||
|
||||
static const float declination_table[19][37] = {
|
||||
{149.21545f,139.21545f,129.21545f,119.21545f,109.21545f,99.21545f,89.21545f,79.21545f,69.21545f,59.21545f,49.21545f,39.21545f,29.21545f,19.21545f,9.21545f,-0.78455f,-10.78455f,-20.78455f,-30.78455f,-40.78455f,-50.78455f,-60.78455f,-70.78455f,-80.78455f,-90.78455f,-100.78455f,-110.78455f,-120.78455f,-130.78455f,-140.78455f,-150.78455f,-160.78455f,-170.78455f,179.21545f,169.21545f,159.21545f,149.21545f},
|
||||
{129.49173f,117.24379f,106.10409f,95.92286f,86.51411f,77.69583f,69.30955f,61.22803f,53.35622f,45.62814f,38.00071f,30.44524f,22.93795f,15.45138f,7.94874f,0.38309f,-7.29841f,-15.14665f,-23.20230f,-31.49030f,-40.01947f,-48.78754f,-57.79007f,-67.03110f,-76.53295f,-86.34401f,-96.54357f,-107.24276f,-118.57946f,-130.70159f,-143.72988f,-157.69312f,-172.44642f,172.37735f,157.31228f,142.89420f,129.49173f},
|
||||
{85.58549f,77.67225f,71.30884f,65.86377f,60.92589f,56.17990f,51.37001f,46.30480f,40.87538f,35.06788f,28.95999f,22.69753f,16.44959f,10.34723f,4.42361f,-1.41547f,-7.36729f,-13.65814f,-20.45428f,-27.80115f,-35.61613f,-43.73164f,-51.96263f,-60.16701f,-68.28139f,-76.33426f,-84.45291f,-92.88710f,-102.08596f,-112.90534f,-127.14324f,-148.72029f,177.01697f,138.42469f,112.13402f,96.22709f,85.58549f},
|
||||
{47.63660f,46.34868f,44.88668f,43.46724f,42.13334f,40.75578f,39.03991f,36.60567f,33.13133f,28.48297f,22.78165f,16.40811f,9.93011f,3.92458f,-1.26916f,-5.73344f,-9.95561f,-14.59663f,-20.17634f,-26.83800f,-34.30473f,-42.04900f,-49.54378f,-56.41737f,-62.46557f,-67.58445f,-71.67147f,-74.48888f,-75.41488f,-72.72854f,-60.65739f,-20.78150f,26.31817f,42.64478f,47.39885f,48.29568f,47.63660f},
|
||||
{30.97061f,31.18244f,30.92007f,30.51421f,30.19783f,30.07382f,29.96272f,29.32724f,27.44230f,23.71829f,17.99066f,10.70786f,2.93356f,-4.02123f,-9.25421f,-12.72420f,-15.16719f,-17.68585f,-21.36741f,-26.80526f,-33.62817f,-40.77079f,-47.22749f,-52.37678f,-55.85085f,-57.33789f,-56.38997f,-52.20324f,-43.65581f,-30.23589f,-13.76879f,1.84396f,13.87138f,22.01689f,27.05355f,29.80197f,30.97061f},
|
||||
{22.35701f,22.87747f,22.95380f,22.77246f,22.50130f,22.37009f,22.48347f,22.51381f,21.59756f,18.63829f,12.92222f,4.75452f,-4.29892f,-12.13023f,-17.44827f,-20.36076f,-21.71093f,-22.23838f,-22.95576f,-25.55066f,-30.56100f,-36.48539f,-41.58017f,-44.82620f,-45.65465f,-43.72977f,-38.84914f,-30.98997f,-21.09926f,-11.31468f,-3.00404f,3.97652f,9.93802f,14.84528f,18.57977f,21.04644f,22.35701f},
|
||||
{16.83374f,17.31701f,17.52984f,17.52512f,17.27497f,16.89826f,16.64631f,16.52197f,15.82359f,13.20018f,7.50544f,-1.01430f,-10.31063f,-17.86218f,-22.52054f,-24.77956f,-25.51811f,-24.67883f,-22.16922f,-20.17352f,-21.46713f,-25.48482f,-29.63408f,-31.91043f,-31.42054f,-28.23519f,-22.87573f,-15.95318f,-8.88587f,-3.41726f,0.43088f,3.87433f,7.44305f,10.85242f,13.73685f,15.75505f,16.83374f},
|
||||
{13.16653f,13.42584f,13.56856f,13.64914f,13.49908f,13.04415f,12.54312f,12.17294f,11.33249f,8.62333f,2.85124f,-5.49975f,-14.06214f,-20.49962f,-23.98868f,-24.97282f,-24.13471f,-21.32697f,-16.43179f,-11.33581f,-9.07326f,-10.72561f,-14.43596f,-17.29905f,-17.69300f,-15.77796f,-12.24267f,-7.56947f,-3.00400f,-0.11834f,1.39928f,3.14408f,5.63638f,8.32414f,10.72028f,12.39111f,13.16653f},
|
||||
{10.90437f,10.88236f,10.81163f,10.86511f,10.80010f,10.39894f,9.91702f,9.49494f,8.41184f,5.36760f,-0.47690f,-8.26124f,-15.66061f,-20.76090f,-22.78986f,-21.89942f,-18.89020f,-14.52921f,-9.53528f,-4.91597f,-1.91353f,-1.76484f,-4.25201f,-7.17489f,-8.55660f,-8.15241f,-6.39303f,-3.54345f,-0.64444f,0.81130f,1.15035f,2.11074f,4.17898f,6.59237f,8.80142f,10.33532f,10.90437f},
|
||||
{9.69156f,9.50282f,9.23338f,9.25605f,9.28344f,8.98186f,8.56848f,8.04846f,6.56771f,3.06569f,-2.75457f,-9.75616f,-15.91853f,-19.62874f,-20.10653f,-17.62100f,-13.38807f,-8.80249f,-4.83206f,-1.62618f,0.85458f,1.72352f,0.35339f,-2.00271f,-3.58526f,-3.93648f,-3.30170f,-1.78891f,-0.13334f,0.41999f,0.14853f,0.72192f,2.61852f,5.02104f,7.34668f,9.06648f,9.69156f},
|
||||
{8.99220f,9.02256f,8.80901f,8.93941f,9.15462f,8.99412f,8.49413f,7.54605f,5.38233f,1.29060f,-4.51973f,-10.72800f,-15.61393f,-17.87879f,-17.08037f,-13.87843f,-9.54744f,-5.34026f,-2.15287f,0.11672f,2.02473f,3.04733f,2.31093f,0.47960f,-0.96646f,-1.54925f,-1.53032f,-1.00772f,-0.42112f,-0.63497f,-1.37540f,-1.17754f,0.48492f,2.94585f,5.61932f,7.87900f,8.99220f},
|
||||
{8.04368f,8.88487f,9.24731f,9.76871f,10.30385f,10.32830f,9.60849f,7.94603f,4.81731f,-0.08975f,-6.10101f,-11.65411f,-15.25677f,-16.15822f,-14.52060f,-11.22653f,-7.24580f,-3.44558f,-0.61333f,1.25309f,2.76805f,3.73177f,3.36695f,1.97948f,0.74967f,0.13075f,-0.18979f,-0.42444f,-0.85420f,-1.93961f,-3.28866f,-3.62225f,-2.35247f,0.08639f,3.11990f,6.05468f,8.04368f},
|
||||
{6.44887f,8.52898f,10.00772f,11.25814f,12.19628f,12.38325f,11.43950f,9.05774f,4.87180f,-1.07081f,-7.58681f,-12.76972f,-15.34699f,-15.21292f,-13.06213f,-9.80318f,-6.10115f,-2.52848f,0.26062f,2.11110f,3.47313f,4.40612f,4.43031f,3.60979f,2.68625f,2.01876f,1.34276f,0.35243f,-1.18272f,-3.35038f,-5.50704f,-6.45531f,-5.60558f,-3.25332f,0.01287f,3.49652f,6.44887f},
|
||||
{4.61309f,7.91484f,10.67459f,12.86217f,14.28349f,14.59916f,13.44634f,10.43327f,5.19620f,-1.95110f,-9.25904f,-14.43995f,-16.45824f,-15.72227f,-13.22423f,-9.85034f,-6.14231f,-2.53072f,0.48676f,2.68447f,4.29956f,5.52570f,6.19623f,6.20084f,5.73301f,4.92006f,3.60085f,1.53163f,-1.39438f,-4.87688f,-7.94536f,-9.43097f,-8.85100f,-6.51552f,-3.06017f,0.84306f,4.61309f},
|
||||
{3.21875f,7.41586f,11.19354f,14.28261f,16.32057f,16.89633f,15.56524f,11.80300f,5.20653f,-3.55470f,-11.97809f,-17.43029f,-19.22616f,-18.17302f,-15.37952f,-11.69571f,-7.65025f,-3.63286f,-0.01295f,2.99661f,5.46716f,7.56207f,9.25413f,10.31810f,10.49165f,9.54146f,7.26006f,3.54973f,-1.33752f,-6.50635f,-10.55663f,-12.38793f,-11.79132f,-9.25449f,-5.49875f,-1.18292f,3.21875f},
|
||||
{2.52051f,7.33138f,11.79037f,15.58977f,18.29190f,19.30865f,17.85567f,12.95067f,3.98293f,-7.53431f,-17.54806f,-23.19596f,-24.60407f,-23.07402f,-19.77569f,-15.49637f,-10.73649f,-5.85097f,-1.12175f,3.26826f,7.26895f,10.88888f,14.03678f,16.41453f,17.52792f,16.76756f,13.54324f,7.61980f,-0.22282f,-7.89770f,-13.19396f,-15.21847f,-14.33135f,-11.37454f,-7.18383f,-2.40863f,2.52051f},
|
||||
{2.02983f,7.36989f,12.37081f,16.71056f,19.89761f,21.11515f,18.97400f,11.40232f,-2.70274f,-18.81527f,-29.66002f,-33.88571f,-33.57644f,-30.58814f,-26.04521f,-20.59815f,-14.64262f,-8.44459f,-2.20066f,3.93897f,9.85468f,15.42277f,20.45728f,24.64081f,27.44761f,28.04182f,25.18387f,17.54097f,5.49796f,-6.72811f,-14.58218f,-17.34691f,-16.39748f,-13.14509f,-8.58967f,-3.38880f,2.02983f},
|
||||
{0.42359f,5.67280f,10.45897f,14.18719f,15.84273f,13.44387f,3.31185f,-17.06908f,-37.86930f,-48.41039f,-50.74957f,-48.66334f,-44.20871f,-38.40471f,-31.78712f,-24.66267f,-17.22360f,-9.60278f,-1.90231f,5.78964f,13.38658f,20.79088f,27.87654f,34.46122f,40.25514f,44.75763f,47.03469f,45.25758f,36.18138f,17.77476f,-1.60905f,-12.11869f,-14.89059f,-13.37813f,-9.65915f,-4.84192f,0.42359f},
|
||||
{-178.76222f,-168.76222f,-158.76222f,-148.76222f,-138.76222f,-128.76222f,-118.76222f,-108.76222f,-98.76222f,-88.76222f,-78.76222f,-68.76222f,-58.76222f,-48.76222f,-38.76222f,-28.76222f,-18.76222f,-8.76222f,1.23778f,11.23778f,21.23778f,31.23778f,41.23778f,51.23778f,61.23778f,71.23778f,81.23778f,91.23778f,101.23778f,111.23778f,121.23778f,131.23778f,141.23778f,151.23778f,161.23778f,171.23778f,-178.76222f}
|
||||
{148.63040f,138.63040f,128.63040f,118.63040f,108.63040f,98.63040f,88.63040f,78.63040f,68.63040f,58.63040f,48.63040f,38.63040f,28.63040f,18.63040f,8.63040f,-1.36960f,-11.36960f,-21.36960f,-31.36960f,-41.36960f,-51.36960f,-61.36960f,-71.36960f,-81.36960f,-91.36960f,-101.36960f,-111.36960f,-121.36960f,-131.36960f,-141.36960f,-151.36960f,-161.36960f,-171.36960f,178.63040f,168.63040f,158.63040f,148.63040f},
|
||||
{128.87816f,116.70769f,105.62443f,95.48127f,86.09683f,77.29367f,68.91718f,60.84302f,52.97822f,45.25811f,37.64003f,30.09478f,22.59702f,15.11676f,7.61418f,0.03947f,-7.66207f,-15.54157f,-23.63819f,-31.97410f,-40.55489f,-49.37538f,-58.42917f,-67.71936f,-77.26833f,-87.12519f,-97.37007f,-108.11458f,-119.49579f,-131.65830f,-144.71588f,-158.68662f,-173.41452f,171.47213f,156.49935f,142.18469f,128.87816f},
|
||||
{85.86755f,77.88182f,71.42849f,65.89217f,60.86962f,56.04972f,51.17842f,46.06489f,40.60132f,34.77619f,28.67056f,22.43282f,16.23087f,10.18755f,4.31917f,-1.49067f,-7.45797f,-13.81467f,-20.71641f,-28.18762f,-36.12471f,-44.34676f,-52.66473f,-60.93937f,-69.11381f,-77.22546f,-85.41334f,-93.94372f,-103.29064f,-114.35005f,-128.97727f,-151.06023f,174.83520f,137.67818f,112.23020f,96.52063f,85.86756f},
|
||||
