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Merge remote-tracking branch 'origin/master' into mmosca-msp-gps-ublox-command

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This commit is contained in:
Marcelo Bezerra 2024-06-22 16:46:49 +02:00
commit 49c323ae1d
181 changed files with 7815 additions and 2567 deletions
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49
.github/workflows/ci.yml vendored
View file

@ -2,17 +2,26 @@ name: Build firmware
# Don't enable CI on push, just on PR. If you # Don't enable CI on push, just on PR. If you
# are working on the main repo and want to trigger # are working on the main repo and want to trigger
# a CI build submit a draft PR. # a CI build submit a draft PR.
on: pull_request on:
pull_request:
paths:
- 'src/**'
- '.github/**'
- 'cmake/**'
- 'lib/**'
- 'docs/Settings.md'
- 'CMakeLists.txt'
- '*.sh'
jobs: jobs:
build: build:
runs-on: ubuntu-latest runs-on: ubuntu-latest
strategy: strategy:
matrix: matrix:
id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
steps: steps:
- uses: actions/checkout@v3 - uses: actions/checkout@v4
- name: Install dependencies - name: Install dependencies
run: sudo apt-get update && sudo apt-get -y install ninja-build run: sudo apt-get update && sudo apt-get -y install ninja-build
- name: Setup environment - name: Setup environment
@ -31,22 +40,22 @@ jobs:
VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }') VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
- uses: actions/cache@v1 - uses: actions/cache@v4
with: with:
path: downloads path: downloads
key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}} key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
- name: Build targets (${{ matrix.id }}) - name: Build targets (${{ matrix.id }})
run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -G Ninja .. && ninja ci run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DMAIN_COMPILE_OPTIONS=-pipe -G Ninja .. && ninja -j4 ci
- name: Upload artifacts - name: Upload artifacts
uses: actions/upload-artifact@v3 uses: actions/upload-artifact@v4
with: with:
name: ${{ env.BUILD_NAME }} name: ${{ env.BUILD_NAME }}.${{ matrix.id }}
path: ./build/*.hex path: ./build/*.hex
build-SITL-Linux: build-SITL-Linux:
runs-on: ubuntu-latest runs-on: ubuntu-latest
steps: steps:
- uses: actions/checkout@v3 - uses: actions/checkout@v4
- name: Install dependencies - name: Install dependencies
run: sudo apt-get update && sudo apt-get -y install ninja-build run: sudo apt-get update && sudo apt-get -y install ninja-build
- name: Setup environment - name: Setup environment
@ -66,17 +75,17 @@ jobs:
echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
- name: Build SITL - name: Build SITL
run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4
- name: Upload artifacts - name: Upload artifacts
uses: actions/upload-artifact@v3 uses: actions/upload-artifact@v4
with: with:
name: ${{ env.BUILD_NAME }}_SITL name: ${{ env.BUILD_NAME }}_SITL-Linux
path: ./build_SITL/*_SITL path: ./build_SITL/*_SITL
build-SITL-Mac: build-SITL-Mac:
runs-on: macos-latest runs-on: macos-latest
steps: steps:
- uses: actions/checkout@v3 - uses: actions/checkout@v4
- name: Install dependencies - name: Install dependencies
run: | run: |
brew install cmake ninja ruby brew install cmake ninja ruby
@ -100,11 +109,11 @@ jobs:
- name: Build SITL - name: Build SITL
run: | run: |
mkdir -p build_SITL && cd build_SITL mkdir -p build_SITL && cd build_SITL
cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -G Ninja ..
ninja ninja -j3
- name: Upload artifacts - name: Upload artifacts
uses: actions/upload-artifact@v3 uses: actions/upload-artifact@v4
with: with:
name: ${{ env.BUILD_NAME }}_SITL-MacOS name: ${{ env.BUILD_NAME }}_SITL-MacOS
path: ./build_SITL/*_SITL path: ./build_SITL/*_SITL
@ -115,7 +124,7 @@ jobs:
run: run:
shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}' shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
steps: steps:
- uses: actions/checkout@v3 - uses: actions/checkout@v4
- name: Setup Cygwin - name: Setup Cygwin
uses: egor-tensin/setup-cygwin@v4 uses: egor-tensin/setup-cygwin@v4
with: with:
@ -137,19 +146,19 @@ jobs:
echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
- name: Build SITL - name: Build SITL
run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4
- name: Upload artifacts - name: Upload artifacts
uses: actions/upload-artifact@v3 uses: actions/upload-artifact@v4
with: with:
name: ${{ env.BUILD_NAME }}_SITL-WIN name: ${{ env.BUILD_NAME }}_SITL-WIN
path: ./build_SITL/*.exe path: ./build_SITL/*.exe
test: test:
needs: [build] #needs: [build]
runs-on: ubuntu-latest runs-on: ubuntu-latest
steps: steps:
- uses: actions/checkout@v3 - uses: actions/checkout@v4
- name: Install dependencies - name: Install dependencies
run: sudo apt-get update && sudo apt-get -y install ninja-build run: sudo apt-get update && sudo apt-get -y install ninja-build
- name: Run Tests - name: Run Tests

243
.github/workflows/dev-builds.yml vendored Normal file
View file

@ -0,0 +1,243 @@
name: Build pre-release
# Don't enable CI on push, just on PR. If you
# are working on the main repo and want to trigger
# a CI build submit a draft PR.
on:
push:
branches:
- master
paths:
- 'src/**'
- '.github/**'
- 'cmake/**'
- 'lib/**'
- 'docs/Settings.md'
- 'CMakeLists.txt'
- '*.sh'
jobs:
build:
runs-on: ubuntu-latest
strategy:
matrix:
id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
steps:
- uses: actions/checkout@v4
- name: Install dependencies
run: sudo apt-get update && sudo apt-get -y install ninja-build
- name: Setup environment
env:
ACTIONS_ALLOW_UNSECURE_COMMANDS: true
run: |
# This is the hash of the commit for the PR
# when the action is triggered by PR, empty otherwise
COMMIT_ID=${{ github.event.pull_request.head.sha }}
# This is the hash of the commit when triggered by push
# but the hash of refs/pull/<n>/merge, which is different
# from the hash of the latest commit in the PR, that's
# why we try github.event.pull_request.head.sha first
COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
- uses: actions/cache@v4
with:
path: downloads
key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
- name: Build targets (${{ matrix.id }})
run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DVERSION_TYPE=dev -G Ninja .. && ninja ci
- name: Upload artifacts
uses: actions/upload-artifact@v4
with:
name: ${{ env.BUILD_NAME }}.${{ matrix.id }}
path: ./build/*.hex
build-SITL-Linux:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- name: Install dependencies
run: sudo apt-get update && sudo apt-get -y install ninja-build
- name: Setup environment
env:
ACTIONS_ALLOW_UNSECURE_COMMANDS: true
run: |
# This is the hash of the commit for the PR
# when the action is triggered by PR, empty otherwise
COMMIT_ID=${{ github.event.pull_request.head.sha }}
# This is the hash of the commit when triggered by push
# but the hash of refs/pull/<n>/merge, which is different
# from the hash of the latest commit in the PR, that's
# why we try github.event.pull_request.head.sha first
COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
- name: Build SITL
run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja -DVERSION_TYPE=dev .. && ninja
- name: Upload artifacts
uses: actions/upload-artifact@v4
with:
name: sitl-${{ env.BUILD_NAME }}-Linux
path: ./build_SITL/*_SITL
build-SITL-Mac:
runs-on: macos-latest
steps:
- uses: actions/checkout@v4
- name: Install dependencies
run: |
brew install cmake ninja ruby
- name: Setup environment
env:
ACTIONS_ALLOW_UNSECURE_COMMANDS: true
run: |
# This is the hash of the commit for the PR
# when the action is triggered by PR, empty otherwise
COMMIT_ID=${{ github.event.pull_request.head.sha }}
# This is the hash of the commit when triggered by push
# but the hash of refs/pull/<n>/merge, which is different
# from the hash of the latest commit in the PR, that's
# why we try github.event.pull_request.head.sha first
COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
- name: Build SITL
run: |
mkdir -p build_SITL && cd build_SITL
cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -DVERSION_TYPE=dev -G Ninja ..
ninja
- name: Upload artifacts
uses: actions/upload-artifact@v4
with:
name: sitl-${{ env.BUILD_NAME }}-MacOS
path: ./build_SITL/*_SITL
build-SITL-Windows:
runs-on: windows-latest
defaults:
run:
shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
steps:
- uses: actions/checkout@v4
- name: Setup Cygwin
uses: egor-tensin/setup-cygwin@v4
with:
packages: cmake ruby ninja gcc-g++
- name: Setup environment
env:
ACTIONS_ALLOW_UNSECURE_COMMANDS: true
run: |
# This is the hash of the commit for the PR
# when the action is triggered by PR, empty otherwise
COMMIT_ID=${{ github.event.pull_request.head.sha }}
# This is the hash of the commit when triggered by push
# but the hash of refs/pull/<n>/merge, which is different
# from the hash of the latest commit in the PR, that's
# why we try github.event.pull_request.head.sha first
COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
#echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
#echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
#echo "VERSION_TAG=-$(date '+%Y%m%d')" >> $GITHUB_ENV
echo "version=${VERSION}" >> $GITHUB_OUTPUT
- name: Build SITL
run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DVERSION_TYPE=dev -G Ninja .. && ninja
- name: Upload artifacts
uses: actions/upload-artifact@v4
with:
name: sitl-${{ env.BUILD_NAME }}-WIN
path: ./build_SITL/*.exe
test:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- name: Install dependencies
run: sudo apt-get update && sudo apt-get -y install ninja-build
- name: Run Tests
run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check
release:
needs: [build, build-SITL-Linux, build-SITL-Mac, build-SITL-Windows, test]
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- name: Get version
id: version
run: |
VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
echo "version=${VERSION}" >> $GITHUB_OUTPUT
- name: Get current date
id: date
run: echo "today=$(date '+%Y%m%d')" >> $GITHUB_OUTPUT
- name: download artifacts
uses: actions/download-artifact@v4
with:
path: hexes
pattern: inav-*
merge-multiple: true
- name: download sitl linux
uses: actions/download-artifact@v4
with:
path: resources/sitl/linux
pattern: sitl-*-Linux
merge-multiple: true
- name: download sitl windows
uses: actions/download-artifact@v4
with:
path: resources/sitl/windows
pattern: sitl-*-WIN
merge-multiple: true
- name: download sitl mac
uses: actions/download-artifact@v4
with:
path: resources/sitl/macos
pattern: sitl-*-MacOS
merge-multiple: true
- name: Consolidate sitl files
run: |
zip -r -9 sitl-resources.zip resources/
- name: Upload release artifacts
uses: softprops/action-gh-release@v2
with:
name: inav-${{ steps.version.outputs.version }}-dev-${{ steps.date.outputs.today }}-${{ github.run_number }}-${{ github.sha }}
tag_name: v${{ steps.version.outputs.version }}-${{ steps.date.outputs.today }}.${{ github.run_number }}
# To create release on a different repo, we need a token setup
token: ${{ secrets.NIGHTLY_TOKEN }}
repository: iNavFlight/inav-nightly
prerelease: true
draft: false
#generate_release_notes: true
make_latest: false
files: |
hexes/*.hex
sitl-resources.zip
body: |
${{ steps.notes.outputs.notes }}
### Flashing
These are nightly builds and configuration settings can be added and removed often. Flashing with Full chip erase is strongly recommended to avoid issues.
Firmware related issues should be opened in the iNavflight/inav repository, not in inav-nightly.
### Repository:
${{ github.repository }} ([link](${{ github.event.repository.html_url }}))
### Branch:
${{ github.ref_name }} ([link](${{ github.event.repository.html_url }}/tree/${{ github.ref_name }}))
### Latest changeset:
${{ github.event.head_commit.id }} ([link](${{ github.event.head_commit.url }}))
### Changes:
${{ github.event.head_commit.message }}

2
.github/workflows/docs.yml vendored
View file

@ -14,7 +14,7 @@ jobs:
runs-on: ubuntu-latest runs-on: ubuntu-latest
steps: steps:
- uses: actions/checkout@v3 - uses: actions/checkout@v4
- name: Install dependencies - name: Install dependencies
run: sudo apt-get update && sudo apt-get -y install python3-yaml run: sudo apt-get update && sudo apt-get -y install python3-yaml
- name: Check that Settings.md is up to date - name: Check that Settings.md is up to date

25
.github/workflows/non-code-change.yaml vendored Normal file
View file

@ -0,0 +1,25 @@
name: Build firmware
# Don't enable CI on push, just on PR. If you
# are working on the main repo and want to trigger
# a CI build submit a draft PR.
on:
pull_request:
paths-ignore:
- 'src/**'
- '.github/**'
- 'cmake/**'
- 'lib/**'
- 'docs/Settings.md'
- 'CMakeLists.txt'
- '*.sh'
jobs:
test:
#needs: [build]
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- name: Install dependencies
run: sudo apt-get update && sudo apt-get -y install ninja-build
- name: Run Tests
run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check

4
.gitignore vendored
View file

@ -1,10 +1,12 @@
*.o *.o
.DS_Store .DS_Store
*~ *~
*.swp
*.uvopt *.uvopt
*.dep *.dep
*.bak *.bak
*.uvgui.* *.uvgui.*
*.ubx
.project .project
.settings .settings
.cproject .cproject
@ -16,6 +18,8 @@ startup_stm32f10x_md_gcc.s
cov-int* cov-int*
/build/ /build/
/build_SITL/ /build_SITL/
/[hs]itl/
/ninja/
/obj/ /obj/
/patches/ /patches/
/tools/ /tools/

1
.vimrc
View file

@ -5,5 +5,6 @@ set expandtab
set bs=2 set bs=2
set sw=4 set sw=4
set ts=4 set ts=4
syn on

34
.vscode/c_cpp_properties.json vendored
View file

@ -3,24 +3,19 @@
{ {
"name": "Linux", "name": "Linux",
"includePath": [ "includePath": [
"${workspaceRoot}/src/main/**", "${workspaceRoot}",
"${workspaceRoot}/lib/main/**", "${workspaceRoot}/src/main/**"
"/usr/include/**"
], ],
"browse": { "browse": {
"limitSymbolsToIncludedHeaders": false, "limitSymbolsToIncludedHeaders": false,
"path": [ "path": [
"${workspaceRoot}/src/main/**", "${workspaceRoot}/**"
"${workspaceRoot}/lib/main/**"
] ]
}, },
"intelliSenseMode": "linux-gcc-arm", "intelliSenseMode": "msvc-x64",
"cStandard": "c11", "cStandard": "c11",
"cppStandard": "c++17", "cppStandard": "c++17",
"defines": [ "defines": [
"MCU_FLASH_SIZE 512",
"USE_NAV",
"NAV_FIXED_WING_LANDING",
"USE_OSD", "USE_OSD",
"USE_GYRO_NOTCH_1", "USE_GYRO_NOTCH_1",
"USE_GYRO_NOTCH_2", "USE_GYRO_NOTCH_2",
@ -34,30 +29,13 @@
"USE_RPM_FILTER", "USE_RPM_FILTER",
"USE_GLOBAL_FUNCTIONS", "USE_GLOBAL_FUNCTIONS",
"USE_DYNAMIC_FILTERS", "USE_DYNAMIC_FILTERS",
"USE_IMU_BNO055",
"USE_SECONDARY_IMU",
"USE_DSHOT", "USE_DSHOT",
"FLASH_SIZE 480", "FLASH_SIZE 480",
"USE_I2C_IO_EXPANDER", "USE_I2C_IO_EXPANDER",
"USE_PCF8574", "USE_PCF8574",
"USE_ESC_SENSOR", "USE_ESC_SENSOR",
"USE_PROGRAMMING_FRAMEWORK", "USE_ADAPTIVE_FILTER",
"USE_SERIALRX_GHST", "MCU_FLASH_SIZE 1024",
"USE_TELEMETRY_GHST",
"USE_CMS",
"USE_DJI_HD_OSD",
"USE_GYRO_KALMAN",
"USE_RANGEFINDER",
"USE_RATE_DYNAMICS",
"USE_SMITH_PREDICTOR",
"USE_ALPHA_BETA_GAMMA_FILTER",
"USE_MAG_VCM5883",
"USE_TELEMETRY_JETIEXBUS",
"USE_NAV",
"USE_SDCARD_SDIO",
"USE_SDCARD",
"USE_Q_TUNE",
"USE_GYRO_FFT_FILTER"
], ],
"configurationProvider": "ms-vscode.cmake-tools" "configurationProvider": "ms-vscode.cmake-tools"
} }