{48.43188f,46.98353f,45.36982f,43.80186f,42.32760f,40.82382f,38.99678f,36.46379f,32.90329f,28.18877f,22.45599f,16.10387f,9.71432f,3.86202f,-1.14650f,-5.45997f,-9.64078f,-14.38658f,-20.18766f,-27.11174f,-34.80967f,-42.71859f,-50.31107f,-57.23008f,-63.28782f,-68.39719f,-72.47622f,-75.31221f,-76.30788f,-73.74072f,-61.55512f,-18.96160f,29.20071f,44.46666f,48.67974f,49.28540f,48.43188f},
|
||||
{31.58850f,31.74835f,31.39924f,30.87678f,30.43574f,30.19800f,29.98360f,29.24010f,27.23113f,23.37602f,17.54538f,10.24099f,2.57680f,-4.11819f,-8.98330f,-12.08874f,-14.32383f,-16.91831f,-20.97106f,-26.92020f,-34.17714f,-41.56631f,-48.09571f,-53.19469f,-56.53278f,-57.82558f,-56.66031f,-52.27310f,-43.55594f,-29.95085f,-13.24765f,2.54212f,14.60798f,22.72224f,27.72553f,30.44935f,31.58850f},
|
||||
{22.79850f,23.32533f,23.34746f,23.05694f,22.66226f,22.42885f,22.46289f,22.41289f,21.37705f,18.23370f,12.30982f,4.02530f,-4.93197f,-12.42012f,-17.23389f,-19.62803f,-20.56810f,-20.93312f,-21.98947f,-25.41090f,-31.19026f,-37.44166f,-42.49725f,-45.51856f,-46.02918f,-43.74555f,-38.55838f,-30.56411f,-20.73773f,-11.07131f,-2.79308f,4.21937f,10.21441f,15.15242f,18.92948f,21.44642f,22.79850f},
|
||||
{17.16987f,17.68582f,17.85385f,17.73377f,17.34906f,16.86130f,16.52747f,16.34574f,15.56790f,12.74839f,6.74610f,-2.00418f,-11.22826f,-18.37193f,-22.46233f,-24.19496f,-24.47888f,-23.22908f,-20.72783f,-19.60150f,-21.98233f,-26.43395f,-30.43203f,-32.35125f,-31.47499f,-27.95264f,-22.40690f,-15.51422f,-8.63620f,-3.35146f,0.42144f,3.87188f,7.48128f,10.95260f,13.91406f,16.01563f,17.16987f},
|
||||
{13.46149f,13.75829f,13.85281f,13.81813f,13.52893f,12.94281f,12.32698f,11.88976f,11.00215f,8.11359f,1.99478f,-6.62228f,-15.08744f,-21.05798f,-23.92224f,-24.34577f,-23.04831f,-19.84546f,-14.88685f,-10.38631f,-9.06427f,-11.31395f,-15.06340f,-17.65505f,-17.71488f,-15.54256f,-11.89991f,-7.27581f,-2.87289f,-0.16517f,1.24684f,2.97092f,5.51371f,8.29954f,10.80542f,12.58786f,13.46149f},
|
||||
{11.19370f,11.20122f,11.07257f,11.02175f,10.82482f,10.26986f,9.62418f,9.09716f,7.97068f,4.77978f,-1.35469f,-9.31946f,-16.55524f,-21.15274f,-22.50861f,-21.01857f,-17.63827f,-13.15823f,-8.29683f,-4.01764f,-1.51484f,-1.87967f,-4.62279f,-7.47003f,-8.63091f,-8.05888f,-6.24442f,-3.42551f,-0.62936f,0.67783f,0.89029f,1.80510f,3.93778f,6.48671f,8.83523f,10.50781f,11.19370f},
|
||||
{9.96310f,9.79689f,9.46606f,9.40362f,9.31492f,8.84240f,8.22130f,7.55735f,6.02850f,2.43377f,-3.55150f,-10.60044f,-16.54723f,-19.75861f,-19.59018f,-16.58982f,-12.16100f,-7.67553f,-3.93189f,-0.91522f,1.34973f,1.87637f,0.22653f,-2.15228f,-3.61566f,-3.90720f,-3.29932f,-1.83286f,-0.23997f,0.20367f,-0.19418f,0.32122f,2.29252f,4.85536f,7.33778f,9.21090f,9.96310f},
|
||||
{9.18888f,9.24336f,8.98253f,9.05281f,9.17191f,8.83598f,8.10836f,7.00345f,4.80464f,0.69064f,-5.15618f,-11.30079f,-15.93916f,-17.74937f,-16.42349f,-12.86230f,-8.44857f,-4.38855f,-1.42704f,0.70613f,2.51072f,3.31152f,2.34785f,0.48172f,-0.89199f,-1.49634f,-1.59901f,-1.18437f,-0.66243f,-0.94842f,-1.78088f,-1.62463f,0.11657f,2.73547f,5.55820f,7.95812f,9.18888f},
|
||||
{8.09034f,8.95675f,9.30400f,9.80188f,10.27100f,10.13647f,9.19791f,7.38846f,4.25004f,-0.60600f,-6.53915f,-11.93135f,-15.26054f,-15.79066f,-13.79060f,-10.27561f,-6.25103f,-2.56551f,0.07346f,1.80766f,3.24155f,4.05015f,3.51428f,2.10305f,0.93136f,0.25053f,-0.27213f,-0.70545f,-1.24346f,-2.37500f,-3.75122f,-4.07408f,-2.71911f,-0.15132f,2.99380f,6.02278f,8.09034f},
|
||||
{6.27792f,8.37723f,9.88296f,11.16334f,12.08487f,12.15767f,11.03142f,8.51947f,4.34248f,-1.47518f,-7.78911f,-12.71269f,-15.01118f,-14.61457f,-12.25578f,-8.87216f,-5.13675f,-1.63793f,0.99774f,2.71417f,3.98293f,4.78698f,4.67468f,3.82712f,2.93970f,2.18792f,1.25958f,-0.01231f,-1.71794f,-3.92282f,-6.03566f,-6.90283f,-5.95491f,-3.51614f,-0.20102f,3.30598f,6.27792f},
|
||||
{4.15672f,7.47883f,10.31556f,12.59798f,14.06987f,14.34572f,13.08042f,9.97537f,4.77447f,-2.16465f,-9.14687f,-14.00316f,-15.77819f,-14.88455f,-12.28640f,-8.84845f,-5.11869f,-1.55612f,1.34605f,3.41756f,4.91977f,6.01696f,6.56254f,6.51350f,6.02774f,5.09138f,3.48456f,1.07344f,-2.08240f,-5.60383f,-8.56486f,-9.89888f,-9.20525f,-6.83312f,-3.41374f,0.42499f,4.15672f},
|
||||
{2.38746f,6.60961f,10.51138f,13.76537f,15.94256f,16.59043f,15.27093f,11.52705f,5.06990f,-3.36003f,-11.36932f,-16.51244f,-18.15167f,-17.03678f,-14.21651f,-10.51524f,-6.47146f,-2.49805f,1.03216f,3.92789f,6.27640f,8.24229f,9.81368f,10.78355f,10.85070f,9.68870f,7.04509f,2.91449f,-2.25894f,-7.44786f,-11.30963f,-12.92043f,-12.20858f,-9.70263f,-6.08438f,-1.92562f,2.38746f},
|
||||
{1.14371f,5.95768f,10.55039f,14.56595f,17.51248f,18.77049f,17.56825f,12.99646f,4.54568f,-6.33792f,-15.91121f,-21.43028f,-22.88293f,-21.44177f,-18.22110f,-13.99911f,-9.28961f,-4.46489f,0.18470f,4.47851f,8.37200f,11.87759f,14.90388f,17.13814f,18.04159f,16.93503f,13.18748f,6.66358f,-1.56678f,-9.20492f,-14.20053f,-15.96059f,-14.99797f,-12.15657f,-8.19328f,-3.64820f,1.14371f},
|
||||
{-0.35955f,4.92766f,9.99739f,14.51863f,17.99503f,19.64821f,18.23668f,11.99980f,-0.09657f,-14.74873f,-25.55246f,-30.33910f,-30.58104f,-28.00627f,-23.75441f,-18.51083f,-12.70165f,-6.61593f,-0.46628f,5.58665f,11.41580f,16.88997f,21.81133f,25.83916f,28.40134f,28.57592f,24.99531f,16.28607f,3.28542f,-9.10495f,-16.59733f,-19.05958f,-18.04316f,-14.91590f,-10.58486f,-5.61478f,-0.35955f},
|
||||
{-5.35521f,-0.10619f,4.69597f,8.54683f,10.65268f,9.65875f,3.42678f,-9.71040f,-26.04578f,-37.63969f,-42.28407f,-42.02380f,-38.82980f,-33.88684f,-27.86664f,-21.16414f,-14.02720f,-6.62426f,0.91924f,8.49972f,16.02040f,23.37681f,30.43782f,37.01500f,42.80483f,47.26542f,49.32663f,46.69337f,34.75696f,10.85970f,-10.89085f,-20.36338f,-21.94791f,-19.71753f,-15.63466f,-10.66363f,-5.35521f},
|
||||
{-166.99999f,-156.99999f,-146.99999f,-136.99999f,-126.99999f,-116.99999f,-106.99999f,-96.99999f,-86.99999f,-76.99999f,-66.99999f,-56.99999f,-46.99999f,-36.99999f,-26.99999f,-16.99999f,-6.99999f,3.00001f,13.00001f,23.00001f,33.00000f,43.00000f,53.00000f,63.00000f,73.00000f,83.00000f,93.00000f,103.00000f,113.00000f,123.00000f,133.00000f,143.00000f,153.00000f,163.00000f,173.00000f,-177.00000f,-167.00000f}
|
||||
};
|
||||
|
||||
#else /* !NAV_AUTO_MAG_DECLINATION_PRECISE */
|
||||
|
|
@ -45,19 +45,19 @@ static const float declination_table[19][37] = {
|
|||
#define SAMPLING_MAX_LAT 60.00000f
|
||||
|
||||
static const int8_t declination_table[13][37] = {
|
||||
{48,46,45,43,42,41,39,37,33,28,23,16,10,4,-1,-6,-10,-15,-20,-27,-34,-42,-50,-56,-62,-68,-72,-74,-75,-73,-61,-21,26,43,47,48,48},
|
||||
{31,31,31,31,30,30,30,29,27,24,18,11,3,-4,-9,-13,-15,-18,-21,-27,-34,-41,-47,-52,-56,-57,-56,-52,-44,-30,-14,2,14,22,27,30,31},
|
||||
{22,23,23,23,23,22,22,23,22,19,13,5,-4,-12,-17,-20,-22,-22,-23,-26,-31,-36,-42,-45,-46,-44,-39,-31,-21,-11,-3,4,10,15,19,21,22},
|
||||
{17,17,18,18,17,17,17,17,16,13,8,-1,-10,-18,-23,-25,-26,-25,-22,-20,-21,-25,-30,-32,-31,-28,-23,-16,-9,-3,0,4,7,11,14,16,17},
|
||||
{13,13,14,14,13,13,13,12,11,9,3,-5,-14,-20,-24,-25,-24,-21,-16,-11,-9,-11,-14,-17,-18,-16,-12,-8,-3,0,1,3,6,8,11,12,13},
|
||||
{11,11,11,11,11,10,10,9,8,5,0,-8,-16,-21,-23,-22,-19,-15,-10,-5,-2,-2,-4,-7,-9,-8,-6,-4,-1,1,1,2,4,7,9,10,11},
|
||||
{10,10,9,9,9,9,9,8,7,3,-3,-10,-16,-20,-20,-18,-13,-9,-5,-2,1,2,0,-2,-4,-4,-3,-2,0,0,0,1,3,5,7,9,10},
|
||||
{9,9,9,9,9,9,8,8,5,1,-5,-11,-16,-18,-17,-14,-10,-5,-2,0,2,3,2,0,-1,-2,-2,-1,0,-1,-1,-1,0,3,6,8,9},
|
||||
{8,9,9,10,10,10,10,8,5,0,-6,-12,-15,-16,-15,-11,-7,-3,-1,1,3,4,3,2,1,0,0,0,-1,-2,-3,-4,-2,0,3,6,8},
|
||||
{6,9,10,11,12,12,11,9,5,-1,-8,-13,-15,-15,-13,-10,-6,-3,0,2,3,4,4,4,3,2,1,0,-1,-3,-6,-6,-6,-3,0,3,6},
|
||||
{5,8,11,13,14,15,13,10,5,-2,-9,-14,-16,-16,-13,-10,-6,-3,0,3,4,6,6,6,6,5,4,2,-1,-5,-8,-9,-9,-7,-3,1,5},
|
||||
{3,7,11,14,16,17,16,12,5,-4,-12,-17,-19,-18,-15,-12,-8,-4,0,3,5,8,9,10,10,10,7,4,-1,-7,-11,-12,-12,-9,-5,-1,3},
|
||||
{3,7,12,16,18,19,18,13,4,-8,-18,-23,-25,-23,-20,-15,-11,-6,-1,3,7,11,14,16,18,17,14,8,0,-8,-13,-15,-14,-11,-7,-2,3}
|
||||
{48,47,45,44,42,41,39,36,33,28,22,16,10,4,-1,-5,-10,-14,-20,-27,-35,-43,-50,-57,-63,-68,-72,-75,-76,-74,-62,-19,29,44,49,49,48},
|
||||
{32,32,31,31,30,30,30,29,27,23,18,10,3,-4,-9,-12,-14,-17,-21,-27,-34,-42,-48,-53,-57,-58,-57,-52,-44,-30,-13,3,15,23,28,30,32},
|
||||
{23,23,23,23,23,22,22,22,21,18,12,4,-5,-12,-17,-20,-21,-21,-22,-25,-31,-37,-42,-46,-46,-44,-39,-31,-21,-11,-3,4,10,15,19,21,23},
|
||||
{17,18,18,18,17,17,17,16,16,13,7,-2,-11,-18,-22,-24,-24,-23,-21,-20,-22,-26,-30,-32,-31,-28,-22,-16,-9,-3,0,4,7,11,14,16,17},
|
||||
{13,14,14,14,14,13,12,12,11,8,2,-7,-15,-21,-24,-24,-23,-20,-15,-10,-9,-11,-15,-18,-18,-16,-12,-7,-3,0,1,3,6,8,11,13,13},
|
||||
{11,11,11,11,11,10,10,9,8,5,-1,-9,-17,-21,-23,-21,-18,-13,-8,-4,-2,-2,-5,-7,-9,-8,-6,-3,-1,1,1,2,4,6,9,11,11},