1
CMakeLists.txt
View file

@ -79,6 +79,7 @@ set(COMMON_COMPILE_DEFINITIONS
FC_VERSION_MAJOR=${CMAKE_PROJECT_VERSION_MAJOR} FC_VERSION_MAJOR=${CMAKE_PROJECT_VERSION_MAJOR}
FC_VERSION_MINOR=${CMAKE_PROJECT_VERSION_MINOR} FC_VERSION_MINOR=${CMAKE_PROJECT_VERSION_MINOR}
FC_VERSION_PATCH_LEVEL=${CMAKE_PROJECT_VERSION_PATCH} FC_VERSION_PATCH_LEVEL=${CMAKE_PROJECT_VERSION_PATCH}
FC_VERSION_TYPE="${VERSION_TYPE}"
) )
if (NOT SITL) if (NOT SITL)

9
cmake/at32.cmake
View file

@ -18,6 +18,7 @@ set(CMSIS_DSP_SRC
BasicMathFunctions/arm_scale_f32.c BasicMathFunctions/arm_scale_f32.c
BasicMathFunctions/arm_sub_f32.c BasicMathFunctions/arm_sub_f32.c
BasicMathFunctions/arm_mult_f32.c BasicMathFunctions/arm_mult_f32.c
BasicMathFunctions/arm_offset_f32.c
TransformFunctions/arm_rfft_fast_f32.c TransformFunctions/arm_rfft_fast_f32.c
TransformFunctions/arm_cfft_f32.c TransformFunctions/arm_cfft_f32.c
TransformFunctions/arm_rfft_fast_init_f32.c TransformFunctions/arm_rfft_fast_init_f32.c
@ -26,6 +27,9 @@ set(CMSIS_DSP_SRC
CommonTables/arm_common_tables.c CommonTables/arm_common_tables.c
ComplexMathFunctions/arm_cmplx_mag_f32.c ComplexMathFunctions/arm_cmplx_mag_f32.c
StatisticsFunctions/arm_max_f32.c StatisticsFunctions/arm_max_f32.c
StatisticsFunctions/arm_rms_f32.c
StatisticsFunctions/arm_std_f32.c
StatisticsFunctions/arm_mean_f32.c
) )
list(TRANSFORM CMSIS_DSP_SRC PREPEND "${CMSIS_DSP_DIR}/Source/") list(TRANSFORM CMSIS_DSP_SRC PREPEND "${CMSIS_DSP_DIR}/Source/")
@ -326,6 +330,11 @@ function(target_at32)
math(EXPR hse_value "${hse_mhz} * 1000000") math(EXPR hse_value "${hse_mhz} * 1000000")
list(APPEND target_definitions "HSE_VALUE=${hse_value}") list(APPEND target_definitions "HSE_VALUE=${hse_value}")
if (MSP_UART)
list(APPEND target_definitions "MSP_UART=${MSP_UART}")
endif()
if(args_COMPILE_DEFINITIONS) if(args_COMPILE_DEFINITIONS)
list(APPEND target_definitions ${args_COMPILE_DEFINITIONS}) list(APPEND target_definitions ${args_COMPILE_DEFINITIONS})
endif() endif()

4
cmake/sitl.cmake
View file

@ -99,6 +99,10 @@ function (target_sitl name)
math(EXPR hse_value "${hse_mhz} * 1000000") math(EXPR hse_value "${hse_mhz} * 1000000")
list(APPEND target_definitions "HSE_VALUE=${hse_value}") list(APPEND target_definitions "HSE_VALUE=${hse_value}")
if (MSP_UART)
list(APPEND target_definitions "MSP_UART=${MSP_UART}")
endif()
string(TOLOWER ${PROJECT_NAME} lowercase_project_name) string(TOLOWER ${PROJECT_NAME} lowercase_project_name)
set(binary_name ${lowercase_project_name}_${FIRMWARE_VERSION}_${name}) set(binary_name ${lowercase_project_name}_${FIRMWARE_VERSION}_${name})
if(DEFINED BUILD_SUFFIX AND NOT "" STREQUAL "${BUILD_SUFFIX}") if(DEFINED BUILD_SUFFIX AND NOT "" STREQUAL "${BUILD_SUFFIX}")

9
cmake/stm32.cmake
View file

@ -19,6 +19,7 @@ set(CMSIS_DSP_SRC
BasicMathFunctions/arm_scale_f32.c BasicMathFunctions/arm_scale_f32.c
BasicMathFunctions/arm_sub_f32.c BasicMathFunctions/arm_sub_f32.c
BasicMathFunctions/arm_mult_f32.c BasicMathFunctions/arm_mult_f32.c
BasicMathFunctions/arm_offset_f32.c
TransformFunctions/arm_rfft_fast_f32.c TransformFunctions/arm_rfft_fast_f32.c
TransformFunctions/arm_cfft_f32.c TransformFunctions/arm_cfft_f32.c
TransformFunctions/arm_rfft_fast_init_f32.c TransformFunctions/arm_rfft_fast_init_f32.c
@ -27,6 +28,9 @@ set(CMSIS_DSP_SRC
CommonTables/arm_common_tables.c CommonTables/arm_common_tables.c
ComplexMathFunctions/arm_cmplx_mag_f32.c ComplexMathFunctions/arm_cmplx_mag_f32.c
StatisticsFunctions/arm_max_f32.c StatisticsFunctions/arm_max_f32.c
StatisticsFunctions/arm_rms_f32.c
StatisticsFunctions/arm_std_f32.c
StatisticsFunctions/arm_mean_f32.c
) )
list(TRANSFORM CMSIS_DSP_SRC PREPEND "${CMSIS_DSP_DIR}/Source/") list(TRANSFORM CMSIS_DSP_SRC PREPEND "${CMSIS_DSP_DIR}/Source/")
@ -333,6 +337,11 @@ function(target_stm32)
math(EXPR hse_value "${hse_mhz} * 1000000") math(EXPR hse_value "${hse_mhz} * 1000000")
list(APPEND target_definitions "HSE_VALUE=${hse_value}") list(APPEND target_definitions "HSE_VALUE=${hse_value}")
if (MSP_UART)
list(APPEND target_definitions "MSP_UART=${MSP_UART}")
endif()
if(args_COMPILE_DEFINITIONS) if(args_COMPILE_DEFINITIONS)
list(APPEND target_definitions ${args_COMPILE_DEFINITIONS}) list(APPEND target_definitions ${args_COMPILE_DEFINITIONS})
endif() endif()

3
docs/Battery.md
View file

@ -201,7 +201,6 @@ Up to 3 battery profiles are supported. You can select the battery profile from
- `vbat_max_cell_voltage` - `vbat_max_cell_voltage`
- `vbat_warning_cell_voltage` - `vbat_warning_cell_voltage`
- `vbat_min_cell_voltage` - `vbat_min_cell_voltage`
- `battery_capacity_unit`
- `battery_capacity` - `battery_capacity`
- `battery_capacity_warning` - `battery_capacity_warning`
- `battery_capacity_critical` - `battery_capacity_critical`
@ -253,7 +252,6 @@ feature BAT_PROF_AUTOSWITCH
battery_profile 1 battery_profile 1
set bat_cells = 3 set bat_cells = 3
set battery_capacity_unit = MAH
set battery_capacity = 2200 set battery_capacity = 2200
set battery_capacity_warning = 440 set battery_capacity_warning = 440
set battery_capacity_critical = 220 set battery_capacity_critical = 220
@ -262,7 +260,6 @@ set battery_capacity_critical = 220
battery_profile 2 battery_profile 2
set bat_cells = 4 set bat_cells = 4
set battery_capacity_unit = MAH
set battery_capacity = 1500 set battery_capacity = 1500
set battery_capacity_warning = 300 set battery_capacity_warning = 300
set battery_capacity_critical = 150 set battery_capacity_critical = 150

50
docs/Betaflight 4.3 compatible OSD.md
View file

@ -1,50 +0,0 @@
# Betaflight 4.3 compatible MSP DisplayPort OSD (DJI O3 "Canvas Mode")
INAV 6.0 includes a special mode for MSP DisplayPort that supports incomplete implementations of MSP DisplayPort that only support BetaFlight, like the DJI O3 Air Unit. INAV 6.1 expands this to include HD canvas sizes from BetaFlight 4.4.
Different flight controllers have different OSD symbols and elements and require different fonts. BetaFlight's font is a single page and supports a maximum of 256 glyphs, INAV's font is currently 2 pages and supports up to 512 different glyphs.
While there is some overlap between the glyphs in BetaFlight and INAV, it is not possible to perform a 1 to 1 mapping for all the them. In cases where there is no suitable glyph in the BetaFlight font, a question mark `?` will be displayed.
This mode can be enabled by selecting BF43COMPAT or BFHDCOMPAT as video format in the OSD tab of the configurator or by typing the following command on the CLI:
`set osd_video_system = BF43COMPAT`
or
`set osd_video_system = BFHDCOMPAT`
## Limitations
* Canvas size needs to be manually changed to HD on the Display menu in DJI's goggles (you may need a firmware update) and set as BFHDCOMPAT in the OSD tab of the configurator.
* Unsupported Glyphs show up as `?`
## FAQ
### I see a lot of `?` on my OSD.
That is expected, when your INAV OSD widgets use glyphs that don't have a suitable mapping in BetaFlight's font.
### Does it work with the G2 and Original Air Unit/Vista?
Yes.
### Is this a replacement for WTFOS?
Not exactly. WTFOS is a full implementation of MSP-Displayport for rooted Air Unit/Vista/Googles V2 and actually works much better than BetaFlight compatibility mode, being able to display all INAV's glyphs.
### Can INAV fix DJI's product?
No. OSD renderinng happens on the googles/air unit side of things. Please ask DJI to fix their incomplete MSP DisplayPort implemenation. You can probably request it in [DJI's forum](https://forum.dji.com/forum.php?mod=forumdisplay&fid=129&filter=typeid&typeid=767).
### BetaFlight X.Y now has more symbols, can you update INAV?
Maybe. If a future version of BetaFlight includes more Glyphs that can be mapped into INAV it is fairly simple to add the mapping, but the problem with DJI's implemenation persists. Even if we update the mapping, if DJI does not update the fonts on their side the problem will persist.
### Can you replace glyph `X` with text `x description`?
While it might technically be possible to replace some glyphs with text in multiple cells, it will introduce a lot of complexity in the OSD rendering and configuration for something we hope is a temporary workaround.
### Does DJI support Canvas Mode?
Actually, no. What DJI calls Canvas Mode is actually MSP DisplayPort and is a character based OSD.

79
docs/Broken USB recovery.md Normal file
View file

@ -0,0 +1,79 @@
# Broken USB recovery
It is possible to flash INAV without USB over UART 1 or 3.
## Prerequisites:
- USB/UART adapter (FT232, CP2102, etc.)
- STM32 Cube Programmer (https://www.st.com/en/development-tools/stm32cubeprog.html)
To gain access to the FC via Configurator, MSP must be activated on a UART as standard. Some FCs already have this enabled by default, if not a custom firmware must be created.
The following targets have MSP activated on a UART by default:
| Target | Standard MSP Port |
|-----------| ----------- |
| AOCODARCF4V3 | UART5 |
| ATOMRCF405NAVI_DELUXE | UART1 |
| FF_F35_LIGHTNING | UART1 |
| FLYCOLORF7V2 | UART4 |
| GEPRCF405_BT_HD | UART5* |
| GEPRCF722_BT_HD | UART4* |
| IFLIGHT_BLITZ_F7_AIO | UART1 |
| JHEMCUF405WING | UART6 |
| JHEMCUH743HD | UART4 |
| KAKUTEH7 | UART1 and UART2* |
| KAKUTEH7WING | UART6 |
| MAMBAF405_2022A | UART4 |
| MAMBAF405US | UART4 |
| MAMBAF722 | UART4 |
| MAMBAF722 APP | UART4*|
| MAMBAF722WING | UART4 |
| MAMBAF722_X8 | UART4 |
| MAMBAH743 | UART4* |
| MATEKF405SE | UART1 |
| NEUTRONRCH743BT | UART3* |
| SDMODELH7V1 | UART1 and UART2 |
| SKYSTARSH743HD | UART4 |
| SPEEDYBEEF4 | UART5* |
| SPEEDYBEEF405MINI | UART4* |
| SPEEDYBEEF405V3 | UART4* |
| SPEEDYBEEF405V4 | UART4* |
| SPEEDYBEEF405WING | UART6 |
| SPEEDYBEEF7 | UART6 |
| SPRACINGF4EVO | UART1 |
| TMOTORF7V2 | UART5 |
(*) No Pads/Pins, Port is used interally (Bluetooth)
## Custom firmware:
If the FC does not have MSP activated on a UART by default or does not have a connector for it, a custom firmware must be built.
The following procedure describes the process under Windows 10/11:
Please read [Building in Windows 2010 or 11 with Linux Subsystem](https://github.com/iNavFlight/inav/blob/master/docs/development/Building%20in%20Windows%2010%20or%2011%20with%20Linux%20Subsystem.md)
and follow the instructions up to "Building with Make".
In the step 'prepare build environment' add the option `-DMSP_UART=SERIAL_PORT_USARTX` to `cmake`
Replace the X in SERIAL_PORT_USARTX with the number of UART/serial port on which MSP is to be activated.
Example:
For UART 2: `cmake -DMSP_UART=SERIAL_PORT_USART2 ..`
For UART 3: `cmake -DMSP_UART=SERIAL_PORT_USART3 ..`
etc.
Build the firmware as described in the document above (`make [YOUR_TARGET]`).
## Flashing via Uart:
1. Disconnect ALL peripherals and the USB Cable from the FC. To power the FC use a battery or use the 5V provided from the USB/Serial Converter.
2. Connect UART 1 or 3 (other UARTS will not work) and GND to the USB/Serial converter (RX -> TX, TX -> RX)
3. Keep the boot/dfu button pressed
4. Switch on the FC / supply with power
5. Start STM32 CubeProgrammer and go to "Erasing & Programming", second option in the menu.
6. Select UART (blue dropdown field) and select the COM port of the USB/Serial adapter and press "Connect". The corresponding processor should now be displayed below.
7. Click on "Full flash erase". This is also necessary if you are flashing the same firmware version that was previously on the FC, otherwise MSP may not be activated on the UART.
8. Under "Download" load the previously created firmware (`INAV_X.X.X_[Your Target].hex`) or the standard firmware if UART is already activated there. The option "Verify programming" is optional but recommended. Make sure that "Skip flash erase while programming" is NOT activated.
9. Click "Start Programming"
After the process is completed, switch the FC off and on again and then the Configurator can connect to the FC via USB/serial adapter and the previously configured UART.

4
docs/Cli.md
View file

@ -71,7 +71,7 @@ While connected to the CLI, all Logical Switches are temporarily disabled (5.1.0
| `batch` | Start or end a batch of commands | | `batch` | Start or end a batch of commands |
| `battery_profile` | Change battery profile | | `battery_profile` | Change battery profile |
| `beeper` | Show/set beeper (buzzer) [usage](Buzzer.md) | | `beeper` | Show/set beeper (buzzer) [usage](Buzzer.md) |
| `bind_rx` | Initiate binding for RX SPI or SRXL2 | | `bind_rx` | Initiate binding for SRXL2 or CRSF receivers |
| `blackbox` | Configure blackbox fields | | `blackbox` | Configure blackbox fields |
| `bootlog` | Show boot events | | `bootlog` | Show boot events |
| `color` | Configure colors | | `color` | Configure colors |
@ -157,6 +157,8 @@ A shorter form is also supported to enable and disable a single function using `
| TELEMETRY_SMARTPORT_MASTER | 23 | 8388608 | | TELEMETRY_SMARTPORT_MASTER | 23 | 8388608 |
| UNUSED | 24 | 16777216 | | UNUSED | 24 | 16777216 |
| MSP_DISPLAYPORT | 25 | 33554432 | | MSP_DISPLAYPORT | 25 | 33554432 |
| GIMBAL_SERIAL | 26 | 67108864 |
| HEADTRACKER_SERIAL | 27 | 134217728 |
Thus, to enable MSP and LTM on a port, one would use the function **value** of 17 (1 << 0)+(1<<4), aka 1+16, aka 17. Thus, to enable MSP and LTM on a port, one would use the function **value** of 17 (1 << 0)+(1<<4), aka 1+16, aka 17.

49
docs/Profiles.md → docs/Control Profiles.md
View file

@ -1,56 +1,59 @@
# Profiles # Control Profiles
A profile is a set of configuration settings. A profile is a set of configuration settings.
Currently three profiles are supported. The default profile is profile `1`. Currently, INAV gives you three control profiles. The default control profile is `1`.
## Changing profiles ## Changing contorl profiles
### Stick Commands ### Stick Commands
Profiles can be selected using a GUI or the following stick combinations: Control profiles can be selected using a GUI or the following stick combinations:
| Profile | Throttle | Yaw | Pitch | Roll | | Profile # | Throttle | Yaw | Pitch | Roll |
| ------- | -------- | ----- | ------ | ------ | | -------- | -------- | ----- | ------ | ------ |
| 1 | Down | Left | Middle | Left | | 1 | Down | Left | Middle | Left |
| 2 | Down | Left | Up | Middle | | 2 | Down | Left | Up | Middle |
| 3 | Down | Left | Middle | Right | | 3 | Down | Left | Middle | Right |
### CLI ### CLI
The CLI `profile` command can also be used to change profiles: The CLI `control_profile` command can also be used to change control profiles:
``` ```
profile <index> control_profile <index>
``` ```
### Programming (4.0.0 onwards) ### Programming (4.0.0 onwards)
You can change profiles using the programming frame work. This allows a lot of flexability in how you change profiles. You can change control profiles using the programming frame work. This allows a lot of flexability in how you change profiles.
For example, using a simple switch on channel 15. For example, using a simple switch on channel 15.
[![For example, using a simple switch](https://i.imgur.com/SS9CaaOl.png)](https://i.imgur.com/SS9CaaO.png) [![For example, using a simple switch](https://i.imgur.com/SS9CaaOl.png)](https://i.imgur.com/SS9CaaO.png)
Or using the speed to change profiles. In this example: Or using the speed to change control profiles. In this example:
- when lower than 25 cm/s (basically not flying), profiles are not effected. - when lower than 25 cm/s (basically not flying), control profiles are not effected.
- Below 2682 cm/s (60 mph | 97 Km/h) use Profile 1 - Below 2682 cm/s (60 mph | 97 Km/h) use control profile 1
- Above 5364 cm/s (120 mph | 193 Km/h) use Profile 3 - Above 5364 cm/s (120 mph | 193 Km/h) use control profile 3
- Between 2683 and 5364 cm/s, use Profile 2 - Between 2683 and 5364 cm/s, use control profile 2
[![Using speed to change profiles](https://i.imgur.com/WjkuhhWl.png)](https://i.imgur.com/WjkuhhW.png) [![Using speed to change profiles](https://i.imgur.com/WjkuhhWl.png)](https://i.imgur.com/WjkuhhW.png)
#### Configurator use with profile changing logic. > [!NOTE]
> From INAV 8.0, the programming framework operator is **Set Control Profile** and the **Flight** Operand is **Active Control Profile**. Pre-INAV 8.0, they were **Set Profile** and **Active Profile** respectively.
If you have logic conditions that change the profiles. You may find that if you manually change the profile using the drop down boxes in the top right of Configurator; that they switch back to a different profile. This is because the logic conditions are still running in the background. If this is the case, the simplest solutuion is to temporarily disable the switches that trigger the `set profile` operations. Remember to re-enable these switches after you have made your changes. #### Configurator use with control profile changing logic.
If you have logic conditions that change the profiles. You may find that if you manually change the control profile; using the drop down boxes in the top right of Configurator. That they switch back to a different control profile. This is because the logic conditions are still running in the background. If this is the case, the simplest solutuion is to temporarily disable the switches that trigger the `Set Control Profile` operations. Remember to re-enable these switches after you have made your changes.
[![Disabled SET PROFILE switches](https://i.imgur.com/AeH9ll7l.png)](https://i.imgur.com/AeH9ll7.png) [![Disabled SET PROFILE switches](https://i.imgur.com/AeH9ll7l.png)](https://i.imgur.com/AeH9ll7.png)
## Profile Contents ## Profile Contents
The values contained within a profile can be seen by using the CLI `dump profile` command. The values contained within a control profile can be seen by using the CLI `dump control_profile` command.
e.g e.g
``` ```
# dump profile # dump control_profile
# profile # control_profile
profile 1 control_profile 1
set mc_p_pitch = 40 set mc_p_pitch = 40
set mc_i_pitch = 30 set mc_i_pitch = 30

6
docs/Controls.md
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@ -23,9 +23,9 @@ The stick positions are combined to activate different functions:
| Function | Throttle | Yaw | Pitch | Roll | | Function | Throttle | Yaw | Pitch | Roll |
| ----------------------------- | -------- | ------- | ------ | ------ | | ----------------------------- | -------- | ------- | ------ | ------ |
| Profile 1 | LOW | LOW | CENTER | LOW | | Control Profile 1 | LOW | LOW | CENTER | LOW |
| Profile 2 | LOW | LOW | HIGH | CENTER | | Control Profile 2 | LOW | LOW | HIGH | CENTER |
| Profile 3 | LOW | LOW | CENTER | HIGH | | Control Profile 3 | LOW | LOW | CENTER | HIGH |
| Battery profile 1 | HIGH | LOW | CENTER | LOW | | Battery profile 1 | HIGH | LOW | CENTER | LOW |
| Battery profile 2 | HIGH | LOW | HIGH | CENTER | | Battery profile 2 | HIGH | LOW | HIGH | CENTER |
| Battery profile 3 | HIGH | LOW | CENTER | HIGH | | Battery profile 3 | HIGH | LOW | CENTER | HIGH |

50
docs/DJI compatible OSD.md Normal file
View file

@ -0,0 +1,50 @@
# DJI compatible MSP DisplayPort OSD (DJI O3 "Canvas Mode")
INAV 6.0 includes a special mode for MSP DisplayPort that supports DJI's incomplete implementations of MSP DisplayPort. This can be found on products like the DJI O3 Air Unit. INAV 6.1 expands this to include HD canvas sizes from BetaFlight 4.4.
Different flight controller firmware have different OSD symbols and elements and require different fonts. BetaFlight's font is a single page and supports a maximum of 256 glyphs, INAV's font is currently 2 pages and supports up to 512 different glyphs. DJI's font is single page and based, but not the same as, BetaFlight's font.
While there is some overlap between the glyphs in DJI and INAV, it is not possible to perform a 1 to 1 mapping for all the them. In cases where there is no suitable glyph in the DJI font, a question mark `?` will be displayed.
This mode can be enabled by selecting DJI43COMPAT or DJIHDCOMPAT as video format in the OSD tab of the configurator or by typing the following command on the CLI:
`set osd_video_system = DJI43COMPAT`
or
`set osd_video_system = DJIHDCOMPAT`
## Limitations
* Canvas size needs to be manually changed to HD on the Display menu in DJI's goggles (you may need a firmware update) and set as DJIHDCOMPAT in the OSD tab of the configurator.
* Unsupported Glyphs show up as `?`
## FAQ
### I see a lot of `?` on my OSD.
That is expected. When your INAV OSD widgets use glyphs that don't have a suitable mapping in DJI's font.
### Does it work with the G2 and Original Air Unit/Vista?
Yes.
### Is this a replacement for WTFOS?
Not exactly. WTFOS is a full implementation of MSP-Displayport for rooted Air Unit/Vista/Googles V2 and actually works much better than DJI compatibility mode. It can use all of INAV's OSD elements as intended. If you have the option of WTFOS or DJI compatability mode. WTFOS is the best option.
### Can INAV fix DJI's product?
No. OSD renderinng happens on the googles/air unit side of things. Please ask DJI to fix their incomplete MSP DisplayPort implemenation. You can probably request it in [DJI's forum](https://forum.dji.com/forum.php?mod=forumdisplay&fid=129&filter=typeid&typeid=767). To see what you're missing out on with O3. Check out what WTFOS did with the original system. Not only could the pilots upload the fonts of their choosing (who doesn't want a cool SneakyFPV font on their OSD). But there were no problems supporting and firmware. Plus, there was even an option to save the OSD to a file and overlay that over your DVR video. If you're reading this far. Please recommend to DJI that they fix their product, to at least what was possible with WTFOS.
### DJI's font now has more symbols, can you update INAV?
Maybe. If a future version of DJI's font includes more Glyphs that can be mapped into INAV. It is fairly simple to add the mapping. However, the best solution would be full support of MSP DisplayPort by DJI. Then there will never be an issue with missing icons. As the latest INAV font would be able to be uploaded on to the goggles.
### Can you replace glyph `X` with text `x description`?
While it might technically be possible to replace some glyphs with text in multiple cells, it will introduce a lot of complexity in the OSD rendering and configuration for something we hope is a temporary workaround.
### Does DJI support Canvas Mode?
Actually, no. What DJI calls Canvas Mode is actually MSP DisplayPort and is a character based OSD. Currently, the only true implementaion of Canvas Mode is with FrSKY PixelOSD. This was found on some F722 flight controllers from Matek.

228
docs/Programming Framework.md
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@ -44,13 +44,13 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
| Operation ID | Name | Notes | | Operation ID | Name | Notes |
|---------------|-------------------------------|-------| |---------------|-------------------------------|-------|
| 0 | TRUE | Always evaluates as true | | 0 | True | Always evaluates as true |
| 1 | EQUAL | Evaluates `false` if `false` or `0` | | 1 | Equal (A=B) | Evaluates `false` if `false` or `0` |
| 2 | GREATER_THAN | `true` if `Operand A` is a higher value than `Operand B` | | 2 | Greater Than (A>B) | `true` if `Operand A` is a higher value than `Operand B` |
| 3 | LOWER_THAN | `true` if `Operand A` is a lower value than `Operand B` | | 3 | Lower Than (A<B) | `true` if `Operand A` is a lower value than `Operand B` |
| 4 | LOW | `true` if `<1333` | | 4 | Low | `true` if `<1333` |
| 5 | MID | `true` if `>=1333 and <=1666` | | 5 | Mid | `true` if `>=1333 and <=1666` |
| 6 | HIGH | `true` if `>1666` | | 6 | High | `true` if `>1666` |
| 7 | AND | `true` if `Operand A` and `Operand B` are the same value or both `true` | | 7 | AND | `true` if `Operand A` and `Operand B` are the same value or both `true` |
| 8 | OR | `true` if `Operand A` and/or `OperandB` is `true` | | 8 | OR | `true` if `Operand A` and/or `OperandB` is `true` |
| 9 | XOR | `true` if `Operand A` or `Operand B` is `true`, but not both | | 9 | XOR | `true` if `Operand A` or `Operand B` is `true`, but not both |
@ -58,105 +58,109 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
| 11 | NOR | `true` if `Operand A` and `Operand B` are both `false` | | 11 | NOR | `true` if `Operand A` and `Operand B` are both `false` |
| 12 | NOT | The boolean opposite to `Operand A` | | 12 | NOT | The boolean opposite to `Operand A` |
| 13 | Sticky | `Operand A` is the activation operator, `Operand B` is the deactivation operator. After the activation is `true`, the operator will return `true` until Operand B is evaluated as `true`| | 13 | Sticky | `Operand A` is the activation operator, `Operand B` is the deactivation operator. After the activation is `true`, the operator will return `true` until Operand B is evaluated as `true`|
| 14 | Basic: Add | Add `Operand A` to `Operand B` and returns the result | | 14 | Basic: Add | Add `Operand A` to `Operand B` and returns the result |
| 15 | Basic: Subtract | Substract `Operand B` from `Operand A` and returns the result | | 15 | Basic: Subtract | Substract `Operand B` from `Operand A` and returns the result |
| 16 | Basic: Multiply | Multiply `Operand A` by `Operand B` and returns the result | | 16 | Basic: Multiply | Multiply `Operand A` by `Operand B` and returns the result |
| 17 | Basic: Divide | Divide `Operand A` by `Operand B` and returns the result | | 17 | Basic: Divide | Divide `Operand A` by `Operand B` and returns the result |
| 18 | Set GVAR | Store value from `Operand B` into the Global Variable addressed by | 18 | Set GVAR | Store value from `Operand B` into the Global Variable addressed by
`Operand A`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` | `Operand A`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` |
| 19 | Increase GVAR | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` | | 19 | Increase GVAR | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` |
| 20 | Decrease GVAR | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` | | 20 | Decrease GVAR | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` |
| 21 | Set IO Port | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` | | 21 | Set IO Port | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
| 22 | OVERRIDE_ARMING_SAFETY | Allows the craft to arm on any angle even without GPS fix. WARNING: This bypasses all safety checks, even that the throttle is low, so use with caution. If you only want to check for certain conditions, such as arm without GPS fix. You will need to add logic conditions to check the throttle is low. | | 22 | Override Arming Safety | Allows the craft to arm on any angle even without GPS fix. WARNING: This bypasses all safety checks, even that the throttle is low, so use with caution. If you only want to check for certain conditions, such as arm without GPS fix. You will need to add logic conditions to check the throttle is low. |
| 23 | OVERRIDE_THROTTLE_SCALE | Override throttle scale to the value defined by operand. Operand type `0` and value `50` means throttle will be scaled by 50%. | | 23 | Override Throttle Scale | Override throttle scale to the value defined by operand. Operand type `0` and value `50` means throttle will be scaled by 50%. |
| 24 | SWAP_ROLL_YAW | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes | | 24 | Swap Roll & Yaw | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes |
| 25 | SET_VTX_POWER_LEVEL | Sets VTX power level. Accepted values are `0-3` for SmartAudio and `0-4` for Tramp protocol | | 25 | Set VTx Power Level | Sets VTX power level. Accepted values are `0-3` for SmartAudio and `0-4` for Tramp protocol |
| 26 | INVERT_ROLL | Inverts ROLL axis input for PID/PIFF controller | | 26 | Invert Roll | Inverts ROLL axis input for PID/PIFF controller |
| 27 | INVERT_PITCH | Inverts PITCH axis input for PID/PIFF controller | | 27 | Invert Pitch | Inverts PITCH axis input for PID/PIFF controller |
| 28 | INVERT_YAW | Inverts YAW axis input for PID/PIFF controller | | 28 | Invert Yaw | Inverts YAW axis input for PID/PIFF controller |
| 29 | OVERRIDE_THROTTLE | Override throttle value that is fed to the motors by mixer. Operand is scaled in us. `1000` means throttle cut, `1500` means half throttle | | 29 | Override Throttlw | Override throttle value that is fed to the motors by mixer. Operand is scaled in us. `1000` means throttle cut, `1500` means half throttle |
| 30 | SET_VTX_BAND | Sets VTX band. Accepted values are `1-5` | | 30 | Set VTx Band | Sets VTX band. Accepted values are `1-5` |
| 31 | SET_VTX_CHANNEL | Sets VTX channel. Accepted values are `1-8` | | 31 | Set VTx Channel | Sets VTX channel. Accepted values are `1-8` |
| 32 | SET_OSD_LAYOUT | Sets OSD layout. Accepted values are `0-3` | | 32 | Set OSD Layout | Sets OSD layout. Accepted values are `0-3` |
| 33 | Trigonometry: Sine | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` | | 33 | Trigonometry: Sine | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
| 34 | Trigonometry: Cosine | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` | | 34 | Trigonometry: Cosine | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
| 35 | Trigonometry: Tangent | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` | | 35 | Trigonometry: Tangent | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
| 36 | MAP_INPUT | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled | | 36 | Map Input | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled |
| 37 | MAP_OUTPUT | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled | | 37 | Map Output | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled |
| 38 | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B`. Note operand A should normally be set as a "Value", NOT as "Get RC Channel"| | 38 | Override RC Channel | Overrides channel set by `Operand A` to value of `Operand B`. Note operand A should normally be set as a "Value", NOT as "Get RC Channel"|
| 39 | SET_HEADING_TARGET | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. | | 39 | Set Heading Target | Sets heading-hold target to `Operand A`, in centidegrees. Value wraps-around. |
| 40 | Modulo | Modulo. Divide `Operand A` by `Operand B` and returns the remainder | | 40 | Modulo | Modulo. Divide `Operand A` by `Operand B` and returns the remainder |
| 41 | LOITER_RADIUS_OVERRIDE | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. If the value is lower than the loiter radius set in the **Advanced Tuning**, that will be used. | | 41 | Override Loiter Radius | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. Must be larger than the loiter radius set in the **Advanced Tuning**. |
| 42 | SET_PROFILE | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change | | 42 | Set Control Profile | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
| 43 | Use Lowest Value | Finds the lowest value of `Operand A` and `Operand B` | | 43 | Use Lowest Value | Finds the lowest value of `Operand A` and `Operand B` |
| 44 | Use Highest Value | Finds the highest value of `Operand A` and `Operand B` | | 44 | Use Highest Value | Finds the highest value of `Operand A` and `Operand B` |
| 45 | FLIGHT_AXIS_ANGLE_OVERRIDE | Sets the target attitude angle for axis. In other words, when active, it enforces Angle mode (Heading Hold for Yaw) on this axis (Angle mode does not have to be active). `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the angle in degrees | | 45 | Flight Axis Angle Override | Sets the target attitude angle for axis. In other words, when active, it enforces Angle mode (Heading Hold for Yaw) on this axis (Angle mode does not have to be active). `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the angle in degrees |
| 46 | FLIGHT_AXIS_RATE_OVERRIDE | Sets the target rate (rotation speed) for axis. `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the rate in degrees per second | | 46 | Flight Axis Rate Override | Sets the target rate (rotation speed) for axis. `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the rate in degrees per second |
| 47 | EDGE | Momentarily true when triggered by `Operand A`. `Operand A` is the activation operator [`boolean`], `Operand B` _(Optional)_ is the time for the edge to stay active [ms]. After activation, operator will return `true` until the time in Operand B is reached. If a pure momentary edge is wanted. Just leave `Operand B` as the default `Value: 0` setting. | | 47 | Edge | Momentarily true when triggered by `Operand A`. `Operand A` is the activation operator [`boolean`], `Operand B` _(Optional)_ is the time for the edge to stay active [ms]. After activation, operator will return `true` until the time in Operand B is reached. If a pure momentary edge is wanted. Just leave `Operand B` as the default `Value: 0` setting. |
| 48 | DELAY | Delays activation after being triggered. This will return `true` when `Operand A` _is_ true, and the delay time in `Operand B` [ms] has been exceeded. | | 48 | Delay | Delays activation after being triggered. This will return `true` when `Operand A` _is_ true, and the delay time in `Operand B` [ms] has been exceeded. |
| 49 | TIMER | A simple on - off timer. `true` for the duration of `Operand A` [ms]. Then `false` for the duration of `Operand B` [ms]. | | 49 | Timer | A simple on - off timer. `true` for the duration of `Operand A` [ms]. Then `false` for the duration of `Operand B` [ms]. |
| 50 | DELTA | This returns `true` when the value of `Operand A` has changed by the value of `Operand B` or greater within 100ms. | | 50 | Delta (|A| >= B) | This returns `true` when the value of `Operand A` has changed by the value of `Operand B` or greater within 100ms. |
| 51 | APPROX_EQUAL | `true` if `Operand B` is within 1% of `Operand A`. | | 51 | Approx Equals (A ~ B) | `true` if `Operand B` is within 1% of `Operand A`. |
| 52 | LED_PIN_PWM | Value `Operand A` from [`0` : `100`] starts PWM generation on LED Pin. See [LED pin PWM](LED%20pin%20PWM.md). Any other value stops PWM generation (stop to allow ws2812 LEDs updates in shared modes)| | 52 | LED Pin PWM | Value `Operand A` from [`0` : `100`] starts PWM generation on LED Pin. See [LED pin PWM](LED%20pin%20PWM.md). Any other value stops PWM generation (stop to allow ws2812 LEDs updates in shared modes). |
| 53 | Disable GPS Sensor Fix | Disables the GNSS sensor fix. For testing GNSS failure. |
| 54 | Mag calibration | Trigger a magnetometer calibration. |
### Operands ### Operands
| Operand Type | Name | Notes | | Operand Type | Name | Notes |
|---------------|-----------------------|-------| |---------------|-----------------------|-------|
| 0 | VALUE | Value derived from `value` field | | 0 | Value | Value derived from `value` field |
| 1 | GET_RC_CHANNEL | `value` points to RC channel number, indexed from 1 | | 1 | Get RC Channel | `value` points to RC channel number, indexed from 1 |
| 2 | FLIGHT | `value` points to flight parameter table | | 2 | Flight | `value` points to **Flight** Parameters table |
| 3 | FLIGHT_MODE | `value` points to flight modes table | | 3 | Flight Mode | `value` points to **Flight_Mode** table |
| 4 | LC | `value` points to other logic condition ID | | 4 | Logic Condition | `value` points to other logic condition ID |