|
||||
{10,10,9,9,9,9,8,8,6,2,-4,-11,-17,-20,-20,-17,-12,-8,-4,-1,1,2,0,-2,-4,-4,-3,-2,0,0,0,0,2,5,7,9,10},
|
||||
{9,9,9,9,9,9,8,7,5,1,-5,-11,-16,-18,-16,-13,-8,-4,-1,1,3,3,2,0,-1,-1,-2,-1,-1,-1,-2,-2,0,3,6,8,9},
|
||||
{8,9,9,10,10,10,9,7,4,-1,-7,-12,-15,-16,-14,-10,-6,-3,0,2,3,4,4,2,1,0,0,-1,-1,-2,-4,-4,-3,0,3,6,8},
|
||||
{6,8,10,11,12,12,11,9,4,-1,-8,-13,-15,-15,-12,-9,-5,-2,1,3,4,5,5,4,3,2,1,0,-2,-4,-6,-7,-6,-4,0,3,6},
|
||||
{4,7,10,13,14,14,13,10,5,-2,-9,-14,-16,-15,-12,-9,-5,-2,1,3,5,6,7,7,6,5,3,1,-2,-6,-9,-10,-9,-7,-3,0,4},
|
||||
{2,7,11,14,16,17,15,12,5,-3,-11,-17,-18,-17,-14,-11,-6,-2,1,4,6,8,10,11,11,10,7,3,-2,-7,-11,-13,-12,-10,-6,-2,2},
|
||||
{1,6,11,15,18,19,18,13,5,-6,-16,-21,-23,-21,-18,-14,-9,-4,0,4,8,12,15,17,18,17,13,7,-2,-9,-14,-16,-15,-12,-8,-4,1}
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -647,7 +647,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
|
|||
if (rcCommand[THROTTLE] < PWM_RANGE_MIN + (PWM_RANGE_MAX - PWM_RANGE_MIN) * 0.95){
|
||||
correctedThrottleValue += MAX(0, rcCommand[THROTTLE] - currentBatteryProfile->nav.fw.cruise_throttle);
|
||||
} else {
|
||||
correctedThrottleValue = motorConfig()->maxthrottle;
|
||||
correctedThrottleValue = getMaxThrottle();
|
||||
}
|
||||
isAutoThrottleManuallyIncreased = (rcCommand[THROTTLE] > currentBatteryProfile->nav.fw.cruise_throttle);
|
||||
} else {
|
||||
|
|
|
|||
|
|
@ -49,6 +49,7 @@
|
|||
#include "io/gps.h"
|
||||
|
||||
#include "sensors/battery.h"
|
||||
#include "sensors/gyro.h"
|
||||
|
||||
#define SWING_LAUNCH_MIN_ROTATION_RATE DEGREES_TO_RADIANS(100) // expect minimum 100dps rotation rate
|
||||
#define LAUNCH_MOTOR_IDLE_SPINUP_TIME 1500 // ms
|
||||
|
|
@ -81,20 +82,22 @@ typedef enum {
|
|||
|
||||
typedef enum { // if changed update navFwLaunchStatus_e
|
||||
FW_LAUNCH_STATE_WAIT_THROTTLE = 0,
|
||||
FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT,
|
||||
FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
|
||||
FW_LAUNCH_STATE_MOTOR_IDLE,
|
||||
FW_LAUNCH_STATE_WAIT_DETECTION,
|
||||
FW_LAUNCH_STATE_DETECTED, // 4
|
||||
FW_LAUNCH_STATE_DETECTED, // FW_LAUNCH_DETECTED = 5
|
||||
FW_LAUNCH_STATE_MOTOR_DELAY,
|
||||
FW_LAUNCH_STATE_MOTOR_SPINUP,
|
||||
FW_LAUNCH_STATE_IN_PROGRESS,
|
||||
FW_LAUNCH_STATE_FINISH,
|
||||
FW_LAUNCH_STATE_ABORTED, // 9
|
||||
FW_LAUNCH_STATE_FLYING, // 10
|
||||
FW_LAUNCH_STATE_ABORTED, // FW_LAUNCH_ABORTED = 10
|
||||
FW_LAUNCH_STATE_FLYING, // FW_LAUNCH_FLYING = 11
|
||||
FW_LAUNCH_STATE_COUNT
|
||||
} fixedWingLaunchState_t;
|
||||
|
||||
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs_t currentTimeUs);
|
||||
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT(timeUs_t currentTimeUs);
|
||||
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(timeUs_t currentTimeUs);
|
||||
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE(timeUs_t currentTimeUs);
|
||||
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_DETECTION(timeUs_t currentTimeUs);
|
||||
|
|
@ -126,12 +129,22 @@ static const fixedWingLaunchStateDescriptor_t launchStateMachine[FW_LAUNCH_STATE
|
|||
[FW_LAUNCH_STATE_WAIT_THROTTLE] = {
|
||||
.onEntry = fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE,
|
||||
.onEvent = {
|
||||
[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
|
||||
[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT,
|
||||
[FW_LAUNCH_EVENT_GOTO_DETECTION] = FW_LAUNCH_STATE_WAIT_DETECTION
|
||||
},
|
||||
.messageType = FW_LAUNCH_MESSAGE_TYPE_WAIT_THROTTLE
|
||||
},
|
||||
|
||||
[FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT] = {
|
||||
.onEntry = fwLaunchState_FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT,
|
||||
.onEvent = {
|
||||
[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_MOTOR_IDLE,
|
||||
[FW_LAUNCH_EVENT_GOTO_DETECTION] = FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
|
||||
[FW_LAUNCH_EVENT_THROTTLE_LOW] = FW_LAUNCH_STATE_WAIT_THROTTLE,
|
||||
},
|
||||
.messageType = FW_LAUNCH_MESSAGE_TYPE_WAIT_IDLE
|
||||
},
|
||||
|
||||
[FW_LAUNCH_STATE_IDLE_MOTOR_DELAY] = {
|
||||
.onEntry = fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
|
||||
.onEvent = {
|
||||
|
|
@ -243,6 +256,47 @@ static void applyThrottleIdleLogic(bool forceMixerIdle)
|
|||
}
|
||||
}
|
||||
|
||||
static bool hasIdleWakeWiggleSucceeded(timeUs_t currentTimeUs) {
|
||||
static timeMs_t wiggleTime = 0;
|
||||
static timeMs_t wigglesTime = 0;
|
||||
static int8_t wiggleStageOne = 0;
|
||||
static uint8_t wiggleCount = 0;
|
||||
const bool isAircraftWithinLaunchAngle = (calculateCosTiltAngle() >= cos_approx(DEGREES_TO_RADIANS(navConfig()->fw.launch_max_angle)));
|
||||
const uint8_t wiggleStrength = (navConfig()->fw.launch_wiggle_wake_idle == 1) ? 50 : 40;
|
||||
int8_t wiggleDirection = 0;
|
||||
int16_t yawRate = (int16_t)(gyroRateDps(YAW) * (4 / 16.4));
|
||||
|
||||
// Check to see if yaw rate has exceeded 50 dps. If so proceed to the next stage or continue to idle
|
||||
if ((yawRate < -wiggleStrength || yawRate > wiggleStrength) && isAircraftWithinLaunchAngle) {
|
||||
wiggleDirection = (yawRate > 0) ? 1 : -1;
|
||||
|
||||
if (wiggleStageOne == 0) {
|
||||
wiggleStageOne = wiggleDirection;
|
||||
wigglesTime = US2MS(currentTimeUs);
|
||||
} else if (wiggleStageOne != wiggleDirection) {
|
||||
wiggleStageOne = 0;
|
||||
wiggleCount++;
|
||||
|
||||
if (wiggleCount == navConfig()->fw.launch_wiggle_wake_idle) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
wiggleTime = US2MS(currentTimeUs);
|
||||
}
|
||||
|
||||
// If time between wiggle stages is > 100ms, or the time between two wiggles is > 1s. Reset the wiggle
|
||||
if (
|
||||
((wiggleStageOne != 0) && (US2MS(currentTimeUs) > (wiggleTime + 100))) ||
|
||||
((wiggleCount != 0) && (US2MS(currentTimeUs) > (wigglesTime + 500)))
|
||||
) {
|
||||
wiggleStageOne = 0;
|
||||
wiggleCount = 0;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
static inline bool isLaunchMaxAltitudeReached(void)
|
||||
{
|
||||
return (navConfig()->fw.launch_max_altitude > 0) && (getEstimatedActualPosition(Z) >= navConfig()->fw.launch_max_altitude);
|
||||
|
|
@ -300,6 +354,25 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs
|
|||
return FW_LAUNCH_EVENT_NONE;
|
||||
}
|
||||
|
||||
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT(timeUs_t currentTimeUs) {
|
||||
if (throttleStickIsLow()) {
|
||||
return FW_LAUNCH_EVENT_THROTTLE_LOW; // go back to FW_LAUNCH_STATE_WAIT_THROTTLE
|
||||
}
|
||||
|
||||
if (navConfig()->fw.launch_wiggle_wake_idle == 0 || navConfig()->fw.launch_idle_motor_timer > 0 ) {
|
||||
return FW_LAUNCH_EVENT_GOTO_DETECTION;
|
||||
}
|
||||
|
||||
applyThrottleIdleLogic(true);
|
||||
|
||||
if (hasIdleWakeWiggleSucceeded(currentTimeUs)) {
|
||||
idleMotorAboutToStart = false;
|
||||
return FW_LAUNCH_EVENT_SUCCESS;
|
||||
}
|
||||
|
||||
return FW_LAUNCH_EVENT_NONE;
|
||||
}
|
||||
|
||||
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(timeUs_t currentTimeUs)
|
||||
{
|
||||
if (throttleStickIsLow()) {
|
||||
|
|
@ -308,10 +381,11 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(tim
|
|||
|
||||
applyThrottleIdleLogic(true);
|
||||
|
||||
if (currentStateElapsedMs(currentTimeUs) > navConfig()->fw.launch_idle_motor_timer) {
|
||||
if ((currentStateElapsedMs(currentTimeUs) > navConfig()->fw.launch_idle_motor_timer) || (navConfig()->fw.launch_wiggle_wake_idle > 0 && hasIdleWakeWiggleSucceeded(currentTimeUs))) {
|
||||
idleMotorAboutToStart = false;
|
||||
return FW_LAUNCH_EVENT_SUCCESS;
|
||||
}
|
||||
|
||||
// 5 second warning motor about to start at idle, changes Beeper sound
|
||||
idleMotorAboutToStart = navConfig()->fw.launch_idle_motor_timer - currentStateElapsedMs(currentTimeUs) < 5000;
|
||||
|
||||
|
|
|
|||
|
|
@ -114,7 +114,7 @@ static void updateAltitudeThrottleController_MC(timeDelta_t deltaMicros)
|
|||
{
|
||||
// Calculate min and max throttle boundaries (to compensate for integral windup)
|
||||
const int16_t thrCorrectionMin = getThrottleIdleValue() - currentBatteryProfile->nav.mc.hover_throttle;
|
||||
const int16_t thrCorrectionMax = motorConfig()->maxthrottle - currentBatteryProfile->nav.mc.hover_throttle;
|
||||
const int16_t thrCorrectionMax = getMaxThrottle() - currentBatteryProfile->nav.mc.hover_throttle;
|
||||
|
||||
float velocity_controller = navPidApply2(&posControl.pids.vel[Z], posControl.desiredState.vel.z, navGetCurrentActualPositionAndVelocity()->vel.z, US2S(deltaMicros), thrCorrectionMin, thrCorrectionMax, 0);
|
||||
|
||||
|
|
@ -127,7 +127,7 @@ static void updateAltitudeThrottleController_MC(timeDelta_t deltaMicros)
|
|||
bool adjustMulticopterAltitudeFromRCInput(void)
|
||||
{
|
||||
if (posControl.flags.isTerrainFollowEnabled) {