| 5 | GVAR | Value stored in Global Variable indexed by `value`. `GVAR 1` means: value in GVAR 1 | | 5 | Get Global Variable | Value stored in Global Variable indexed by `value`. `GVAR 1` means: value in GVAR 1 |
| 5 | PID | Output of a Programming PID indexed by `value`. `PID 1` means: value in PID 1 | | 5 | Programming PID | Output of a Programming PID indexed by `value`. `PID 1` means: value in PID 1 |
| 6 | Waypoints | `value` points to the **Waypoint** parameter table |
#### FLIGHT #### Flight Parameters
| Operand Value | Name | Notes | | Operand Value | Name | Notes |
|---------------|-------------------------------|-------| |---------------|---------------------------------------|-------|
| 0 | ARM_TIMER | in `seconds` | | 0 | ARM Timer [s] | Time since armed in `seconds` |
| 1 | HOME_DISTANCE | in `meters` | | 1 | Home Distance [m] | distance from home in `meters` |
| 2 | TRIP_DISTANCE | in `meters` | | 2 | Trip distance [m] | Trip distance in `meters` |
| 3 | RSSI | | | 3 | RSSI | |
| 4 | VBAT | in `Volts * 100`, eg. `12.1V` is `1210` | | 4 | Vbat [centi-Volt] [1V = 100] | VBAT Voltage in `Volts * 100`, eg. `12.1V` is `1210` |
| 5 | CELL_VOLTAGE | in `Volts * 100`, eg. `12.1V` is `1210` | | 5 | Cell voltage [centi-Volt] [1V = 100] | Average cell voltage in `Volts * 100`, eg. `12.1V` is `1210` |
| 6 | CURRENT | in `Amps * 100`, eg. `9A` is `900` | | 6 | Current [centi-Amp] [1A = 100] | Current in `Amps * 100`, eg. `9A` is `900` |
| 7 | MAH_DRAWN | in `mAh` | | 7 | Current drawn [mAh] | Total used current in `mAh` |
| 8 | GPS_SATS | | | 8 | GPS Sats | |
| 9 | GROUD_SPEED | in `cm/s` | | 9 | Ground speed [cm/s] | Ground speed in `cm/s` |
| 10 | 3D_SPEED | in `cm/s` | | 10 | 3D speed [cm/s] | 3D speed in `cm/s` |
| 11 | AIR_SPEED | in `cm/s` | | 11 | Air speed [cm/s] | Air speed in `cm/s` |
| 12 | ALTITUDE | in `cm` | | 12 | Altitude [cm] | Altitude in `cm` |
| 13 | VERTICAL_SPEED | in `cm/s` | | 13 | Vertical speed [cm/s] | Vertical speed in `cm/s` |
| 14 | TROTTLE_POS | in `%` | | 14 | Throttle position [%] | Throttle position in `%` |
| 15 | ATTITUDE_ROLL | in `degrees` | | 15 | Roll [deg] | Roll attitude in `degrees` |
| 16 | ATTITUDE_PITCH | in `degrees` | | 16 | Pitch [deg] | Pitch attitude in `degrees` |
| 17 | IS_ARMED | boolean `0`/`1` | | 17 | Is Armed | Is the system armed? boolean `0`/`1` |
| 18 | IS_AUTOLAUNCH | boolean `0`/`1` | | 18 | Is Autolaunch | Is auto launch active? boolean `0`/`1` |
| 19 | IS_ALTITUDE_CONTROL | boolean `0`/`1` | | 19 | Is Controlling Altitude | Is altitude being controlled? boolean `0`/`1` |
| 20 | IS_POSITION_CONTROL | boolean `0`/`1` | | 20 | Is Controlling Position | Is the position being controlled? boolean `0`/`1` |
| 21 | IS_EMERGENCY_LANDING | boolean `0`/`1` | | 21 | Is Emergency Landing | Is the aircraft emergency landing? boolean `0`/`1` |
| 22 | IS_RTH | boolean `0`/`1` | | 22 | Is RTH | Is RTH active? boolean `0`/`1` |
| 23 | IS_LANDING | boolean `0`/`1` | | 23 | Is Landing | Is the aircaft automatically landing? boolean `0`/`1` |
| 24 | IS_FAILSAFE | boolean `0`/`1` | | 24 | Is Failsafe | Is the flight controller in a failsafe? boolean `0`/`1` |
| 25 | STABILIZED_ROLL | Roll PID controller output `[-500:500]` | | 25 | Stabilized Roll | Roll PID controller output `[-500:500]` |
| 26 | STABILIZED_PITCH | Pitch PID controller output `[-500:500]` | | 26 | Stabilized Pitch | Pitch PID controller output `[-500:500]` |
| 27 | STABILIZED_YAW | Yaw PID controller output `[-500:500]` | | 27 | Stabilized Yaw | Yaw PID controller output `[-500:500]` |
| 28 | 3D HOME_DISTANCE | in `meters`, calculated from HOME_DISTANCE and ALTITUDE using Pythagorean theorem | | 28 | 3D home distance [m] | 3D distance to home in `meters`. Calculated from Home distance and Altitude using Pythagorean theorem |
| 29 | CROSSFIRE LQ | Crossfire Link quality as returned by the CRSF protocol | | 29 | CRSF LQ | Link quality as returned by the CRSF protocol |
| 30 | CROSSFIRE SNR | Crossfire SNR as returned by the CRSF protocol | | 30 | CRSF SNR | SNR as returned by the CRSF protocol |
| 31 | GPS_VALID | boolean `0`/`1`. True when the GPS has a valid 3D Fix | | 31 | GPS Valid Fix | Boolean `0`/`1`. True when the GPS has a valid 3D Fix |
| 32 | LOITER_RADIUS | The current loiter radius in cm. | | 32 | Loiter Radius [cm] | The current loiter radius in cm. |
| 33 | ACTIVE_PROFILE | integer for the active config profile `[1..MAX_PROFILE_COUNT]` | | 33 | Active Control Profile | Integer for the active config profile `[1..MAX_PROFILE_COUNT]` |
| 34 | BATT_CELLS | Number of battery cells detected | | 34 | Battery cells | Number of battery cells detected |
| 35 | AGL_STATUS | boolean `1` when AGL can be trusted, `0` when AGL estimate can not be trusted | | 35 | AGL status [0/1] | Boolean `1` when AGL can be trusted, `0` when AGL estimate can not be trusted |
| 36 | AGL | integer Above The Groud Altitude in `cm` | | 36 | AGL [cm] | Integer altitude above The Groud Altitude in `cm` |
| 37 | RANGEFINDER_RAW | integer raw distance provided by the rangefinder in `cm` | | 37 | Rangefinder [cm] | Integer raw distance provided by the rangefinder in `cm` |
| 38 | ACTIVE_MIXER_PROFILE | Which mixers are currently active (for vtol etc) | | 38 | Active Mixer Profile | Which mixer is currently active (for vtol etc) |
| 39 | MIXER_TRANSITION_ACTIVE | Currently switching between mixers (quad to plane etc) | | 39 | Mixer Transition Active | Boolean `0`/`1`. Are we currently switching between mixers (quad to plane etc) |
| 40 | ATTITUDE_YAW | current heading (yaw) in `degrees` | | 40 | Yaw [deg] | Current heading (yaw) in `degrees` |
| 41 | FW Land Sate | integer `1` - `5`, indicates the status of the FW landing, 0 Idle, 1 Downwind, 2 Base Leg, 3 Final Approach, 4 Glide, 5 Flare | | 41 | FW Land Sate | Integer `1` - `5`, indicates the status of the FW landing, 0 Idle, 1 Downwind, 2 Base Leg, 3 Final Approach, 4 Glide, 5 Flare |
| 42 | Current battery profile | The active battery profile. Integer `[1..MAX_PROFILE_COUNT]` |
#### FLIGHT_MODE #### FLIGHT_MODE
@ -164,22 +168,22 @@ The flight mode operands return `true` when the mode is active. These are modes
| Operand Value | Name | Notes | | Operand Value | Name | Notes |
|---------------|-------------------|-------| |---------------|-------------------|-------|
| 0 | FAILSAFE | `true` when a **Failsafe** state has been triggered. | | 0 | Failsafe | `true` when a **Failsafe** state has been triggered. |
| 1 | MANUAL | `true` when you are in the **Manual** flight mode. | | 1 | Manual | `true` when you are in the **Manual** flight mode. |
| 2 | RTH | `true` when you are in the **Return to Home** flight mode. | | 2 | RTH | `true` when you are in the **Return to Home** flight mode. |
| 3 | POSHOLD | `true` when you are in the **Position Hold** or **Loiter** flight modes. | | 3 | Position Hold | `true` when you are in the **Position Hold** or **Loiter** flight modes. |
| 4 | CRUISE | `true` when you are in the **Cruise** flight mode. | | 4 | Cruise | `true` when you are in the **Cruise** flight mode. |
| 5 | ALTHOLD | `true` when you the **Altitude Hold** flight mode modifier is active. | | 5 | Altitude Hold | `true` when you the **Altitude Hold** flight mode modifier is active. |
| 6 | ANGLE | `true` when you are in the **Angle** flight mode. | | 6 | Angle | `true` when you are in the **Angle** flight mode. |
| 7 | HORIZON | `true` when you are in the **Horizon** flight mode. | | 7 | Horizon | `true` when you are in the **Horizon** flight mode. |
| 8 | AIR | `true` when you the **Airmode** flight mode modifier is active. | | 8 | Air | `true` when you the **Airmode** flight mode modifier is active. |
| 9 | USER1 | `true` when the **USER 1** mode is active. | | 9 | USER 1 | `true` when the **USER 1** mode is active. |
| 10 | USER2 | `true` when the **USER 2** mode is active. | | 10 | USER 2 | `true` when the **USER 2** mode is active. |
| 11 | COURSE_HOLD | `true` when you are in the **Course Hold** flight mode. | | 11 | Course Hold | `true` when you are in the **Course Hold** flight mode. |
| 12 | USER3 | `true` when the **USER 3** mode is active. | | 12 | USER 3 | `true` when the **USER 3** mode is active. |
| 13 | USER4 | `true` when the **USER 4** mode is active. | | 13 | USER 4 | `true` when the **USER 4** mode is active. |
| 14 | ACRO | `true` when you are in the **Acro** flight mode. | | 14 | Acro | `true` when you are in the **Acro** flight mode. |
| 15 | WAYPOINT_MISSION | `true` when you are in the **WP Mission** flight mode. | | 15 | Waypoint Mission | `true` when you are in the **WP Mission** flight mode. |
#### WAYPOINTS #### WAYPOINTS
@ -335,5 +339,3 @@ choose *value* and enter the channel number. Choosing "get RC value" is a common
which does something other than what you probably want. which does something other than what you probably want.
![screenshot of override an RC channel with a value](./assets/images/ipf_set_get_rc_channel.png) ![screenshot of override an RC channel with a value](./assets/images/ipf_set_get_rc_channel.png)

16
docs/Rangefinder.md
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@ -21,6 +21,22 @@ Following rangefinders are supported:
* MSP - experimental * MSP - experimental
* TOF10120 - small & lightweight laser range sensor, usable up to 200cm * 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 * TERARANGER EVO - 30cm to 600cm, depends on version https://www.terabee.com/sensors-modules/lidar-tof-range-finders/#individual-distance-measurement-sensors
* NRA15/NRA24 - experimental, UART version
#### NRA15/NRA24
NRA15/NRA24 from nanoradar use US-D1_V0 or NRA protocol, it depends which firmware you use. Radar can be set by firmware
to two different resolutions. See table below.
| Radar | Protocol | Resolution | Name in configurator |
|-------|----------|-----------------|----------------------|
| NRA15 | US-D1_V0 | 0-30m (+-4cm) | USD1_V0 |
| NRA15 | NRA | 0-30m (+-4cm) | NRA |
| NRA15 | NRA | 0-100m (+-10cm) | NRA |
| NRA24 | US-D1_V0 | 0-50m (+-4cm) | USD1_V0 |
| NRA24 | US-D1_V0 | 0-200m (+-10cm) | USD1_V0 |
| NRA24 | NRA | 0-50m (+-4cm) | NRA |
| NRA24 | NRA | 0-200m (+-10cm) | NRA |
## Connections ## Connections

142
docs/SITL/SITL.md
View file

@ -16,6 +16,10 @@ Currently supported are
INAV SITL communicates for sensor data and control directly with the corresponding simulator, see the documentation of the individual simulators and the Configurator or the command line options. INAV SITL communicates for sensor data and control directly with the corresponding simulator, see the documentation of the individual simulators and the Configurator or the command line options.
AS SITL is still an inav software, but running on PC, it is possible to use HITL interface for communication.
INAV-X-Plane-HITL plugin https://github.com/RomanLut/INAV-X-Plane-HITL can be used with SITL.
## Sensors ## Sensors
The following sensors are emulated: The following sensors are emulated:
- IMU (Gyro, Accelerometer) - IMU (Gyro, Accelerometer)
@ -30,13 +34,18 @@ The following sensors are emulated:
Select "FAKE" as type for all mentioned, so that they receive the data from the simulator. Select "FAKE" as type for all mentioned, so that they receive the data from the simulator.
## Serial ports+ ## Serial ports
UARTs are replaced by TCP starting with port 5760 ascending. UART 1 port 5760, UART2 5761, ... UARTs are replaced by TCP starting with port 5760 ascending. UART1 is mapped to port 5760, UART2 to 5761, etc.
By default, UART1 and UART2 are available as MSP connections. Other UARTs will have TCP listeners if they have an INAV function assigned.
To connect the Configurator to SITL: Select TCP and connect to ```localhost:5760``` (or ```127.0.0.1:5760``` if your OS doesn't understand `localhost`) (if SITL is running on the same machine). By default, UART1 and UART2 are configured for MSP connections. Other UARTs will have TCP listeners if they have an INAV function assigned.
To connect the Configurator to SITL, select "SITL".
Alternativelly, select "TCP" and connect to ```localhost:5760``` (or ```127.0.0.1:5760``` if your OS doesn't understand `localhost`) (if SITL is running on the same machine).
IPv4 and IPv6 are supported, either raw addresses or host-name lookup. IPv4 and IPv6 are supported, either raw addresses or host-name lookup.
The assignment and status of user UART/TCP connections is displayed on the console. The assignment and status of used UART/TCP connections is displayed on the console.
``` ```
INAV 6.1.0 SITL INAV 6.1.0 SITL
@ -51,39 +60,73 @@ INAV 6.1.0 SITL
All other interfaces (I2C, SPI, etc.) are not emulated. All other interfaces (I2C, SPI, etc.) are not emulated.
## Remote control ## Remote control
MSP_RX (TCP/IP) or joystick (via simulator) or serial receiver via USB/Serial interface are supported. Multiple methods for connecting RC Controllers are available:
- MSP_RX (TCP/IP)
- joystick (via simulator)
- serial receiver via USB to serial converter
- any receiver with proxy flight controller
### MSP_RX ### MSP_RX
MSP_RX is the default, 18 channels are supported over TCP/IP serial emulation. MSP_RX is the default, 18 channels are supported over TCP/IP connection.
### Joystick interface ### Joystick interface
Only 8 channels are supported. Only 8 channels are supported.
Select "SIM (SITL)" as the receiver and set up a joystick in the simulator, details of which can be found in the documentation for the individual simulators.
Select "SIM (SITL)" as the receiver and set up a joystick in the simulator.
*Not available with INAV-X-Plane-HITL plugin.*
### Serial Receiver via USB ### Serial Receiver via USB
Connect a serial receiver (e.g. SBUS) to the PC via a UART/USB adapter. Configure the receiver in the Configurator as usual. - Connect a serial receiver to the PC via a USB-to-serial adapter
- Configure the receiver in the SITL as usual
- While starting SITL from configurator, enable "Serial receiver" option
The Configurator offers a built-in option for forwarding the serial data to the SITL TCP port, if SITL is started manually the following option can be used: The SITL offers a built-in option for forwarding the host's serial port to the SITL UART.
The connection can then be established with a programme that forwards the serial data unaltered to TCP, e.g. with the Python script tcp_serial_redirect.py (https://github.com/Scavanger/TCP-Serial-Redirect) Please note that 100000(SBUS) and 420000(CRSF) are non-standart baud rates which may not be supported by some USB-to-serial adapters. FDTI and CH340 should work. CP2102/9 does not work.
If necessary, please download the required runtime environment from https://www.python.org/.
Please use the linked version, which has a smaller buffer, otherwise the control response is relatively slow.
### Example SBUS:
For this you need a FT232 module. With FT-Prog (https://ftdichip.com/utilities/) the signals can be inverted: Devices->Scan and Parse, then Hardware Specific -> Invert RS232 Signals -> Invert RXD. #### Example SBUS:
For this you need a USB-to-serial adapter, receiver with inverter, or receiver which can output inverted SBUS (normal UART).
SBUS protocol is inverted UART.
Receiver's SBUS output should be connected to the USB-to-serial adapter's RX pin (via inverter).
With FT-Prog (https://ftdichip.com/utilities/) the signal can be inverted by adapter: Devices->Scan and Parse, then Hardware Specific -> Invert RS232 Signals -> Invert RXD.
![SITL-SBUS-FT232](assets/SITL-SBUS-FT232.png) ![SITL-SBUS-FT232](assets/SITL-SBUS-FT232.png)
For SBUS, the command line arguments of the python script are: ![SITL-SBUS](assets/serial_receiver_sbus.png)
```python tcp_serial_redirect.py --parity E --stopbits 2 -c 127.0.0.1:[INAV-UART-PORT] COMXX 100000```
### Telemetry ### Telemetry
In the SITL configuration, enable serial receiver on some port and configure receiver type "Serial", "SBUS".
LTM and MAVLink telemetry are supported, either as a discrete function or shared with MSP. #### Example CRSF:
On receiver side, CRSF is normal UART.
Connect receiver's RX/TX pins (and GND, 5V of course) to USB-To-Serial adapter's TX/RX pins (RX to TX, TX to RX).
![SITL-SBUS](assets/serial_receiver_crsf.png)
In the SITL configuration, enable serial receiver on some port and configure receiver type "Serial", "CRSF".
### Proxy Flight controller
The last, but probably the most easiest way to connect receiver to the SITL, is to use any inav/betaflight Flight controler as proxy.
Connect receiver of any type to FC and configure FC to the point where channels are correctly updated in the "Receiver" tab. Inav and Betaflight are supported.
You also can use your plane/quad ( if receiver is powered from USB).
![SITL-SBUS](assets/serial_receiver_proxy.png)
In the SITL configuration, select "Receiver type: SIM" regardles of the kind of receiver used.
RX Telemetry via a return channel through the receiver is not yet supported by SITL.
## OSD ## OSD
For the OSD the program INAV-Sim-OSD is available: https://github.com/Scavanger/INAV-SIM-OSD. For the OSD the program INAV-Sim-OSD is available: https://github.com/Scavanger/INAV-SIM-OSD.
@ -91,6 +134,8 @@ For this, activate MSP-Displayport on a UART/TCP port and connect to the corresp
Note: INAV-Sim-OSD only works if the simulator is in window mode. Note: INAV-Sim-OSD only works if the simulator is in window mode.
*With INAV-X-Plane-HITL plugin, OSD is supported natively.*
## Command line ## Command line
The command line options are only necessary if the SITL executable is started by hand. The command line options are only necessary if the SITL executable is started by hand.
@ -103,7 +148,7 @@ If SITL is started without command line options, only a serial MSP / CLI connect
```--path``` Path and file name to config file. If not present, eeprom.bin in the current directory is used. Example: ```C:\INAV_SITL\flying-wing.bin```, ```/home/user/sitl-eeproms/test-eeprom.bin```. ```--path``` Path and file name to config file. If not present, eeprom.bin in the current directory is used. Example: ```C:\INAV_SITL\flying-wing.bin```, ```/home/user/sitl-eeproms/test-eeprom.bin```.
```--sim=[sim]``` Select the simulator. xp = X-Plane, rf = RealFlight. Example: ```--sim=xp``` ```--sim=[sim]``` Select the simulator. xp = X-Plane, rf = RealFlight. Example: ```--sim=xp```. If not specified, configurator-only mode is started. Omit for usage with INAV-X-Plane-HITL plugin.
```--simip=[ip]``` Hostname or IP address of the simulator, if you specify a simulator with "--sim" and omit this option IPv4 localhost (`127.0.0.1`) will be used. Example: ```--simip=172.65.21.15```, ```--simip acme-sims.org```, ```--sim ::1```. ```--simip=[ip]``` Hostname or IP address of the simulator, if you specify a simulator with "--sim" and omit this option IPv4 localhost (`127.0.0.1`) will be used. Example: ```--simip=172.65.21.15```, ```--simip acme-sims.org```, ```--sim ::1```.
@ -118,6 +163,18 @@ To assign motor1 to virtual receiver channel 1, servo 1 to channel 2, and servo2
```--chanmap:M01-01,S01-02,S02-03``` ```--chanmap:M01-01,S01-02,S02-03```
Please also read the documentation of the individual simulators. Please also read the documentation of the individual simulators.
```--serialport``` Use serial receiver or proxy FC connected to host's serial port, f.e. ```--serialportCOM5``` or ```--serialportdev/ttyACM3```
```--serialuart``` Map serial receiver to SITL UART, f.e. ```--serialuart=3``` for UART3. Omit if using ```--fcproxy```.
```--baudrate``` Serial receiver baudrate (default: 115200)
```--stopbits=[None|One|Two]``` Serial receiver stopbits (default: One)
```--parity=[Even|None|Odd]``` Serial receiver parity (default: None)
```--fcproxy``` Use inav/betaflight FC as a proxy for serial receiver.
```--help``` Displays help for the command line options. ```--help``` Displays help for the command line options.
For options that take an argument, either form `--flag=value` or `--flag value` may be used. For options that take an argument, either form `--flag=value` or `--flag value` may be used.
@ -125,46 +182,13 @@ For options that take an argument, either form `--flag=value` or `--flag value`
## Running SITL ## Running SITL
It is recommended to start the tools in the following order: It is recommended to start the tools in the following order:
1. Simulator, aircraft should be ready for take-off 1. Simulator, aircraft should be ready for take-off
2. INAV-SITL 2. SITL
3. OSD 3. OSD
4. serial redirect for RC input
## Compile For INav-X-Plane-HITL plugin:
1. SITL (Run in configurator-only mode)
2. X-Plane
### Linux and FreeBSD: # #Forwarding serial data for other UART
Almost like normal, ruby, cmake and make are also required.
With cmake, the option "-DSITL=ON" must be specified.
``` Other UARTs can then be mapped to host's serial port using external tool, which can be found in directories ```inav-configurator\resources\sitl\linux\Ser2TCP```, ```inav-configurator\resources\sitl\windows\Ser2TCP.exe```
mkdir build_SITL
cd build_SITL
cmake -DSITL=ON ..
make
```
### Windows:
Compile under cygwin, then as in Linux.
Copy cygwin1.dll into the directory, or include cygwin's /bin/ directory in the environment variable PATH.
If the build fails (segfault, possibly out of memory), adding `-DCMAKE_BUILD_TYPE=MinRelSize` to the `cmake` command may help.
#### Build manager
`ninja` may also be used (parallel builds without `-j $(nproc)`):
```
cmake -GNinja -DSITL=ON ..
ninja
```
### Compiler requirements
* Modern GCC. Must be a *real* GCC, macOS faking it with clang will not work. GCC 10 to GCC 13 are known to work.
* Unix sockets networking. Cygwin is required on Windows (vice `winsock`).
* Pthreads
## Supported environments
* Linux on x86_64, ia-32, Aarch64 (e.g. Rpi4), RISCV64 (e.g. VisionFive2)
* Windows on x86_64
* FreeBSD (x86_64 at least).

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@ -1302,13 +1302,33 @@ Fixed-wing rate stabilisation I-gain for YAW
--- ---
### fw_iterm_limit_stick_position ### fw_iterm_lock_engage_threshold
Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. `0` mean stick is in center position, `1` means it is fully deflected to either side Defines error rate (in percents of max rate) when Iterm Lock is engaged when sticks are release. Iterm Lock will stay active until error drops below this number
| Default | Min | Max | | Default | Min | Max |
| --- | --- | --- | | --- | --- | --- |
| 0.5 | 0 | 1 | | 10 | 5 | 25 |
---
### fw_iterm_lock_rate_threshold
Defines rate percentage when full P I and D attenuation should happen. 100 disables Iterm Lock for P and D term
| Default | Min | Max |
| --- | --- | --- |
| 40 | 10 | 100 |
---
### fw_iterm_lock_time_max_ms
Defines max time in milliseconds for how long ITerm Lock will shut down Iterm after sticks are release
| Default | Min | Max |
| --- | --- | --- |
| 500 | 100 | 1000 |
--- ---
@ -1442,6 +1462,86 @@ Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solv
--- ---
### gimbal_pan_channel
Gimbal pan rc channel index. 0 is no channel.
| Default | Min | Max |
| --- | --- | --- |
| 0 | 0 | 32 |
---
### gimbal_pan_trim
Trim gimbal pan center position.
| Default | Min | Max |
| --- | --- | --- |
| 0 | -500 | 500 |
---
### gimbal_roll_channel
Gimbal roll rc channel index. 0 is no channel.
| Default | Min | Max |
| --- | --- | --- |
| 0 | 0 | 32 |
---
### gimbal_roll_trim
Trim gimbal roll center position.
| Default | Min | Max |
| --- | --- | --- |
| 0 | -500 | 500 |
---
### gimbal_sensitivity
Gimbal sensitivity is similar to gain and will affect how quickly the gimbal will react.
| Default | Min | Max |
| --- | --- | --- |
| 0 | -16 | 15 |
---
### gimbal_serial_single_uart
Gimbal serial and headtracker device share same UART. FC RX goes to headtracker device, FC TX goes to gimbal.
| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |
---
### gimbal_tilt_channel
Gimbal tilt rc channel index. 0 is no channel.
| Default | Min | Max |
| --- | --- | --- |
| 0 | 0 | 32 |
---
### gimbal_tilt_trim
Trim gimbal tilt center position.
| Default | Min | Max |
| --- | --- | --- |
| 0 | -500 | 500 |
---
### gps_auto_baud ### gps_auto_baud
Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS
@ -1562,6 +1662,76 @@ For developer ground test use. Disables motors, sets heading status = Trusted on
--- ---
### gyro_adaptive_filter_hpf_hz
High pass filter cutoff frequency
| Default | Min | Max |
| --- | --- | --- |
| 10 | 1 | 50 |
---
### gyro_adaptive_filter_integrator_threshold_high
High threshold for adaptive filter integrator
| Default | Min | Max |
| --- | --- | --- |
| 4 | 1 | 10 |
---
### gyro_adaptive_filter_integrator_threshold_low
Low threshold for adaptive filter integrator
| Default | Min | Max |
| --- | --- | --- |
| -2 | -10 | 0 |
---
### gyro_adaptive_filter_max_hz
Maximum frequency for adaptive filter
| Default | Min | Max |
| --- | --- | --- |
| 150 | 0 | 505 |
---
### gyro_adaptive_filter_min_hz
Minimum frequency for adaptive filter
| Default | Min | Max |
| --- | --- | --- |
| 50 | 0 | 250 |
---
### gyro_adaptive_filter_std_lpf_hz
Standard deviation low pass filter cutoff frequency
| Default | Min | Max |
| --- | --- | --- |
| 2 | 0 | 10 |
---
### gyro_adaptive_filter_target
Target value for adaptive filter
| Default | Min | Max |
| --- | --- | --- |
| 3.5 | 1 | 6 |
---
### gyro_anti_aliasing_lpf_hz ### gyro_anti_aliasing_lpf_hz
Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz
@ -1602,6 +1772,16 @@ Minimum frequency of the gyro Dynamic LPF
--- ---
### gyro_filter_mode
Specifies the type of the software LPF of the gyro signals.
| Default | Min | Max |
| --- | --- | --- |
| STATIC | | |
---
### gyro_main_lpf_hz ### gyro_main_lpf_hz
Software based gyro main lowpass filter. Value is cutoff frequency (Hz) Software based gyro main lowpass filter. Value is cutoff frequency (Hz)
@ -1622,16 +1802,6 @@ On multi-gyro targets, allows to choose which gyro to use. 0 = first gyro, 1 = s
--- ---
### gyro_use_dyn_lpf
Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position.
| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |
---
### gyro_zero_x ### gyro_zero_x
Calculated gyro zero calibration of axis X Calculated gyro zero calibration of axis X
@ -1682,6 +1852,46 @@ This setting limits yaw rotation rate that HEADING_HOLD controller can request f
--- ---
### headtracker_pan_ratio
Head pan movement vs camera movement ratio
| Default | Min | Max |
| --- | --- | --- |
| 1 | 0 | 5 |
---
### headtracker_roll_ratio
Head roll movement vs camera movement ratio
| Default | Min | Max |
| --- | --- | --- |
| 1 | 0 | 5 |
---
### headtracker_tilt_ratio
Head tilt movement vs camera movement ratio
| Default | Min | Max |
| --- | --- | --- |
| 1 | 0 | 5 |
---
### headtracker_type
Type of headtrackr dervice
| Default | Min | Max |
| --- | --- | --- |
| NONE | | |
---
### hott_alarm_sound_interval ### hott_alarm_sound_interval
Battery alarm delay in seconds for Hott telemetry Battery alarm delay in seconds for Hott telemetry
@ -1812,16 +2022,6 @@ Allows to chose when the home position is reset. Can help prevent resetting home
--- ---
### inav_use_gps_no_baro
_// TODO_
| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |
---
### inav_w_acc_bias ### inav_w_acc_bias
Weight for accelerometer drift estimation Weight for accelerometer drift estimation
@ -2358,7 +2558,7 @@ Maximum inclination in level (angle) mode (PITCH axis). 100=10°
| Default | Min | Max | | Default | Min | Max |
| --- | --- | --- | | --- | --- | --- |
| 300 | 100 | 900 | | 450 | 100 | 900 |
--- ---
@ -2368,7 +2568,7 @@ Maximum inclination in level (angle) mode (ROLL axis). 100=10°
| Default | Min | Max | | Default | Min | Max |
| --- | --- | --- | | --- | --- | --- |
| 300 | 100 | 900 | | 450 | 100 | 900 |
--- ---
@ -2718,7 +2918,7 @@ Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no speci
| Default | Min | Max | | Default | Min | Max |
| --- | --- | --- | | --- | --- | --- |
| 300 | 10 | 2000 | | 500 | 10 | 2000 |
--- ---
@ -2772,6 +2972,26 @@ Enable the possibility to manually increase the throttle in auto throttle contro
--- ---
### nav_fw_alt_control_response
Adjusts the deceleration response of fixed wing altitude control as the target altitude is approached. Decrease value to help avoid overshooting the target altitude.
| Default | Min | Max |
| --- | --- | --- |
| 20 | 5 | 100 |
---
### nav_fw_auto_climb_rate
Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]
| Default | Min | Max |
| --- | --- | --- |
| 500 | 10 | 2000 |
---
### nav_fw_bank_angle ### nav_fw_bank_angle
Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll
@ -2928,7 +3148,7 @@ Forward acceleration threshold for bungee launch or throw launch [cm/s/s], 1G =
| Default | Min | Max | | Default | Min | Max |
| --- | --- | --- | | --- | --- | --- |
| 1863 | 1500 | 20000 | | 1863 | 1350 | 20000 |
--- ---
@ -3374,7 +3594,7 @@ Defines at what altitude the descent velocity should start to be `nav_land_minal
### nav_landing_bump_detection ### nav_landing_bump_detection
Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and currently only works for multirotors. Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and GPS and currently only works for multirotors (Note: will work during Failsafe without need for a GPS).
| Default | Min | Max | | Default | Min | Max |
| --- | --- | --- | | --- | --- | --- |
@ -3388,7 +3608,7 @@ Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mod
| Default | Min | Max | | Default | Min | Max |
| --- | --- | --- | | --- | --- | --- |
| 500 | 10 | 2000 | | 750 | 10 | 2000 |
--- ---
@ -3448,7 +3668,7 @@ Maximum banking angle (deg) that multicopter navigation is allowed to set. Machi
| Default | Min | Max | | Default | Min | Max |
| --- | --- | --- | | --- | --- | --- |
| 30 | 15 | 45 | | 35 | 15 | 45 |
--- ---
@ -3552,6 +3772,16 @@ Multicopter hover throttle hint for altitude controller. Should be set to approx
--- ---
### nav_mc_inverted_crash_detection
Setting a value > 0 enables inverted crash detection for multirotors. It will auto disarm in situations where the multirotor has crashed inverted on the ground and can't be manually disarmed due to loss of control or for some other reason. When enabled this setting defines the additional number of seconds before disarm beyond a minimum fixed time delay of 3s. Requires a barometer to work.
| Default | Min | Max |
| --- | --- | --- |
| 0 | 0 | 15 |
---
### nav_mc_manual_climb_rate ### nav_mc_manual_climb_rate
Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]
@ -4392,6 +4622,16 @@ Value under which the OSD axis g force indicators will blink (g)
--- ---
### osd_highlight_djis_missing_font_symbols
Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes.
| Default | Min | Max |
| --- | --- | --- |
| ON | OFF | ON |
---
### osd_home_position_arm_screen ### osd_home_position_arm_screen
Should home position coordinates be displayed on the arming screen. Should home position coordinates be displayed on the arming screen.
@ -4732,6 +4972,16 @@ Number of leading digits removed from plus code. Removing 2, 4 and 6 digits requ
--- ---
### osd_radar_peers_display_time
Time in seconds to display next peer
| Default | Min | Max |
| --- | --- | --- |
| 3 | 1 | 10 |
---
### osd_right_sidebar_scroll ### osd_right_sidebar_scroll
Scroll type for the right sidebar Scroll type for the right sidebar