|
||||
const float altTarget = scaleRangef(rcCommand[THROTTLE], getThrottleIdleValue(), motorConfig()->maxthrottle, 0, navConfig()->general.max_terrain_follow_altitude);
|
||||
const float altTarget = scaleRangef(rcCommand[THROTTLE], getThrottleIdleValue(), getMaxThrottle(), 0, navConfig()->general.max_terrain_follow_altitude);
|
||||
|
||||
// In terrain follow mode we apply different logic for terrain control
|
||||
if (posControl.flags.estAglStatus == EST_TRUSTED && altTarget > 10.0f) {
|
||||
|
|
@ -151,7 +151,7 @@ bool adjustMulticopterAltitudeFromRCInput(void)
|
|||
// Make sure we can satisfy max_manual_climb_rate in both up and down directions
|
||||
if (rcThrottleAdjustment > 0) {
|
||||
// Scaling from altHoldThrottleRCZero to maxthrottle
|
||||
rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(motorConfig()->maxthrottle - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
|
||||
rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(getMaxThrottle() - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
|
||||
}
|
||||
else {
|
||||
// Scaling from minthrottle to altHoldThrottleRCZero
|
||||
|
|
@ -190,7 +190,7 @@ void setupMulticopterAltitudeController(void)
|
|||
// Make sure we are able to satisfy the deadband
|
||||
altHoldThrottleRCZero = constrain(altHoldThrottleRCZero,
|
||||
getThrottleIdleValue() + rcControlsConfig()->alt_hold_deadband + 10,
|
||||
motorConfig()->maxthrottle - rcControlsConfig()->alt_hold_deadband - 10);
|
||||
getMaxThrottle() - rcControlsConfig()->alt_hold_deadband - 10);
|
||||
|
||||
// Force AH controller to initialize althold integral for pending takeoff on reset
|
||||
// Signal for that is low throttle _and_ low actual altitude
|
||||
|
|
|
|||
|
|
@ -127,7 +127,7 @@ void applyRoverBoatPitchRollThrottleController(navigationFSMStateFlags_t navStat
|
|||
rcCommand[YAW] = posControl.rcAdjustment[YAW];
|
||||
}
|
||||
|
||||
rcCommand[THROTTLE] = constrain(currentBatteryProfile->nav.fw.cruise_throttle, motorConfig()->mincommand, motorConfig()->maxthrottle);
|
||||
rcCommand[THROTTLE] = constrain(currentBatteryProfile->nav.fw.cruise_throttle, motorConfig()->mincommand, getMaxThrottle());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -45,7 +45,6 @@ enum {
|
|||
CRSF_FRAME_GPS_PAYLOAD_SIZE = 15,
|
||||
CRSF_FRAME_VARIO_SENSOR_PAYLOAD_SIZE = 2,
|
||||
CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
|
||||
CRSF_FRAME_BAROVARIO_SENSOR_PAYLOAD_SIZE = 4,
|
||||
CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
|
||||
CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
|
||||
CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
|
||||
|
|
@ -87,7 +86,6 @@ typedef enum {
|
|||
CRSF_FRAMETYPE_GPS = 0x02,
|
||||
CRSF_FRAMETYPE_VARIO_SENSOR = 0x07,
|
||||
CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
|
||||
CRSF_FRAMETYPE_BAROVARIO_SENSOR = 0x09,
|
||||
CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
|
||||
CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
|
||||
CRSF_FRAMETYPE_ATTITUDE = 0x1E,
|
||||
|
|
|
|||
|
|
@ -529,6 +529,15 @@ float accGetMeasuredMaxG(void)
|
|||
return acc.maxG;
|
||||
}
|
||||
|
||||
void resetGForceStats(void) {
|
||||
acc.maxG = 0.0f;
|
||||
|
||||
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
|
||||
acc.extremes[axis].min = 100;
|
||||
acc.extremes[axis].max = -100;
|
||||
}
|
||||
}
|
||||
|
||||
void accUpdate(void)
|
||||
{
|
||||
#ifdef USE_SIMULATOR
|
||||
|
|
|
|||
|
|
@ -86,6 +86,7 @@ void accGetMeasuredAcceleration(fpVector3_t *measuredAcc);
|
|||
const acc_extremes_t* accGetMeasuredExtremes(void);
|
||||
float accGetMeasuredMaxG(void);
|
||||
void updateAccExtremes(void);
|
||||
void resetGForceStats(void);
|
||||
void accGetVibrationLevels(fpVector3_t *accVibeLevels);
|
||||
float accGetVibrationLevel(void);
|
||||
uint32_t accGetClipCount(void);
|
||||
|
|
|
|||
|
|
@ -66,7 +66,7 @@
|
|||
#define ADCVREF 3300 // in mV (3300 = 3.3V)
|
||||
|
||||
#define VBATT_CELL_FULL_MAX_DIFF 10 // Max difference with cell max voltage for the battery to be considered full (10mV steps)
|
||||
#define VBATT_PRESENT_THRESHOLD 100 // Minimum voltage to consider battery present
|
||||
#define VBATT_PRESENT_THRESHOLD 220 // Minimum voltage to consider battery present
|
||||
#define VBATT_STABLE_DELAY 40 // Delay after connecting battery to begin monitoring
|
||||
#define VBATT_HYSTERESIS 10 // Batt Hysteresis of +/-100mV for changing battery state
|
||||
#define VBATT_LPF_FREQ 1 // Battery voltage filtering cutoff
|
||||
|
|
|
|||
|
|
@ -95,18 +95,15 @@ EXTENDED_FASTRAM secondaryDynamicGyroNotchState_t secondaryDynamicGyroNotchState
|
|||
|
||||
#endif
|
||||
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 6);
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 8);
|
||||
|
||||
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,
|
||||
.looptime = SETTING_LOOPTIME_DEFAULT,
|
||||
#ifdef USE_DUAL_GYRO
|
||||
.gyro_to_use = SETTING_GYRO_TO_USE_DEFAULT,
|
||||
#endif
|
||||
.gyro_main_lpf_hz = SETTING_GYRO_MAIN_LPF_HZ_DEFAULT,
|
||||
.gyro_main_lpf_type = SETTING_GYRO_MAIN_LPF_TYPE_DEFAULT,
|
||||
.useDynamicLpf = SETTING_GYRO_USE_DYN_LPF_DEFAULT,
|
||||
.gyroDynamicLpfMinHz = SETTING_GYRO_DYN_LPF_MIN_HZ_DEFAULT,
|
||||
.gyroDynamicLpfMaxHz = SETTING_GYRO_DYN_LPF_MAX_HZ_DEFAULT,
|
||||
|
|
@ -233,35 +230,24 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHard
|
|||
return gyroHardware;
|
||||
}
|
||||
|
||||
static void initGyroFilter(filterApplyFnPtr *applyFn, filter_t state[], uint8_t type, uint16_t cutoff, uint32_t looptime)
|
||||
static void initGyroFilter(filterApplyFnPtr *applyFn, filter_t state[], uint16_t cutoff, uint32_t looptime)
|
||||
{
|
||||
*applyFn = nullFilterApply;
|
||||
if (cutoff > 0) {
|
||||
switch (type)
|
||||
{
|
||||
case FILTER_PT1:
|
||||
*applyFn = (filterApplyFnPtr)pt1FilterApply;
|
||||
for (int axis = 0; axis < 3; axis++) {
|
||||
pt1FilterInit(&state[axis].pt1, cutoff, US2S(looptime));
|
||||
}
|
||||
break;
|
||||
case FILTER_BIQUAD:
|
||||
*applyFn = (filterApplyFnPtr)biquadFilterApply;
|
||||
for (int axis = 0; axis < 3; axis++) {
|
||||
biquadFilterInitLPF(&state[axis].biquad, cutoff, looptime);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void gyroInitFilters(void)
|
||||
{
|
||||
//First gyro LPF running at full gyro frequency 8kHz
|
||||
initGyroFilter(&gyroLpfApplyFn, gyroLpfState, gyroConfig()->gyro_anti_aliasing_lpf_type, gyroConfig()->gyro_anti_aliasing_lpf_hz, getGyroLooptime());
|
||||
initGyroFilter(&gyroLpfApplyFn, gyroLpfState, gyroConfig()->gyro_anti_aliasing_lpf_hz, getGyroLooptime());
|
||||
|
||||
//Second gyro LPF runnig and PID frequency - this filter is dynamic when gyro_use_dyn_lpf = ON
|
||||
initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyro_main_lpf_type, gyroConfig()->gyro_main_lpf_hz, getLooptime());
|
||||
initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyro_main_lpf_hz, getLooptime());
|
||||
|
||||
#ifdef USE_GYRO_KALMAN
|
||||
if (gyroConfig()->kalmanEnabled) {
|
||||
|
|
@ -295,7 +281,7 @@ bool gyroInit(void)
|
|||
sensorsSet(SENSOR_GYRO);
|
||||
|
||||
// Driver initialisation
|
||||
gyroDev[0].lpf = gyroConfig()->gyro_lpf;
|
||||
gyroDev[0].lpf = GYRO_LPF_256HZ;
|
||||
gyroDev[0].requestedSampleIntervalUs = TASK_GYRO_LOOPTIME;
|
||||
gyroDev[0].sampleRateIntervalUs = TASK_GYRO_LOOPTIME;
|
||||
gyroDev[0].initFn(&gyroDev[0]);
|
||||
|
|
@ -566,15 +552,9 @@ int16_t gyroRateDps(int axis)
|
|||
}
|
||||
|
||||
void gyroUpdateDynamicLpf(float cutoffFreq) {
|
||||
if (gyroConfig()->gyro_main_lpf_type == FILTER_PT1) {
|
||||
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
|
||||
pt1FilterUpdateCutoff(&gyroLpf2State[axis].pt1, cutoffFreq);
|
||||
}
|
||||
} else if (gyroConfig()->gyro_main_lpf_type == FILTER_BIQUAD) {
|
||||
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
|
||||
biquadFilterUpdate(&gyroLpf2State[axis].biquad, cutoffFreq, getLooptime(), BIQUAD_Q, FILTER_LPF);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float averageAbsGyroRates(void)
|
||||
|
|
|
|||
|
|
@ -49,12 +49,6 @@ typedef enum {
|
|||
|
||||
typedef enum {
|
||||
DYNAMIC_NOTCH_MODE_2D = 0,
|
||||
DYNAMIC_NOTCH_MODE_R,
|
||||
DYNAMIC_NOTCH_MODE_P,
|
||||
DYNAMIC_NOTCH_MODE_Y,
|
||||
DYNAMIC_NOTCH_MODE_RP,
|
||||
DYNAMIC_NOTCH_MODE_RY,
|
||||
DYNAMIC_NOTCH_MODE_PY,
|
||||
DYNAMIC_NOTCH_MODE_3D
|
||||
} dynamicGyroNotchMode_e;
|
||||
|
||||
|
|
@ -70,14 +64,11 @@ extern dynamicGyroNotchState_t dynamicGyroNotchState;
|
|||
|
||||
typedef struct gyroConfig_s {
|
||||
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.
|
||||
uint16_t gyro_anti_aliasing_lpf_hz;
|
||||
uint8_t gyro_anti_aliasing_lpf_type;