39
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@ -0,0 +1,39 @@
## Building SITL
### Linux and FreeBSD:
Almost like normal, ruby, cmake and make are also required.
With cmake, the option "-DSITL=ON" must be specified.
```
mkdir build_SITL
cd build_SITL
cmake -DSITL=ON ..
make
```
### Windows:
Compile under cygwin, then as in Linux.
Copy cygwin1.dll into the directory, or include cygwin's /bin/ directory in the environment variable PATH.
If the build fails (segfault, possibly out of memory), adding `-DCMAKE_BUILD_TYPE=MinRelSize` to the `cmake` command may help.
#### Build manager
`ninja` may also be used (parallel builds without `-j $(nproc)`):
```
cmake -GNinja -DSITL=ON ..
ninja
```
### Compiler requirements
* Modern GCC. Must be a *real* GCC, macOS faking it with clang will not work. GCC 10 to GCC 13 are known to work.
* Unix sockets networking. Cygwin is required on Windows (vice `winsock`).
* Pthreads
## Supported environments
* Linux on x86_64, ia-32, Aarch64 (e.g. Rpi4), RISCV64 (e.g. VisionFive2)
* Windows on x86_64
* FreeBSD (x86_64 at least).

19
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@ -0,0 +1,19 @@
# Building in Gitpod
Gitpod offers an online build environment for building INAV targets.
## Setting up the environment and building targets
1. Go to https://gitpod.io/new
1. Paste `https://github.com/iNavFlight/inav/tree/[version]` into the field called "Select a repository".
1. Ensure that you substitute [version] (e.g. 7.1.0) with the version number of INAV that you want to build.
1. Cick on the link that shows in the drop down and Gitpod will atomatically selects the adequate Editor and Browser.
1. Leave the other fields as default and click "Continue". Your build environment will be created.
1. At the bottom of the page, you will see a command line. Type `make [TARGET]` and wait for the target to be built.
1. Once the build has finished, navigate to the build folder using `cd build`.
1. Once in the folder, run `objcopy -O ihex -R .eeprom [TARGET].elf [TARGET].hex` to convert the `.elf` file to a `.hex` file.
1. Your new target `.hex` binary will be located in a folder called `bin`, which can be found at the top left of the page.
NOTE: You can use this method to build your forks as well. Just paste in the link to your fork and follow the rest of the steps.
You are done!

13
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@ -6,6 +6,10 @@
> INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards. > INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.
# ICM426xx IMUs PSA
> The filtering settings for the ICM426xx has changed to match what is used by Ardupilot and Betaflight in INAV 7.1. When upgrading from older versions you may need to recalibrate the Accelerometer and if you are not using INAV's default tune you may also want to check if the tune is still good.
![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png) ![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png)
# PosHold, Navigation and RTH without compass PSA # PosHold, Navigation and RTH without compass PSA
@ -51,7 +55,6 @@ Fly safe, fly smart with INAV 7.1 and a compass by your side!
* SmartAudio and IRC Tramp VTX support * SmartAudio and IRC Tramp VTX support
* Telemetry: SmartPort, FPort, MAVlink, LTM, CRSF * Telemetry: SmartPort, FPort, MAVlink, LTM, CRSF
* Multi-color RGB LED Strip support * Multi-color RGB LED Strip support
* On Screen Display (OSD) - both character and pixel style
* And many more! * 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. For a list of features, changes and some discussion please review consult the releases [page](https://github.com/iNavFlight/inav/releases) and the documentation.
@ -119,5 +122,13 @@ Before creating new issues please check to see if there is an existing one, sear
Please refer to the development section in the [docs/development](https://github.com/iNavFlight/inav/tree/master/docs/development) folder. Please refer to the development section in the [docs/development](https://github.com/iNavFlight/inav/tree/master/docs/development) folder.
Nightly builds are available for testing on the following links:
https://github.com/iNavFlight/inav-nightly/releases
https://github.com/iNavFlight/inav-configurator-nightly/releases
## INAV Releases ## INAV Releases
https://github.com/iNavFlight/inav/releases https://github.com/iNavFlight/inav/releases

17
src/main/CMakeLists.txt
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@ -1,3 +1,4 @@
main_sources(COMMON_SRC main_sources(COMMON_SRC
main.c main.c
@ -176,6 +177,10 @@ main_sources(COMMON_SRC
drivers/flash_m25p16.h drivers/flash_m25p16.h
drivers/flash_w25n01g.c drivers/flash_w25n01g.c
drivers/flash_w25n01g.h drivers/flash_w25n01g.h
drivers/gimbal_common.h
drivers/gimbal_common.c
drivers/headtracker_common.h
drivers/headtracker_common.c
drivers/io.c drivers/io.c
drivers/io.h drivers/io.h
drivers/io_pcf8574.c drivers/io_pcf8574.c
@ -345,6 +350,8 @@ main_sources(COMMON_SRC
flight/dynamic_lpf.h flight/dynamic_lpf.h
flight/ez_tune.c flight/ez_tune.c
flight/ez_tune.h flight/ez_tune.h
flight/adaptive_filter.c
flight/adaptive_filter.h
io/adsb.c io/adsb.c
io/beeper.c io/beeper.c
@ -353,6 +360,10 @@ main_sources(COMMON_SRC
io/servo_sbus.h io/servo_sbus.h
io/frsky_osd.c io/frsky_osd.c
io/frsky_osd.h io/frsky_osd.h
io/gimbal_serial.c
io/gimbal_serial.h
io/headtracker_msp.c
io/headtracker_msp.h
io/osd_dji_hd.c io/osd_dji_hd.c
io/osd_dji_hd.h io/osd_dji_hd.h
io/lights.c io/lights.c
@ -485,6 +496,8 @@ main_sources(COMMON_SRC
io/rangefinder.h io/rangefinder.h
io/rangefinder_msp.c io/rangefinder_msp.c
io/rangefinder_benewake.c io/rangefinder_benewake.c
io/rangefinder_usd1_v0.c
io/rangefinder_nanoradar.c
io/rangefinder_fake.c io/rangefinder_fake.c
io/opflow.h io/opflow.h
io/opflow_cxof.c io/opflow_cxof.c
@ -497,8 +510,8 @@ main_sources(COMMON_SRC
io/displayport_max7456.h io/displayport_max7456.h
io/displayport_msp.c io/displayport_msp.c
io/displayport_msp.h io/displayport_msp.h
io/displayport_msp_bf_compat.c io/displayport_msp_dji_compat.c
io/displayport_msp_bf_compat.h io/displayport_msp_dji_compat.h
io/displayport_oled.c io/displayport_oled.c
io/displayport_oled.h io/displayport_oled.h
io/displayport_msp_osd.c io/displayport_msp_osd.c

55
src/main/blackbox/blackbox.c
View file

@ -402,12 +402,21 @@ static const blackboxSimpleFieldDefinition_t blackboxGpsHFields[] = {
// Rarely-updated fields // Rarely-updated fields
static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = { static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
/* "flightModeFlags" renamed internally to more correct ref of rcModeFlags, since it logs rc boxmode selections,
* but name kept for external compatibility reasons.
* "activeFlightModeFlags" logs actual active flight modes rather than rc boxmodes.
* 'active' should at least distinguish it from the existing "flightModeFlags" */
{"activeWpNumber", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"flightModeFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, {"flightModeFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"flightModeFlags2", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"activeFlightModeFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"stateFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, {"stateFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"failsafePhase", -1, UNSIGNED, PREDICT(0), ENCODING(TAG2_3S32)}, {"failsafePhase", -1, UNSIGNED, PREDICT(0), ENCODING(TAG2_3S32)},
{"rxSignalReceived", -1, UNSIGNED, PREDICT(0), ENCODING(TAG2_3S32)}, {"rxSignalReceived", -1, UNSIGNED, PREDICT(0), ENCODING(TAG2_3S32)},
{"rxFlightChannelsValid", -1, UNSIGNED, PREDICT(0), ENCODING(TAG2_3S32)}, {"rxFlightChannelsValid", -1, UNSIGNED, PREDICT(0), ENCODING(TAG2_3S32)},
{"rxUpdateRate", -1, UNSIGNED, PREDICT(PREVIOUS), ENCODING(UNSIGNED_VB)},
{"hwHealthStatus", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, {"hwHealthStatus", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"powerSupplyImpedance", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, {"powerSupplyImpedance", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
@ -436,8 +445,6 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
{"escRPM", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, {"escRPM", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"escTemperature", -1, SIGNED, PREDICT(PREVIOUS), ENCODING(SIGNED_VB)}, {"escTemperature", -1, SIGNED, PREDICT(PREVIOUS), ENCODING(SIGNED_VB)},
#endif #endif
{"rxUpdateRate", -1, UNSIGNED, PREDICT(PREVIOUS), ENCODING(UNSIGNED_VB)},
{"activeWpNumber", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
}; };
typedef enum BlackboxState { typedef enum BlackboxState {
@ -533,7 +540,9 @@ typedef struct blackboxGpsState_s {
// This data is updated really infrequently: // This data is updated really infrequently:
typedef struct blackboxSlowState_s { typedef struct blackboxSlowState_s {
uint32_t flightModeFlags; // extend this data size (from uint16_t) uint32_t rcModeFlags;
uint32_t rcModeFlags2;
uint32_t activeFlightModeFlags;
uint32_t stateFlags; uint32_t stateFlags;
uint8_t failsafePhase; uint8_t failsafePhase;
bool rxSignalReceived; bool rxSignalReceived;
@ -566,7 +575,7 @@ extern boxBitmask_t rcModeActivationMask;
static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED; static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
static uint32_t blackboxLastArmingBeep = 0; static uint32_t blackboxLastArmingBeep = 0;
static uint32_t blackboxLastFlightModeFlags = 0; static uint32_t blackboxLastRcModeFlags = 0;
static struct { static struct {
uint32_t headerIndex; uint32_t headerIndex;
@ -1260,7 +1269,10 @@ static void writeSlowFrame(void)
blackboxWrite('S'); blackboxWrite('S');
blackboxWriteUnsignedVB(slowHistory.flightModeFlags); blackboxWriteUnsignedVB(slowHistory.activeWpNumber);
blackboxWriteUnsignedVB(slowHistory.rcModeFlags);
blackboxWriteUnsignedVB(slowHistory.rcModeFlags2);
blackboxWriteUnsignedVB(slowHistory.activeFlightModeFlags);
blackboxWriteUnsignedVB(slowHistory.stateFlags); blackboxWriteUnsignedVB(slowHistory.stateFlags);
/* /*
@ -1271,6 +1283,8 @@ static void writeSlowFrame(void)
values[2] = slowHistory.rxFlightChannelsValid ? 1 : 0; values[2] = slowHistory.rxFlightChannelsValid ? 1 : 0;
blackboxWriteTag2_3S32(values); blackboxWriteTag2_3S32(values);
blackboxWriteUnsignedVB(slowHistory.rxUpdateRate);
blackboxWriteUnsignedVB(slowHistory.hwHealthStatus); blackboxWriteUnsignedVB(slowHistory.hwHealthStatus);
blackboxWriteUnsignedVB(slowHistory.powerSupplyImpedance); blackboxWriteUnsignedVB(slowHistory.powerSupplyImpedance);
@ -1296,8 +1310,6 @@ static void writeSlowFrame(void)
blackboxWriteUnsignedVB(slowHistory.escRPM); blackboxWriteUnsignedVB(slowHistory.escRPM);
blackboxWriteSignedVB(slowHistory.escTemperature); blackboxWriteSignedVB(slowHistory.escTemperature);
#endif #endif
blackboxWriteUnsignedVB(slowHistory.rxUpdateRate);
blackboxWriteUnsignedVB(slowHistory.activeWpNumber);
blackboxSlowFrameIterationTimer = 0; blackboxSlowFrameIterationTimer = 0;
} }
@ -1307,21 +1319,21 @@ static void writeSlowFrame(void)
*/ */
static void loadSlowState(blackboxSlowState_t *slow) static void loadSlowState(blackboxSlowState_t *slow)
{ {
memcpy(&slow->flightModeFlags, &rcModeActivationMask, sizeof(slow->flightModeFlags)); //was flightModeFlags; slow->activeWpNumber = getActiveWpNumber();
// Also log Nav auto selected flight modes rather than just those selected by boxmode
if (!IS_RC_MODE_ACTIVE(BOXANGLE) && FLIGHT_MODE(ANGLE_MODE)) { slow->rcModeFlags = rcModeActivationMask.bits[0]; // first 32 bits of boxId_e
slow->flightModeFlags |= (1 << BOXANGLE); slow->rcModeFlags2 = rcModeActivationMask.bits[1]; // remaining bits of boxId_e
}
// Also log Nav auto enabled flight modes rather than just those selected by boxmode
if (navigationGetHeadingControlState() == NAV_HEADING_CONTROL_AUTO) { if (navigationGetHeadingControlState() == NAV_HEADING_CONTROL_AUTO) {
slow->flightModeFlags |= (1 << BOXHEADINGHOLD); slow->rcModeFlags |= (1 << BOXHEADINGHOLD);
}
if (navigationRequiresTurnAssistance()) {
slow->flightModeFlags |= (1 << BOXTURNASSIST);
} }
slow->activeFlightModeFlags = flightModeFlags;
slow->stateFlags = stateFlags; slow->stateFlags = stateFlags;
slow->failsafePhase = failsafePhase(); slow->failsafePhase = failsafePhase();
slow->rxSignalReceived = rxIsReceivingSignal(); slow->rxSignalReceived = rxIsReceivingSignal();
slow->rxFlightChannelsValid = rxAreFlightChannelsValid(); slow->rxFlightChannelsValid = rxAreFlightChannelsValid();
slow->rxUpdateRate = getRcUpdateFrequency();
slow->hwHealthStatus = (getHwGyroStatus() << 2 * 0) | // Pack hardware health status into a bit field. slow->hwHealthStatus = (getHwGyroStatus() << 2 * 0) | // Pack hardware health status into a bit field.
(getHwAccelerometerStatus() << 2 * 1) | // Use raw hardwareSensorStatus_e values and pack them using 2 bits per value (getHwAccelerometerStatus() << 2 * 1) | // Use raw hardwareSensorStatus_e values and pack them using 2 bits per value
(getHwCompassStatus() << 2 * 2) | // Report GYRO in 2 lowest bits, then ACC, COMPASS, BARO, GPS, RANGEFINDER and PITOT (getHwCompassStatus() << 2 * 2) | // Report GYRO in 2 lowest bits, then ACC, COMPASS, BARO, GPS, RANGEFINDER and PITOT
@ -1373,9 +1385,6 @@ static void loadSlowState(blackboxSlowState_t *slow)
slow->escRPM = escSensor->rpm; slow->escRPM = escSensor->rpm;
slow->escTemperature = escSensor->temperature; slow->escTemperature = escSensor->temperature;
#endif #endif
slow->rxUpdateRate = getRcUpdateFrequency();
slow->activeWpNumber = getActiveWpNumber();
} }
/** /**
@ -1492,7 +1501,7 @@ void blackboxStart(void)
* it finally plays the beep for this arming event. * it finally plays the beep for this arming event.
*/ */
blackboxLastArmingBeep = getArmingBeepTimeMicros(); blackboxLastArmingBeep = getArmingBeepTimeMicros();
memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags)); // record startup status memcpy(&blackboxLastRcModeFlags, &rcModeActivationMask, sizeof(blackboxLastRcModeFlags)); // record startup status
blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE); blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE);
} }
@ -2017,10 +2026,10 @@ static void blackboxCheckAndLogArmingBeep(void)
static void blackboxCheckAndLogFlightMode(void) static void blackboxCheckAndLogFlightMode(void)
{ {
// Use != so that we can still detect a change if the counter wraps // Use != so that we can still detect a change if the counter wraps
if (memcmp(&rcModeActivationMask, &blackboxLastFlightModeFlags, sizeof(blackboxLastFlightModeFlags))) { if (memcmp(&rcModeActivationMask, &blackboxLastRcModeFlags, sizeof(blackboxLastRcModeFlags))) {
flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
eventData.lastFlags = blackboxLastFlightModeFlags; eventData.lastFlags = blackboxLastRcModeFlags;
memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags)); memcpy(&blackboxLastRcModeFlags, &rcModeActivationMask, sizeof(blackboxLastRcModeFlags));
memcpy(&eventData.flags, &rcModeActivationMask, sizeof(eventData.flags)); memcpy(&eventData.flags, &rcModeActivationMask, sizeof(eventData.flags));
blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *)&eventData); blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *)&eventData);
} }

2
src/main/build/build_config.h
View file

@ -40,7 +40,7 @@
#endif #endif
#ifdef __APPLE__ #ifdef __APPLE__
#define FASTRAM __attribute__ ((section("__DATA,__.fastram_bss"), aligned(4))) #define FASTRAM __attribute__ ((section("__DATA,__.fastram_bss"), aligned(8)))
#else #else
#define FASTRAM __attribute__ ((section(".fastram_bss"), aligned(4))) #define FASTRAM __attribute__ ((section(".fastram_bss"), aligned(4)))
#endif #endif

10
src/main/build/debug.h
View file

@ -21,6 +21,8 @@
#include <stdint.h> #include <stdint.h>
#include <stdbool.h> #include <stdbool.h>
#include "platform.h"
#define DEBUG32_VALUE_COUNT 8 #define DEBUG32_VALUE_COUNT 8
extern int32_t debug[DEBUG32_VALUE_COUNT]; extern int32_t debug[DEBUG32_VALUE_COUNT];
extern uint8_t debugMode; extern uint8_t debugMode;
@ -72,5 +74,13 @@ typedef enum {
DEBUG_RATE_DYNAMICS, DEBUG_RATE_DYNAMICS,
DEBUG_LANDING, DEBUG_LANDING,
DEBUG_POS_EST, DEBUG_POS_EST,
DEBUG_ADAPTIVE_FILTER,
DEBUG_HEADTRACKING,
DEBUG_COUNT DEBUG_COUNT
} debugType_e; } debugType_e;
#ifdef SITL_BUILD
#define SD(X) (X)
#else
#define SD(X)
#endif

4
src/main/build/version.h
View file

@ -18,8 +18,12 @@
#define STR_HELPER(x) #x #define STR_HELPER(x) #x
#define STR(x) STR_HELPER(x) #define STR(x) STR_HELPER(x)
#define FC_VERSION_STRING STR(FC_VERSION_MAJOR) "." STR(FC_VERSION_MINOR) "." STR(FC_VERSION_PATCH_LEVEL) #define FC_VERSION_STRING STR(FC_VERSION_MAJOR) "." STR(FC_VERSION_MINOR) "." STR(FC_VERSION_PATCH_LEVEL)
#ifndef FC_VERSION_TYPE
#define FC_VERSION_TYPE ""
#endif
#define FC_FIRMWARE_NAME "INAV" #define FC_FIRMWARE_NAME "INAV"
#define MW_VERSION 231 #define MW_VERSION 231
extern const char* const compilerVersion; extern const char* const compilerVersion;

2
src/main/cms/cms_menu_imu.c
View file

@ -222,6 +222,8 @@ static const OSD_Entry cmsx_menuPidAltMagEntries[] =
{ {
OSD_LABEL_DATA_ENTRY("-- ALT&MAG --", profileIndexString), OSD_LABEL_DATA_ENTRY("-- ALT&MAG --", profileIndexString),
OSD_SETTING_ENTRY("FW ALT RESPONSE", SETTING_NAV_FW_ALT_CONTROL_RESPONSE),
OTHER_PIDFF_ENTRY("ALT P", &cmsx_pidPosZ.P), OTHER_PIDFF_ENTRY("ALT P", &cmsx_pidPosZ.P),
OTHER_PIDFF_ENTRY("ALT I", &cmsx_pidPosZ.I), OTHER_PIDFF_ENTRY("ALT I", &cmsx_pidPosZ.I),
OTHER_PIDFF_ENTRY("ALT D", &cmsx_pidPosZ.D), OTHER_PIDFF_ENTRY("ALT D", &cmsx_pidPosZ.D),

8
src/main/cms/cms_types.h
View file

@ -26,6 +26,12 @@
//type of elements //type of elements
#ifndef __APPLE__
#define OSD_ENTRY_ATTR __attribute__((packed))
#else
#define OSD_ENTRY_ATTR
#endif
typedef enum typedef enum
{ {
OME_Label, OME_Label,
@ -71,7 +77,7 @@ typedef struct
const void * const data; const void * const data;
const uint8_t type; // from OSD_MenuElement const uint8_t type; // from OSD_MenuElement
uint8_t flags; uint8_t flags;
} __attribute__((packed)) OSD_Entry; } OSD_ENTRY_ATTR OSD_Entry;
// Bits in flags // Bits in flags
#define PRINT_VALUE (1 << 0) // Value has been changed, need to redraw #define PRINT_VALUE (1 << 0) // Value has been changed, need to redraw

4
src/main/common/log.c
View file

@ -20,11 +20,12 @@
#include <stdarg.h> #include <stdarg.h>
#include <ctype.h> #include <ctype.h>
#if defined(SEMIHOSTING) #if defined(SEMIHOSTING) || defined(SITL_BUILD)
#include <stdio.h> #include <stdio.h>
#endif #endif
#include "build/version.h" #include "build/version.h"
#include "build/debug.h"
#include "drivers/serial.h" #include "drivers/serial.h"
#include "drivers/time.h" #include "drivers/time.h"
@ -125,6 +126,7 @@ static void logPrint(const char *buf, size_t size)
fputc(buf[ii], stdout); fputc(buf[ii], stdout);
} }
#endif #endif
SD(printf("%s\n", buf));
if (logPort) { if (logPort) {
// Send data via UART (if configured & connected - a safeguard against zombie VCP) // Send data via UART (if configured & connected - a safeguard against zombie VCP)
if (serialIsConnected(logPort)) { if (serialIsConnected(logPort)) {

27
src/main/common/maths.c
View file

@ -123,6 +123,15 @@ int32_t wrap_18000(int32_t angle)
return angle; return angle;
} }
int16_t wrap_180(int16_t angle)
{
if (angle > 180)
angle -= 360;
if (angle < -180)
angle += 360;
return angle;
}
int32_t wrap_36000(int32_t angle) int32_t wrap_36000(int32_t angle)
{ {
if (angle >= 36000) if (angle >= 36000)
@ -516,9 +525,25 @@ bool sensorCalibrationSolveForScale(sensorCalibrationState_t * state, float resu
return sensorCalibrationValidateResult(result); return sensorCalibrationValidateResult(result);
} }
float gaussian(const float x, const float mu, const float sigma) {
return exp(-pow((double)(x - mu), 2) / (2 * pow((double)sigma, 2)));
}
float bellCurve(const float x, const float curveWidth) float bellCurve(const float x, const float curveWidth)
{ {
return powf(M_Ef, -sq(x) / (2.0f * sq(curveWidth))); return gaussian(x, 0.0f, curveWidth);
}
/**
* @brief Calculate the attenuation of a value using a Gaussian function.
* Retuns 1 for input 0 and ~0 for input width.
* @param input The input value.
* @param width The width of the Gaussian function.
* @return The attenuation of the input value.
*/
float attenuation(const float input, const float width) {
const float sigma = width / 2.35482f; // Approximately width / sqrt(2 * ln(2))
return gaussian(input, 0.0f, sigma);
} }
float fast_fsqrtf(const float value) { float fast_fsqrtf(const float value) {

3
src/main/common/maths.h
View file

@ -166,6 +166,7 @@ int scaleRange(int x, int srcMin, int srcMax, int destMin, int destMax);
float scaleRangef(float x, float srcMin, float srcMax, float destMin, float destMax); float scaleRangef(float x, float srcMin, float srcMax, float destMin, float destMax);
int32_t wrap_18000(int32_t angle); int32_t wrap_18000(int32_t angle);
int16_t wrap_180(int16_t angle);
int32_t wrap_36000(int32_t angle); int32_t wrap_36000(int32_t angle);
int32_t quickMedianFilter3(int32_t * v); int32_t quickMedianFilter3(int32_t * v);
@ -195,6 +196,8 @@ float acos_approx(float x);
void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count); void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count);
float bellCurve(const float x, const float curveWidth); float bellCurve(const float x, const float curveWidth);
float attenuation(const float input, const float width);
float gaussian(const float x, const float mu, const float sigma);
float fast_fsqrtf(const float value); float fast_fsqrtf(const float value);
float calc_length_pythagorean_2D(const float firstElement, const float secondElement); float calc_length_pythagorean_2D(const float firstElement, const float secondElement);
float calc_length_pythagorean_3D(const float firstElement, const float secondElement, const float thirdElement); float calc_length_pythagorean_3D(const float firstElement, const float secondElement, const float thirdElement);

2
src/main/config/parameter_group.h
View file

@ -64,7 +64,7 @@ static inline uint16_t pgIsProfile(const pgRegistry_t* reg) {return (reg->size &
#ifdef __APPLE__ #ifdef __APPLE__
extern const pgRegistry_t __pg_registry_start[] __asm("section$start$__DATA$__pg_registry"); extern const pgRegistry_t __pg_registry_start[] __asm("section$start$__DATA$__pg_registry");
extern const pgRegistry_t __pg_registry_end[] __asm("section$end$__DATA$__pg_registry"); extern const pgRegistry_t __pg_registry_end[] __asm("section$end$__DATA$__pg_registry");
#define PG_REGISTER_ATTRIBUTES __attribute__ ((section("__DATA,__pg_registry"), used, aligned(4))) #define PG_REGISTER_ATTRIBUTES __attribute__ ((section("__DATA,__pg_registry"), used, aligned(8)))
extern const uint8_t __pg_resetdata_start[] __asm("section$start$__DATA$__pg_resetdata"); extern const uint8_t __pg_resetdata_start[] __asm("section$start$__DATA$__pg_resetdata");
extern const uint8_t __pg_resetdata_end[] __asm("section$end$__DATA$__pg_resetdata"); extern const uint8_t __pg_resetdata_end[] __asm("section$end$__DATA$__pg_resetdata");