|
||||
#ifdef USE_DUAL_GYRO
|
||||
uint8_t gyro_to_use;
|
||||
#endif
|
||||
uint16_t gyro_main_lpf_hz;
|
||||
uint8_t gyro_main_lpf_type;
|
||||
uint8_t useDynamicLpf;
|
||||
uint16_t gyroDynamicLpfMinHz;
|
||||
uint16_t gyroDynamicLpfMaxHz;
|
||||
|
|
|
|||
|
|
@ -41,6 +41,7 @@
|
|||
#include "drivers/rangefinder/rangefinder_vl53l1x.h"
|
||||
#include "drivers/rangefinder/rangefinder_virtual.h"
|
||||
#include "drivers/rangefinder/rangefinder_us42.h"
|
||||
#include "drivers/rangefinder/rangefinder_teraranger_evo.h"
|
||||
#include "drivers/rangefinder/rangefinder_tof10120_i2c.h"
|
||||
|
||||
#include "fc/config.h"
|
||||
|
|
@ -88,6 +89,14 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
|
|||
#endif
|
||||
break;
|
||||
|
||||
case RANGEFINDER_TERARANGER_EVO:
|
||||
#if defined(USE_RANGEFINDER_TERARANGER_EVO_I2C)
|
||||
if (teraRangerDetect(dev)) {
|
||||
rangefinderHardware = RANGEFINDER_TERARANGER_EVO;
|
||||
rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TERA_EVO_TASK_PERIOD_MS));
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
case RANGEFINDER_VL53L0X:
|
||||
#if defined(USE_RANGEFINDER_VL53L0X)
|
||||
if (vl53l0xDetect(dev)) {
|
||||
|
|
|
|||
|
|
@ -31,6 +31,7 @@ typedef enum {
|
|||
RANGEFINDER_US42 = 6,
|
||||
RANGEFINDER_TOF10102I2C = 7,
|
||||
RANGEFINDER_FAKE = 8,
|
||||
RANGEFINDER_TERARANGER_EVO = 9,
|
||||
} rangefinderType_e;
|
||||
|
||||
typedef struct rangefinderConfig_s {
|
||||
|
|
|
|||
|
|
@ -142,7 +142,8 @@
|
|||
#define SERIALRX_UART SERIAL_PORT_USART2
|
||||
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
|
||||
#define SERIALRX_PROVIDER SERIALRX_CRSF
|
||||
#define CURRENT_METER_SCALE 500
|
||||
#define CURRENT_METER_SCALE 589
|
||||
#define CURRENT_METER_OFFSET -204
|
||||
|
||||
/*** Optical Flow & Lidar ***/
|
||||
#define USE_RANGEFINDER
|
||||
|
|
|
|||
3
src/main/target/AOCODARCF4V3/CMakeLists.txt
Normal file
3
src/main/target/AOCODARCF4V3/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,3 @@
|
|||
target_stm32f405xg(AOCODARCF4V3_SD)
|
||||
target_stm32f405xg(AOCODARCF4V3)
|
||||
|
||||
40
src/main/target/AOCODARCF4V3/config.c
Normal file
40
src/main/target/AOCODARCF4V3/config.c
Normal file
|
|
@ -0,0 +1,40 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight 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.
|
||||
*
|
||||
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
#include <stdint.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "fc/fc_msp_box.h"
|
||||
//#include "fc/config.h"
|
||||
|
||||
#include "io/piniobox.h"
|
||||
#include "drivers/serial.h"
|
||||
#include "io/serial.h"
|
||||
void targetConfiguration(void)
|
||||
{
|
||||
pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
|
||||
pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
|
||||
pinioBoxConfigMutable()->permanentId[2] = BOX_PERMANENT_ID_USER3;
|
||||
// beeperConfigMutable()->pwmMode = true;
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].functionMask = FUNCTION_MSP;
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].msp_baudrateIndex = BAUD_115200;
|
||||
serialConfigMutable()->portConfigs[4].functionMask = FUNCTION_VTX_TRAMP;
|
||||
serialConfigMutable()->portConfigs[4].peripheral_baudrateIndex = BAUD_115200;
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_RX_SERIAL;
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_ESCSERIAL;
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_GPS;
|
||||
}
|
||||
46
src/main/target/AOCODARCF4V3/target.c
Normal file
46
src/main/target/AOCODARCF4V3/target.c
Normal file
|
|
@ -0,0 +1,46 @@
|
|||
/*
|
||||
* 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/io.h"
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/pwm_mapping.h"
|
||||
#include "drivers/bus.h"
|
||||
|
||||
timerHardware_t timerHardware[] = {
|
||||
DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM, 0, 0 ), // PPM IN
|
||||
|
||||
DEF_TIM(TIM8, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S1
|
||||
DEF_TIM(TIM8, CH2, PC7, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S2
|
||||
DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S3
|
||||
DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S4
|
||||
|
||||
DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S5
|
||||
DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S6
|
||||
|
||||
DEF_TIM(TIM2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S7
|
||||
DEF_TIM(TIM2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S8
|
||||
|
||||
DEF_TIM(TIM3, CH4, PB1, TIM_USE_LED, 0, 0 ), // LED_STRIP
|
||||
|
||||
|
||||
};
|
||||
|
||||
const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
|
||||
192
src/main/target/AOCODARCF4V3/target.h
Normal file
192
src/main/target/AOCODARCF4V3/target.h
Normal file
|
|
@ -0,0 +1,192 @@
|
|||
/*
|
||||
* 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 USE_TARGET_CONFIG
|
||||
|
||||
#ifdef AOCODARCF4V3
|
||||
#define TARGET_BOARD_IDENTIFIER "AOF4V3"
|
||||
#define USBD_PRODUCT_STRING "AOCODARCF4V3"
|
||||
#else
|
||||
#define TARGET_BOARD_IDENTIFIER "AOF4V3SD"
|
||||
#define USBD_PRODUCT_STRING "AOCODARCF4V3_SD"
|
||||
#endif
|
||||
|
||||
// ******** Board LEDs **********************
|
||||
#define LED0 PC13
|
||||
|
||||
// ******* Beeper ***********
|
||||
#define BEEPER PB8
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
|
||||
// ******* GYRO and ACC ********
|
||||
#define USE_IMU_MPU6500
|
||||
#define IMU_MPU6500_ALIGN CW90_DEG
|
||||
#define MPU6500_SPI_BUS BUS_SPI1
|
||||
#define MPU6500_CS_PIN PA4
|
||||
|
||||
#define USE_IMU_MPU6000
|
||||
#define IMU_MPU6000_ALIGN CW90_DEG
|
||||
#define MPU6000_SPI_BUS BUS_SPI1
|
||||
#define MPU6000_CS_PIN PA4
|
||||
|
||||
#define USE_IMU_ICM42605
|
||||
#define IMU_ICM42605_ALIGN CW90_DEG
|
||||
#define ICM42605_SPI_BUS BUS_SPI1
|
||||
#define ICM42605_CS_PIN PA4
|
||||
|
||||
|
||||
// *************** Baro **************************
|
||||
#define USE_I2C
|
||||
#define USE_I2C_DEVICE_1
|
||||
|
||||
#define I2C1_SCL PB6 // SCL
|
||||
#define I2C1_SDA PB7 // SDA
|
||||
#define DEFAULT_I2C_BUS BUS_I2C1
|
||||
|
||||
#define USE_BARO
|
||||
#define BARO_I2C_BUS DEFAULT_I2C_BUS
|
||||
|
||||
#define USE_BARO_BMP280
|
||||
#define USE_BARO_MS5611
|
||||
#define USE_BARO_DPS310
|
||||
#define USE_BARO_SPL06
|
||||
|
||||
//*********** Magnetometer / Compass *************
|
||||
#define USE_MAG
|
||||
#define MAG_I2C_BUS DEFAULT_I2C_BUS
|
||||
#define USE_MAG_ALL
|
||||
|
||||
// ******* SERIAL ********
|
||||
#define USE_VCP
|
||||
#define VBUS_SENSING_PIN PB12
|
||||
#define VBUS_SENSING_ENABLED
|
||||
|
||||
#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 PA0
|
||||
#define UART4_RX_PIN PA1
|
||||
|
||||
#define USE_UART5
|
||||
#define UART5_TX_PIN PC12
|
||||
#define UART5_RX_PIN PD2
|
||||
|
||||
|
||||
#define SERIAL_PORT_COUNT 6
|
||||
|
||||
|
||||
// ******* SPI ********
|
||||
#define USE_SPI
|
||||
|
||||
#define USE_SPI_DEVICE_1
|
||||
#define SPI1_NSS_PIN PA4
|
||||
#define SPI1_SCK_PIN PA5
|
||||
#define SPI1_MISO_PIN PA6
|
||||
#define SPI1_MOSI_PIN PA7
|
||||
|
||||
#define USE_SPI_DEVICE_2
|
||||
#define SPI2_NSS_PIN PA13
|
||||
#define SPI2_SCK_PIN PB13
|
||||
#define SPI2_MISO_PIN PB14
|
||||
#define SPI2_MOSI_PIN PB15
|
||||
|
||||
#define USE_SPI_DEVICE_3
|
||||
#define SPI3_NSS_PIN PC0
|
||||
#define SPI3_SCK_PIN PB3
|
||||
#define SPI3_MISO_PIN PB4
|
||||
#define SPI3_MOSI_PIN PB5
|
||||
|
||||
// ******* ADC ********
|
||||
#define USE_ADC
|
||||
#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 RSSI_ADC_CHANNEL ADC_CHN_3
|
||||
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_1
|
||||
|
||||
#define VBAT_SCALE_DEFAULT 1100
|
||||
#define CURRENT_METER_SCALE 206
|
||||
|
||||
// ******* OSD ********
|
||||
#define USE_OSD
|
||||
#define USE_MAX7456
|
||||
#define MAX7456_SPI_BUS BUS_SPI2
|
||||
#define MAX7456_CS_PIN PA13
|
||||
|
||||
//******* FLASH ********
|
||||
#if defined(AOCODARCF4V3_SD)
|
||||
#define USE_SDCARD
|
||||
#define USE_SDCARD_SPI
|
||||
#define SDCARD_SPI_BUS BUS_SPI3
|
||||
#define SDCARD_CS_PIN PC0
|
||||
#define SDCARD_DETECT_INVERTED
|
||||
#define SDCARD_DETECT_PIN PC14
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
||||
#else
|
||||
#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
|
||||
#endif
|
||||
// *************** PINIO ***************************
|
||||
#define USE_PINIO
|
||||
#define USE_PINIOBOX
|
||||
#define PINIO1_PIN PC5 // VTX power switcher
|
||||
#define PINIO2_PIN PA14 //bluetooth
|
||||
#define PINIO3_PIN PC15 //Camera control
|
||||
#define PINIO1_FLAGS PINIO_FLAGS_INVERTED
|
||||
#define PINIO2_FLAGS PINIO_FLAGS_INVERTED
|
||||
|
||||
//************ LEDSTRIP *****************
|
||||
#define USE_LED_STRIP
|
||||
#define WS2811_PIN PB1
|
||||
|
||||
// ******* FEATURES ********
|
||||
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
|
||||
#define SERIALRX_UART SERIAL_PORT_USART2
|
||||
#define SERIALRX_PROVIDER SERIALRX_CRSF
|
||||
|
||||
#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_GPS | FEATURE_BLACKBOX | FEATURE_LED_STRIP)
|
||||
|
||||
#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
|
||||
|
||||
// ESC-related features
|
||||
#define USE_DSHOT
|
||||
#define USE_SERIALSHOT
|
||||
#define USE_ESC_SENSOR
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
|
@ -37,10 +37,10 @@ timerHardware_t timerHardware[] = {
|
|||
DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 2), // S3
|
||||
DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 3), // S4
|
||||
|
||||
DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 4), // S5
|
||||
DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 5), // S6
|
||||
DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 6), // S7
|
||||
DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 7), // S8
|
||||
DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 4), // S5
|
||||
DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 5), // S6
|
||||
DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 6), // S7
|
||||
DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 7), // S8
|
||||
|
||||
DEF_TIM(TIM4, CH3, PD14, TIM_USE_OUTPUT_AUTO, 0, 0), // S9
|
||||
DEF_TIM(TIM4, CH4, PD15, TIM_USE_OUTPUT_AUTO, 0, 0), // S10 DMA_NONE
|
||||
|
|
|
|||
|
|
@ -36,5 +36,4 @@ void targetConfiguration(void)
|
|||
{
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
|
||||
motorConfigMutable()->motorPwmProtocol = PWM_TYPE_MULTISHOT;
|
||||
motorConfigMutable()->maxthrottle = 1950;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -36,5 +36,4 @@ void targetConfiguration(void)
|
|||
{
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
|
||||
motorConfigMutable()->motorPwmProtocol = PWM_TYPE_MULTISHOT;
|
||||
motorConfigMutable()->maxthrottle = 1950;
|
||||
}
|
||||
|
|
|
|||
31
src/main/target/FOXEERF722DUAL/config.c
Normal file
31
src/main/target/FOXEERF722DUAL/config.c
Normal file
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight 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.
|
||||
*
|
||||
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "fc/fc_msp_box.h"
|
||||
|
||||
#if defined(FOXEERF722V2)
|
||||
#include "io/piniobox.h"
|
||||
|
||||
void targetConfiguration(void)
|
||||
{
|
||||
pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
|
||||
}
|
||||
#endif
|
||||
|
|
@ -22,6 +22,7 @@
|
|||
#include "drivers/timer.h"
|
||||
#include "drivers/sensor.h"
|
||||
#include "drivers/pwm_mapping.h"
|
||||
#include "drivers/pinio.h"
|
||||
|
||||
BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
|
||||
#if defined(FOXEERF722DUAL)
|
||||
|
|
|
|||
|
|
@ -147,3 +147,13 @@
|
|||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
|
||||
|
||||
// *************** PINIO ***************************
|
||||
#if defined(FOXEERF722V2)
|
||||
#define USE_PINIO
|
||||
#define USE_PINIOBOX
|
||||
#define PINIO1_PIN PC6 // Enable GPS power
|
||||
#define PINIO1_FLAGS PINIO_FLAGS_INVERTED
|
||||
#endif
|
||||
|
||||
|
||||
|
|
|
|||
1
src/main/target/IFLIGHT_2RAW_H743/CMakeLists.txt
Normal file
1
src/main/target/IFLIGHT_2RAW_H743/CMakeLists.txt
Normal file
|
|
@ -0,0 +1 @@
|
|||
target_stm32h743xi(IFLIGHT_2RAW_H743)
|
||||
31
src/main/target/IFLIGHT_2RAW_H743/config.c
Normal file
31
src/main/target/IFLIGHT_2RAW_H743/config.c
Normal file
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight 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.
|
||||
*
|
||||
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "fc/fc_msp_box.h"
|
||||
#include "fc/config.h"
|
||||
|
||||
#include "io/piniobox.h"
|
||||
|
||||
void targetConfiguration(void)
|
||||
{
|
||||
pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
|
||||
pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
|
||||
}
|
||||
49
src/main/target/IFLIGHT_2RAW_H743/target.c
Normal file
49
src/main/target/IFLIGHT_2RAW_H743/target.c
Normal file
|
|
@ -0,0 +1,49 @@
|
|||
/*
|
||||
* 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"
|
||||
|
||||
timerHardware_t timerHardware[] = {
|
||||
DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
|
||||
DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 1), // S2
|
||||
|
||||
DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 2), // S3
|
||||
DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 3), // S4
|
||||
DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 4), // S5
|
||||
DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 5), // S6
|
||||
|
||||
DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 6), // S7
|
||||
DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 7), // S8
|
||||
DEF_TIM(TIM4, CH3, PD14, TIM_USE_OUTPUT_AUTO, 0, 0), // S9
|
||||
DEF_TIM(TIM4, CH4, PD15, TIM_USE_OUTPUT_AUTO, 0, 0), // S10 DMA_NONE
|
||||
|
||||
DEF_TIM(TIM15, CH1, PE5, TIM_USE_OUTPUT_AUTO, 0, 0), // S11
|
||||
DEF_TIM(TIM15, CH2, PE6, TIM_USE_OUTPUT_AUTO, 0, 0), // S12 DMA_NONE
|
||||
|
||||
DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 9), // LED_2812
|
||||
};
|
||||
|
||||
const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
|
||||
167
src/main/target/IFLIGHT_2RAW_H743/target.h
Normal file
167
src/main/target/IFLIGHT_2RAW_H743/target.h
Normal file
|
|
@ -0,0 +1,167 @@
|
|||
/*
|
||||
* 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 "2RH7"
|
||||
|
||||
#define USBD_PRODUCT_STRING "IFLIGHT_2RAW_H743"
|
||||
|
||||
#define LED0 PE3
|
||||
#define LED1 PE4
|
||||
|
||||
#define BEEPER PC9
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
// SPI Buses
|
||||
#define USE_SPI
|
||||
|
||||
#define USE_SPI_DEVICE_1
|
||||
#define SPI1_SCK_PIN PA5
|
||||
#define SPI1_MISO_PIN PA6
|
||||
#define SPI1_MOSI_PIN PD7
|
||||
|
||||
#define USE_SPI_DEVICE_2
|
||||
#define SPI2_SCK_PIN PB13
|
||||
#define SPI2_MISO_PIN PB14
|
||||
#define SPI2_MOSI_PIN PB15
|
||||
|
||||
#define USE_SPI_DEVICE_3
|
||||
#define SPI3_SCK_PIN PC10
|
||||
#define SPI3_MISO_PIN PC11
|
||||
#define SPI3_MOSI_PIN PC12
|
||||
|
||||
// I2C
|
||||
#define USE_I2C
|
||||
#define USE_I2C_DEVICE_1
|
||||
#define I2C1_SCL PB6
|
||||
#define I2C1_SDA PB7
|
||||
|
||||
#define USE_I2C_DEVICE_2
|
||||
#define I2C2_SCL PB10
|
||||
#define I2C2_SDA PB11
|
||||
|
||||
// Gyro
|
||||
#define USE_IMU_ICM42605
|
||||
#define IMU_ICM42605_ALIGN CW0_DEG
|
||||
#define ICM42605_SPI_BUS BUS_SPI1
|
||||
#define ICM42605_CS_PIN PC15
|
||||
|
||||
// OSD
|
||||
// #define USE_MAX7456
|
||||
// #define MAX7456_SPI_BUS BUS_SPI2
|
||||
// #define MAX7456_CS_PIN PB12
|
||||
|
||||
#define USE_BARO
|
||||
#define BARO_I2C_BUS BUS_I2C2
|
||||
#define USE_BARO_ALL
|
||||
|
||||
#define USE_MAG
|
||||
#define MAG_I2C_BUS BUS_I2C1
|
||||
#define USE_MAG_ALL
|
||||
|
||||
#define TEMPERATURE_I2C_BUS BUS_I2C1
|
||||
#define PITOT_I2C_BUS BUS_I2C1
|
||||
#define RANGEFINDER_I2C_BUS BUS_I2C1
|
||||
|
||||
// *************** UART *****************************
|
||||
#define USE_VCP
|
||||
|
||||
#define USE_UART1
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_RX_PIN PA10
|
||||
|
||||
#define USE_UART2
|
||||
#define UART2_TX_PIN PD5
|
||||
#define UART2_RX_PIN PD6
|
||||
|
||||
#define USE_UART3
|
||||
#define UART3_TX_PIN PD8
|
||||
#define UART3_RX_PIN PD9
|
||||
|
||||
#define USE_UART4
|
||||
#define UART4_TX_PIN PB9
|
||||
#define UART4_RX_PIN PB8
|
||||
|
||||
#define USE_UART6
|
||||
#define UART6_TX_PIN PC6
|
||||
#define UART6_RX_PIN PC7
|
||||
|
||||
#define USE_UART7
|
||||
#define UART7_TX_PIN PE8
|
||||
#define UART7_RX_PIN PE7
|
||||
|
||||
#define USE_UART8
|
||||
#define UART8_TX_PIN PE1
|
||||
#define UART8_RX_PIN PE0
|
||||
|
||||
#define SERIAL_PORT_COUNT 8
|
||||
|
||||
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
|
||||
#define SERIALRX_PROVIDER SERIALRX_CRSF
|
||||
#define SERIALRX_UART SERIAL_PORT_USART6
|
||||
|
||||
// SD Card
|
||||
#define USE_SDCARD
|
||||
#define USE_SDCARD_SPI
|
||||
#define SDCARD_SPI_BUS BUS_SPI3
|
||||
#define SDCARD_CS_PIN PA15
|
||||
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
||||
|
||||
// ADC
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC1
|
||||
|
||||
#define ADC_CHANNEL_1_PIN PC0
|
||||
#define ADC_CHANNEL_2_PIN PC1
|
||||
#define ADC_CHANNEL_3_PIN PC5
|
||||
#define ADC_CHANNEL_4_PIN PC4
|
||||
|
||||
#define VBAT_ADC_CHANNEL ADC_CHN_1
|
||||
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
|
||||
#define RSSI_ADC_CHANNEL ADC_CHN_3
|
||||
#define AIRSPEED_ADC_CHANNEL ADC_CHN_4
|
||||
|
||||
#define VBAT_SCALE_DEFAULT 2100
|
||||
|
||||
// PINIO
|
||||
#define USE_PINIO
|
||||
#define USE_PINIOBOX
|
||||
#define PINIO1_PIN PD10
|
||||
#define PINIO2_PIN PD11
|
||||
|
||||
// *************** LEDSTRIP ************************
|
||||
// #define USE_LED_STRIP
|
||||
// #define WS2811_PIN PA8
|
||||
|
||||
#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
|
||||
#define CURRENT_METER_SCALE 250
|
||||
|
||||
#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 TARGET_IO_PORTE 0xffff
|
||||
|
||||
#define MAX_PWM_OUTPUT_PORTS 12
|
||||
#define USE_DSHOT
|
||||
#define USE_ESC_SENSOR
|
||||
|
||||
|
|
@ -42,6 +42,11 @@
|
|||
#define MPU6000_CS_PIN PA4
|
||||
#define MPU6000_SPI_BUS BUS_SPI1
|
||||
|
||||
#define USE_IMU_ICM42605
|
||||
#define IMU_ICM42605_ALIGN CW0_DEG
|
||||
#define ICM42605_SPI_BUS BUS_SPI1
|
||||
#define ICM42605_CS_PIN PA4
|
||||
|
||||
// *************** I2C /Baro/Mag *********************
|
||||
#define USE_I2C
|
||||
#define USE_I2C_DEVICE_1
|
||||
|
|
|
|||
1
src/main/target/JHEMCUF405WING/CMakeLists.txt
Normal file
1
src/main/target/JHEMCUF405WING/CMakeLists.txt
Normal file
|
|
@ -0,0 +1 @@
|
|||
target_stm32f405xg(JHEMCUF405WING)
|
||||
42
src/main/target/JHEMCUF405WING/config.c
Normal file
42
src/main/target/JHEMCUF405WING/config.c
Normal file
|
|
@ -0,0 +1,42 @@
|
|||
/*
|
||||
* This file is part of INAV Project.
|
||||
*
|
||||
* This Source Code Form is subject to the terms of the Mozilla Public
|
||||
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
|
||||
* You can obtain one at http://mozilla.org/MPL/2.0/.
|
||||
*
|
||||
* Alternatively, the contents of this file may be used under the terms
|
||||
* of the GNU General Public License Version 3, as described below:
|
||||
*
|
||||
* This file is free software: you may copy, redistribute and/or modify
|
||||
* it under the terms of the GNU General Public License as published by the
|
||||
* Free Software Foundation, either version 3 of the License, or (at your
|
||||
* option) any later version.
|
||||
*
|
||||
* This file is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
|
||||
* Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see http://www.gnu.org/licenses/.
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "fc/fc_msp_box.h"
|
||||
#include "fc/config.h"
|
||||
#include "io/serial.h"
|
||||
#include "io/piniobox.h"
|
||||
|
||||
void targetConfiguration(void)
|
||||
{
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_RX_SERIAL;
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_GPS;
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_MSP;
|
||||
|
||||
pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
|
||||
}
|
||||
47
src/main/target/JHEMCUF405WING/target.c
Normal file
47
src/main/target/JHEMCUF405WING/target.c
Normal file
|
|
@ -0,0 +1,47 @@
|
|||
/*
|
||||
* 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 <stdbool.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"
|
||||
|
||||
timerHardware_t timerHardware[] = {
|
||||
DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 1, 0), // S1 D(1,3,2)
|
||||
DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 1, 0), // S2 D(1,0,2)
|
||||
|
||||
DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 1, 0), // S3 D(1,7,5)
|
||||
DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 1, 0), // S4 D(1,2,5)
|
||||
DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 1, 0), // S5 D(2,4,7)
|
||||
DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 1, 0), // S6 D(2,7,7)
|
||||
|
||||
DEF_TIM(TIM8, CH2N,PB14, TIM_USE_OUTPUT_AUTO, 1, 0), // S7
|
||||
DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 1, 0), // S8
|
||||
DEF_TIM(TIM2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 1, 0), // S9
|
||||
DEF_TIM(TIM2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 1, 0), // S10
|
||||
DEF_TIM(TIM12, CH2,PB15, TIM_USE_OUTPUT_AUTO, 1, 0), // S11
|
||||
|
||||
DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // 2812LED
|
||||
DEF_TIM(TIM5, CH3, PA2, TIM_USE_ANY, 0, 0), // TX2
|
||||
};
|
||||
|
||||
const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
|
||||
163
src/main/target/JHEMCUF405WING/target.h
Normal file
163
src/main/target/JHEMCUF405WING/target.h
Normal file
|
|
@ -0,0 +1,163 @@
|
|||
/*
|
||||
* 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 USE_TARGET_CONFIG
|
||||
|
||||
#define TARGET_BOARD_IDENTIFIER "JH45"
|
||||
#define USBD_PRODUCT_STRING "JHEMCUF405WING"
|
||||
|
||||
// LEDs
|
||||
#define LED0 PA14 //Blue
|
||||
#define LED1 PA13 //Green
|
||||
|
||||
// Beeper
|
||||
#define BEEPER PC15
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
// SPI1
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_1
|
||||
#define SPI1_SCK_PIN PA5
|
||||
#define SPI1_MISO_PIN PA6
|
||||
#define SPI1_MOSI_PIN PA7
|
||||
|
||||
// SPI2
|
||||
#define USE_SPI_DEVICE_2
|
||||
#define SPI2_SCK_PIN PB13
|
||||
#define SPI2_MISO_PIN PC2
|
||||
#define SPI2_MOSI_PIN PC3
|
||||
|
||||
// SPI3
|
||||
#define USE_SPI_DEVICE_3
|
||||
#define SPI3_SCK_PIN PB3
|
||||
#define SPI3_MISO_PIN PB4
|
||||
#define SPI3_MOSI_PIN PB5
|
||||
|
||||
// Serial ports
|
||||
#define USE_VCP
|
||||
|
||||
#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 PA0
|
||||
#define UART4_RX_PIN PA1
|
||||
|
||||
#define USE_UART5
|
||||
#define UART5_TX_PIN PC12
|
||||
#define UART5_RX_PIN PD2
|
||||
|
||||
#define USE_UART6
|
||||
#define UART6_TX_PIN PC6
|
||||
#define UART6_RX_PIN PC7
|
||||
|
||||
// Optional Softserial on UART2 TX Pin PA2
|
||||
#define USE_SOFTSERIAL1
|
||||
#define SOFTSERIAL_1_TX_PIN PA2
|
||||
#define SOFTSERIAL_1_RX_PIN PA2
|
||||
|
||||
#define SERIAL_PORT_COUNT 8
|
||||
|
||||
#define USE_I2C
|
||||
#define USE_I2C_DEVICE_1
|
||||
#define I2C1_SCL PB8
|
||||
#define I2C1_SDA PB9
|
||||
|
||||
// ICM42605/ICM42688P
|
||||
#define USE_IMU_ICM42605
|
||||
#define IMU_ICM42605_ALIGN CW270_DEG
|
||||
#define ICM42605_CS_PIN PA4
|
||||
#define ICM42605_SPI_BUS BUS_SPI1
|
||||
|
||||
// Baro
|
||||
#define USE_BARO
|
||||
#define BARO_I2C_BUS BUS_I2C1
|
||||
#define USE_BARO_ALL
|
||||
|
||||
// Mag
|
||||
#define USE_MAG
|
||||
#define MAG_I2C_BUS BUS_I2C1
|
||||
#define USE_MAG_ALL
|
||||
|
||||
#define RANGEFINDER_I2C_BUS BUS_I2C1
|
||||
#define PITOT_I2C_BUS BUS_I2C1
|
||||
#define TEMPERATURE_I2C_BUS BUS_I2C1
|
||||
|
||||
// OSD
|
||||
#define USE_MAX7456
|
||||
#define MAX7456_CS_PIN PB12
|
||||
#define MAX7456_SPI_BUS BUS_SPI2
|
||||
|
||||
// SD Card
|
||||
#define USE_SDCARD
|
||||
#define USE_SDCARD_SPI
|
||||
#define SDCARD_SPI_BUS BUS_SPI3
|
||||
#define SDCARD_CS_PIN PC14
|
||||
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
||||
|
||||
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
|
||||
#define SERIALRX_PROVIDER SERIALRX_CRSF
|
||||
#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 PC0
|
||||
#define ADC_CHANNEL_2_PIN PC1
|
||||
#define ADC_CHANNEL_3_PIN PC5
|
||||
#define ADC_CHANNEL_4_PIN PC4
|
||||
#define VBAT_ADC_CHANNEL ADC_CHN_1
|
||||
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
|
||||
#define RSSI_ADC_CHANNEL ADC_CHN_4
|
||||
#define AIRSPEED_ADC_CHANNEL ADC_CHN_3
|
||||
|
||||
// LED2812
|
||||
#define USE_LED_STRIP
|
||||
#define WS2811_PIN PA8
|
||||
|
||||
// PINIO
|
||||
#define USE_PINIO
|
||||
#define USE_PINIOBOX
|
||||
#define PINIO1_PIN PC13 // 2xCamera switcher
|
||||
|
||||
// OTHERS
|
||||
#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_BLACKBOX | FEATURE_AIRMODE)
|
||||
#define CURRENT_METER_SCALE 175
|
||||
|
||||
#define USE_DSHOT
|
||||
#define USE_ESC_SENSOR
|
||||
#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 (BIT(2))
|
||||
|
||||
#define MAX_PWM_OUTPUT_PORTS 11
|
||||
1
src/main/target/JHEMCUF745/CMakeLists.txt
Normal file
1
src/main/target/JHEMCUF745/CMakeLists.txt
Normal file
|
|
@ -0,0 +1 @@
|
|||
target_stm32f745xg(JHEMCUF745)
|
||||
29
src/main/target/JHEMCUF745/config.c
Normal file
29
src/main/target/JHEMCUF745/config.c
Normal file
|
|
@ -0,0 +1,29 @@
|
|||
/*
|
||||
* 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 <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <platform.h>
|
||||
|
||||
#include "drivers/pwm_mapping.h"
|
||||
|
||||
void targetConfiguration(void)
|
||||
{
|
||||
timerOverridesMutable(timer2id(TIM1))->outputMode = OUTPUT_MODE_MOTORS;
|
||||
timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS;
|
||||
}
|
||||
44
src/main/target/JHEMCUF745/target.c
Normal file
44
src/main/target/JHEMCUF745/target.c
Normal file
|
|
@ -0,0 +1,44 @@
|
|||
/*
|
||||
* This file is part of INAV.
|
||||
*
|
||||
* This Source Code Form is subject to the terms of the Mozilla Public
|
||||
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
|
||||
* You can obtain one at http://mozilla.org/MPL/2.0/.
|
||||
*
|
||||
* Alternatively, the contents of this file may be used under the terms
|
||||
* of the GNU General Public License Version 3, as described below:
|
||||
*
|
||||
* This file is free software: you may copy, redistribute and/or modify
|
||||
* it under the terms of the GNU General Public License as published by the
|
||||
* Free Software Foundation, either version 3 of the License, or (at your
|
||||
* option) any later version.
|
||||
*
|
||||
* This file is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
|
||||
* Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see http://www.gnu.org/licenses/.
|
||||
*/
|
||||
|
||||
#include <platform.h>
|
||||
#include "drivers/io.h"
|
||||
#include "drivers/pwm_mapping.h"
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/bus.h"
|
||||
#include "drivers/pinio.h"
|
||||
|
||||
timerHardware_t timerHardware[] = {
|
||||
DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // M1, DMA1_ST7
|
||||
DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // M2, DMA1_ST2
|
||||
DEF_TIM(TIM1, CH1, PE9, TIM_USE_OUTPUT_AUTO, 0, 0), // M3
|
||||
DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO, 0, 1), // M4, DMA2_ST4
|
||||
DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // M5, DMA2_ST7
|
||||
DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 0), // M6, DMA1_ST1
|
||||
DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S7
|
||||
DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0), // S8
|
||||
DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED, 0, 0), // LED_STRIP, DMA1_ST0
|
||||
};
|
||||
|
||||
const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
|
||||
157
src/main/target/JHEMCUF745/target.h
Normal file
157
src/main/target/JHEMCUF745/target.h
Normal file
|
|
@ -0,0 +1,157 @@
|
|||
/*
|
||||
* This file is part of INAV.
|
||||
*
|
||||
* Cleanflight and Betaflight are free software. You can redistribute
|
||||
* this software and/or modify this software 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.
|
||||
*
|
||||
* Cleanflight and Betaflight are distributed in the hope that they
|
||||
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
||||
* See the GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this software.
|
||||
*
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#define TARGET_BOARD_IDENTIFIER "JHF7"
|
||||
#define USBD_PRODUCT_STRING "JHEMCUF745"
|
||||
|
||||
#define LED0 PA2
|
||||
|
||||
#define BEEPER PD15
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define USE_DSHOT
|
||||
#define USE_DSHOT_DMAR
|
||||
#define USE_ESC_SENSOR
|
||||
|
||||
#define USE_IMU_MPU6000
|
||||
#define IMU_MPU6000_ALIGN CW270_DEG
|
||||
#define GYRO_INT_EXTI PE1
|
||||
#define MPU6000_CS_PIN SPI4_NSS_PIN
|
||||
#define MPU6000_SPI_BUS BUS_SPI4
|
||||
|
||||
#define USE_IMU_ICM42605
|
||||
#define IMU_ICM42605_ALIGN CW270_DEG
|
||||
#define ICM42605_CS_PIN SPI4_NSS_PIN
|
||||
#define ICM42605_SPI_BUS BUS_SPI4
|
||||
#define ICM42605_EXTI_PIN PE1
|
||||
|
||||
#define USB_IO
|
||||
#define USE_VCP
|
||||
#define VBUS_SENSING_ENABLED
|
||||
#define VBUS_SENSING_PIN PA8
|
||||
|
||||
#define USE_UART1
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_RX_PIN PA10
|
||||
|
||||
#define USE_UART2
|
||||
#define UART2_TX_PIN PD5
|
||||
#define UART2_RX_PIN PD6
|
||||
|
||||
#define USE_UART3
|
||||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
|
||||
#define USE_UART4
|
||||
#define UART4_TX_PIN PA0
|
||||
#define UART4_RX_PIN PA1
|
||||
|
||||
#define USE_UART5
|
||||
#define UART5_TX_PIN PC12
|
||||
#define UART5_RX_PIN PD2
|
||||
|
||||
#define USE_UART6
|
||||
#define UART6_TX_PIN PC6
|
||||
#define UART6_RX_PIN PC7
|
||||
|
||||
#define USE_UART7
|
||||
#define UART7_RX_PIN PE7
|
||||
#define UART7_TX_PIN PE8
|
||||
|
||||
#define SERIAL_PORT_COUNT 8 // VCP,UART1,UART2,UART3,UART4,UART5,UART6
|
||||
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_1 // FLASH
|
||||
#define USE_SPI_DEVICE_2 // OSD
|
||||
#define USE_SPI_DEVICE_4 // ICM20689
|
||||
|
||||
#define SPI1_NSS_PIN PA4
|
||||
#define SPI1_SCK_PIN PA5
|
||||
#define SPI1_MISO_PIN PA6
|
||||
#define SPI1_MOSI_PIN PA7
|
||||
|
||||
#define SPI2_NSS_PIN PB12
|
||||
#define SPI2_SCK_PIN PB13
|
||||
#define SPI2_MISO_PIN PB14
|
||||
#define SPI2_MOSI_PIN PB15
|
||||
|
||||
#define SPI4_NSS_PIN PE4
|
||||
#define SPI4_SCK_PIN PE2
|
||||
#define SPI4_MISO_PIN PE5
|
||||
#define SPI4_MOSI_PIN PE6
|
||||
|
||||
#define USE_MAX7456
|
||||
#define MAX7456_SPI_BUS BUS_SPI2
|
||||
#define MAX7456_CS_PIN SPI2_NSS_PIN
|
||||
|
||||
#define M25P16_CS_PIN SPI1_NSS_PIN
|
||||
#define M25P16_SPI_BUS BUS_SPI1
|
||||
#define USE_FLASHFS
|
||||
#define USE_FLASH_M25P16
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
|
||||
|
||||
#define USE_I2C
|
||||
#define USE_I2C_DEVICE_1
|
||||
#define I2C1_SCL PB6
|
||||
#define I2C1_SDA PB7
|
||||
|
||||
// External I2C bus is the same as interal one
|
||||
#define MAG_I2C_BUS BUS_I2C1
|
||||
#define TEMPERATURE_I2C_BUS BUS_I2C1
|
||||
#define RANGEFINDER_I2C_BUS BUS_I2C1
|
||||
#define DEFAULT_I2C_BUS BUS_I2C1
|
||||
|
||||
#define USE_BARO
|
||||
#define USE_BARO_ALL
|
||||
#define BARO_I2C_BUS BUS_I2C1
|
||||
|
||||
#define USE_MAG
|
||||
#define USE_MAG_ALL
|
||||
|
||||
#define USE_ADC
|
||||
#define ADC_CHANNEL_1_PIN PC2
|
||||
#define ADC_CHANNEL_2_PIN PC3
|
||||
#define ADC_CHANNEL_3_PIN PC5
|
||||
|
||||
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_1
|
||||
#define VBAT_ADC_CHANNEL ADC_CHN_2
|
||||
#define RSSI_ADC_CHANNEL ADC_CHN_3
|
||||
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
||||
|
||||
#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_VBAT | FEATURE_BLACKBOX)
|
||||
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
|
||||
#define SERIALRX_UART SERIAL_PORT_USART1
|
||||
#define SERIALRX_PROVIDER SERIALRX_SBUS
|
||||
|
||||
#define USE_LED_STRIP
|
||||
#define WS2811_PIN PD12
|
||||
|
||||
#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 TARGET_IO_PORTE 0xffff
|
||||
|
||||
#define MAX_PWM_OUTPUT_PORTS 8
|
||||
1
src/main/target/JHEMCUH743HD/CMakeLists.txt
Normal file
1
src/main/target/JHEMCUH743HD/CMakeLists.txt
Normal file
|
|
@ -0,0 +1 @@
|
|||
target_stm32h743xi(JHEMCUH743HD)
|
||||
66
src/main/target/JHEMCUH743HD/config.c
Normal file
66
src/main/target/JHEMCUH743HD/config.c
Normal file
|
|
@ -0,0 +1,66 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight 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.
|
||||
*
|
||||
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <platform.h>
|
||||
|
||||
#include "common/axis.h"
|
||||
|
||||
#include "config/config_master.h"
|
||||
#include "config/feature.h"
|
||||
|
||||
#include "drivers/sensor.h"
|
||||
#include "drivers/pwm_esc_detect.h"
|
||||
#include "drivers/pwm_output.h"
|
||||
#include "drivers/serial.h"
|
||||
|
||||
#include "fc/rc_controls.h"
|
||||
|
||||
#include "flight/failsafe.h"
|
||||
#include "flight/mixer.h"
|
||||
#include "flight/pid.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
|
||||
#include "io/serial.h"
|
||||
|
||||
#include "sensors/battery.h"
|
||||
#include "sensors/sensors.h"
|
||||
|
||||
#include "telemetry/telemetry.h"
|
||||
|
||||
#include "io/piniobox.h"
|
||||
|
||||
void targetConfiguration(void)
|
||||
{
|
||||
pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
|
||||
pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
|
||||
|
||||
|
||||
/*
|
||||
* UART1 is SerialRX
|
||||
*/
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_RX_SERIAL;
|
||||
|
||||
/*
|
||||
* Enable MSP at 115200 at UART4
|
||||
*/
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].functionMask = FUNCTION_MSP;
|
||||
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].msp_baudrateIndex = BAUD_115200;
|
||||
}
|
||||
49
src/main/target/JHEMCUH743HD/target.c
Normal file
49
src/main/target/JHEMCUH743HD/target.c
Normal file
|
|
@ -0,0 +1,49 @@
|
|||
/*
|
||||
* 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, NONE, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
|
||||
BUSDEV_REGISTER_SPI_TAG(busdev_bmi270, DEVHW_BMI270, BMI270_SPI_BUS, BMI270_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
|
||||
BUSDEV_REGISTER_SPI_TAG(busdev_icm42605, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
|
||||
|
||||
|
||||
timerHardware_t timerHardware[] = {
|
||||
|
||||
DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
|
||||
DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 1), // S2
|
||||
DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 2), // S3
|
||||
DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 3), // S4
|
||||
|
||||
DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 4), // S5
|
||||
DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 5), // S6
|
||||
DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 6), // S7
|
||||
DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 7), // S8
|
||||
|
||||
DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 9), // LED_2812
|
||||
};
|
||||
|
||||
const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
|
||||
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