5
src/main/config/parameter_group_ids.h
View file

@ -126,7 +126,10 @@
#define PG_FW_AUTOLAND_CONFIG 1036 #define PG_FW_AUTOLAND_CONFIG 1036
#define PG_FW_AUTOLAND_APPROACH_CONFIG 1037 #define PG_FW_AUTOLAND_APPROACH_CONFIG 1037
#define PG_OSD_CUSTOM_ELEMENTS_CONFIG 1038 #define PG_OSD_CUSTOM_ELEMENTS_CONFIG 1038
#define PG_INAV_END PG_OSD_CUSTOM_ELEMENTS_CONFIG #define PG_GIMBAL_CONFIG 1039
#define PG_GIMBAL_SERIAL_CONFIG 1040
#define PG_HEADTRACKER_CONFIG 1041
#define PG_INAV_END PG_HEADTRACKER_CONFIG
// OSD configuration (subject to change) // OSD configuration (subject to change)
//#define PG_OSD_FONT_CONFIG 2047 //#define PG_OSD_FONT_CONFIG 2047

3
src/main/drivers/compass/compass_ist8308.c
View file

@ -121,8 +121,9 @@ static bool ist8308Read(magDev_t * mag)
return false; return false;
} }
// Invert Y axis to co convert from left to right coordinate system
mag->magADCRaw[X] = (int16_t)(buf[1] << 8 | buf[0]) * LSB2FSV; mag->magADCRaw[X] = (int16_t)(buf[1] << 8 | buf[0]) * LSB2FSV;
mag->magADCRaw[Y] = (int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV; mag->magADCRaw[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV;
mag->magADCRaw[Z] = (int16_t)(buf[5] << 8 | buf[4]) * LSB2FSV; mag->magADCRaw[Z] = (int16_t)(buf[5] << 8 | buf[4]) * LSB2FSV;
return true; return true;

2
src/main/drivers/compass/compass_ist8310.c
View file

@ -139,7 +139,7 @@ static bool ist8310Read(magDev_t * mag)
return false; return false;
} }
// Looks like datasheet is incorrect and we need to invert Y axis to conform to right hand rule // Invert Y axis to co convert from left to right coordinate system
mag->magADCRaw[X] = (int16_t)(buf[1] << 8 | buf[0]) * LSB2FSV; mag->magADCRaw[X] = (int16_t)(buf[1] << 8 | buf[0]) * LSB2FSV;
mag->magADCRaw[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV; mag->magADCRaw[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV;
mag->magADCRaw[Z] = (int16_t)(buf[5] << 8 | buf[4]) * LSB2FSV; mag->magADCRaw[Z] = (int16_t)(buf[5] << 8 | buf[4]) * LSB2FSV;

139
src/main/drivers/gimbal_common.c Normal file
View file

@ -0,0 +1,139 @@
/*
* This file is part of INAV.
*
* 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 INAV. If not, see <http://www.gnu.org/licenses/>.
*/
#include "platform.h"
#ifdef USE_SERIAL_GIMBAL
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <build/debug.h>
#include <config/parameter_group_ids.h>
#include "common/time.h"
#include "fc/cli.h"
#include "drivers/gimbal_common.h"
#include "rx/rx.h"
#include "settings_generated.h"
PG_REGISTER_WITH_RESET_TEMPLATE(gimbalConfig_t, gimbalConfig, PG_GIMBAL_CONFIG, 1);
PG_RESET_TEMPLATE(gimbalConfig_t, gimbalConfig,
.panChannel = SETTING_GIMBAL_PAN_CHANNEL_DEFAULT,
.tiltChannel = SETTING_GIMBAL_TILT_CHANNEL_DEFAULT,
.rollChannel = SETTING_GIMBAL_ROLL_CHANNEL_DEFAULT,
.sensitivity = SETTING_GIMBAL_SENSITIVITY_DEFAULT,
.panTrim = SETTING_GIMBAL_PAN_TRIM_DEFAULT,
.tiltTrim = SETTING_GIMBAL_TILT_TRIM_DEFAULT,
.rollTrim = SETTING_GIMBAL_ROLL_TRIM_DEFAULT
);
static gimbalDevice_t *commonGimbalDevice = NULL;
void gimbalCommonInit(void)
{
}
void gimbalCommonSetDevice(gimbalDevice_t *gimbalDevice)
{
SD(fprintf(stderr, "[GIMBAL]: device added %p\n", gimbalDevice));
commonGimbalDevice = gimbalDevice;
}
gimbalDevice_t *gimbalCommonDevice(void)
{
return commonGimbalDevice;
}
void gimbalCommonProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTimeUs)
{
if (gimbalDevice && gimbalDevice->vTable->process && gimbalCommonIsReady(gimbalDevice)) {
gimbalDevice->vTable->process(gimbalDevice, currentTimeUs);
}
}
gimbalDevType_e gimbalCommonGetDeviceType(gimbalDevice_t *gimbalDevice)
{
if (!gimbalDevice || !gimbalDevice->vTable->getDeviceType) {
return GIMBAL_DEV_UNKNOWN;
}
return gimbalDevice->vTable->getDeviceType(gimbalDevice);
}
bool gimbalCommonIsReady(gimbalDevice_t *gimbalDevice)
{
if (gimbalDevice && gimbalDevice->vTable->isReady) {
return gimbalDevice->vTable->isReady(gimbalDevice);
}
return false;
}
#ifdef GIMBAL_UNIT_TEST
void taskUpdateGimbal(timeUs_t currentTimeUs)
{
}
#else
void taskUpdateGimbal(timeUs_t currentTimeUs)
{
if (cliMode) {
return;
}
gimbalDevice_t *gimbalDevice = gimbalCommonDevice();
if(gimbalDevice) {
gimbalCommonProcess(gimbalDevice, currentTimeUs);
}
}
#endif
// TODO: check if any gimbal types are enabled
bool gimbalCommonIsEnabled(void)
{
return true;
}
bool gimbalCommonHtrkIsEnabled(void)
{
const gimbalDevice_t *dev = gimbalCommonDevice();
if(dev && dev->vTable->hasHeadTracker) {
bool ret = dev->vTable->hasHeadTracker(dev);
return ret;
}
return false;
}
int16_t gimbalCommonGetPanPwm(const gimbalDevice_t *gimbalDevice)
{
if (gimbalDevice && gimbalDevice->vTable->getGimbalPanPWM) {
return gimbalDevice->vTable->getGimbalPanPWM(gimbalDevice);
}
return gimbalDevice ? gimbalDevice->currentPanPWM : PWM_RANGE_MIDDLE + gimbalConfig()->panTrim;
}
#endif

104
src/main/drivers/gimbal_common.h Normal file
View file

@ -0,0 +1,104 @@
/*
* This file is part of INAV.
*
* 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 INAV. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "platform.h"
#ifdef USE_SERIAL_GIMBAL
#include <stdint.h>
#include "config/feature.h"
#include "common/time.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef enum {
GIMBAL_DEV_UNSUPPORTED = 0,
GIMBAL_DEV_SERIAL,
GIMBAL_DEV_UNKNOWN=0xFF
} gimbalDevType_e;
struct gimbalVTable_s;
typedef struct gimbalDevice_s {
const struct gimbalVTable_s *vTable;
int16_t currentPanPWM;
} gimbalDevice_t;
// {set,get}BandAndChannel: band and channel are 1 origin
// {set,get}PowerByIndex: 0 = Power OFF, 1 = device dependent
// {set,get}PitMode: 0 = OFF, 1 = ON
typedef struct gimbalVTable_s {
void (*process)(gimbalDevice_t *gimbalDevice, timeUs_t currentTimeUs);
gimbalDevType_e (*getDeviceType)(const gimbalDevice_t *gimbalDevice);
bool (*isReady)(const gimbalDevice_t *gimbalDevice);
bool (*hasHeadTracker)(const gimbalDevice_t *gimbalDevice);
int16_t (*getGimbalPanPWM)(const gimbalDevice_t *gimbalDevice);
} gimbalVTable_t;
typedef struct gimbalConfig_s {
uint8_t panChannel;
uint8_t tiltChannel;
uint8_t rollChannel;
uint8_t sensitivity;
uint16_t panTrim;
uint16_t tiltTrim;
uint16_t rollTrim;
} gimbalConfig_t;
PG_DECLARE(gimbalConfig_t, gimbalConfig);
typedef enum {
GIMBAL_MODE_FOLLOW = 0,
GIMBAL_MODE_TILT_LOCK = (1<<0),
GIMBAL_MODE_ROLL_LOCK = (1<<1),
GIMBAL_MODE_PAN_LOCK = (1<<2),
} gimbal_htk_mode_e;
#define GIMBAL_MODE_DEFAULT GIMBAL_MODE_FOLLOW
#define GIMBAL_MODE_TILT_ROLL_LOCK (GIMBAL_MODE_TILT_LOCK | GIMBAL_MODE_ROLL_LOCK)
#define GIMBAL_MODE_PAN_TILT_ROLL_LOCK (GIMBAL_MODE_TILT_LOCK | GIMBAL_MODE_ROLL_LOCK | GIMBAL_MODE_PAN_LOCK)
void gimbalCommonInit(void);
void gimbalCommonSetDevice(gimbalDevice_t *gimbalDevice);
gimbalDevice_t *gimbalCommonDevice(void);
// VTable functions
void gimbalCommonProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTimeUs);
gimbalDevType_e gimbalCommonGetDeviceType(gimbalDevice_t *gimbalDevice);
bool gimbalCommonIsReady(gimbalDevice_t *gimbalDevice);
void taskUpdateGimbal(timeUs_t currentTimeUs);
bool gimbalCommonIsEnabled(void);
bool gimbalCommonHtrkIsEnabled(void);
int16_t gimbalCommonGetPanPwm(const gimbalDevice_t *gimbalDevice);
#ifdef __cplusplus
}
#endif
#endif

193
src/main/drivers/headtracker_common.c Normal file
View file

@ -0,0 +1,193 @@
/*
* This file is part of INAV.
*
* 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 INAV. If not, see <http://www.gnu.org/licenses/>.
*/
#include "platform.h"
#ifdef USE_HEADTRACKER
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <build/debug.h>
#include <config/parameter_group_ids.h>
#include "settings_generated.h"
#include "common/time.h"
#include "common/maths.h"
#include "drivers/time.h"
#include "fc/cli.h"
#include "rx/rx.h"
#include "drivers/headtracker_common.h"
PG_REGISTER_WITH_RESET_TEMPLATE(headTrackerConfig_t, headTrackerConfig, PG_HEADTRACKER_CONFIG, 1);
PG_RESET_TEMPLATE(headTrackerConfig_t, headTrackerConfig,
.devType = SETTING_HEADTRACKER_TYPE_DEFAULT,
.pan_ratio = SETTING_HEADTRACKER_PAN_RATIO_DEFAULT,
.tilt_ratio = SETTING_HEADTRACKER_TILT_RATIO_DEFAULT,
.roll_ratio = SETTING_HEADTRACKER_ROLL_RATIO_DEFAULT,
);
static headTrackerDevice_t *commonHeadTrackerDevice = NULL;
void headTrackerCommonInit(void)
{
}
void headTrackerCommonSetDevice(headTrackerDevice_t *headTrackerDevice)
{
SD(fprintf(stderr, "[headTracker]: device added %p\n", headTrackerDevice));
commonHeadTrackerDevice = headTrackerDevice;
}
headTrackerDevice_t *headTrackerCommonDevice(void)
{
return commonHeadTrackerDevice;
}
void headTrackerCommonProcess(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs)
{
if (headTrackerDevice && headTrackerDevice->vTable->process && headTrackerCommonIsReady(headTrackerDevice)) {
headTrackerDevice->vTable->process(headTrackerDevice, currentTimeUs);
}
}
headTrackerDevType_e headTrackerCommonGetDeviceType(const headTrackerDevice_t *headTrackerDevice)
{
if (!headTrackerDevice || !headTrackerDevice->vTable->getDeviceType) {
return HEADTRACKER_UNKNOWN;
}
return headTrackerDevice->vTable->getDeviceType(headTrackerDevice);
}
bool headTrackerCommonIsReady(const headTrackerDevice_t *headTrackerDevice)
{
if (headTrackerDevice && headTrackerDevice->vTable->isReady) {
return headTrackerDevice->vTable->isReady(headTrackerDevice);
}
return false;
}
int headTrackerCommonGetPan(const headTrackerDevice_t *headTrackerDevice)
{
if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getPan) {
return headTrackerDevice->vTable->getPan(headTrackerDevice);
}
return constrain((headTrackerDevice->pan * headTrackerConfig()->pan_ratio) + 0.5f, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
}
int headTrackerCommonGetTilt(const headTrackerDevice_t *headTrackerDevice)
{
if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getTilt) {
return headTrackerDevice->vTable->getTilt(headTrackerDevice);
}
return constrain((headTrackerDevice->tilt * headTrackerConfig()->tilt_ratio) + 0.5f, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
}
int headTrackerCommonGetRoll(const headTrackerDevice_t *headTrackerDevice)
{
if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getRoll) {
return headTrackerDevice->vTable->getRollPWM(headTrackerDevice);
}
return constrain((headTrackerDevice->roll * headTrackerConfig()->roll_ratio) + 0.5f, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
}
int headTracker2PWM(int value)
{
return constrain(scaleRange(value, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX, PWM_RANGE_MIN, PWM_RANGE_MAX), PWM_RANGE_MIN, PWM_RANGE_MAX);
}
int headTrackerCommonGetPanPWM(const headTrackerDevice_t *headTrackerDevice)
{
if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getPanPWM) {
return headTrackerDevice->vTable->getPanPWM(headTrackerDevice);
}
return headTracker2PWM(headTrackerCommonGetPan(headTrackerDevice));
}
int headTrackerCommonGetTiltPWM(const headTrackerDevice_t *headTrackerDevice)
{
if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getTiltPWM) {
return headTrackerDevice->vTable->getTiltPWM(headTrackerDevice);
}
return headTracker2PWM(headTrackerCommonGetTilt(headTrackerDevice));
}
int headTrackerCommonGetRollPWM(const headTrackerDevice_t *headTrackerDevice)
{
if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getRollPWM) {
return headTrackerDevice->vTable->getRollPWM(headTrackerDevice);
}
return headTracker2PWM(headTrackerCommonGetRoll(headTrackerDevice));
}
#ifdef headTracker_UNIT_TEST
void taskUpdateHeadTracker(timeUs_t currentTimeUs)
{
}
#else
void taskUpdateHeadTracker(timeUs_t currentTimeUs)
{
if (cliMode) {
return;
}
headTrackerDevice_t *headTrackerDevice = headTrackerCommonDevice();
if(headTrackerDevice) {
headTrackerCommonProcess(headTrackerDevice, currentTimeUs);
}
}
// TODO: check if any headTracker types are enabled
bool headTrackerCommonIsEnabled(void)
{
if (commonHeadTrackerDevice && headTrackerCommonIsReady(commonHeadTrackerDevice)) {
return true;
}
return false;
}
bool headTrackerCommonIsValid(const headTrackerDevice_t *dev) {
if(dev && dev->vTable && dev->vTable->isValid) {
return dev->vTable->isValid(dev);
}
return micros() < dev->expires;
}
#endif
#endif

115
src/main/drivers/headtracker_common.h Normal file
View file

@ -0,0 +1,115 @@
/*
* This file is part of INAV.
*
* 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 INAV. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "platform.h"
#define MAX_HEADTRACKER_DATA_AGE_US HZ2US(25)
#define HEADTRACKER_RANGE_MIN -2048
#define HEADTRACKER_RANGE_MAX 2047
#ifdef USE_HEADTRACKER
#include <stdint.h>
#include "common/time.h"
#include "drivers/time.h"
#include "config/feature.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef enum {
HEADTRACKER_NONE = 0,
HEADTRACKER_SERIAL = 1,
HEADTRACKER_MSP = 2,
HEADTRACKER_UNKNOWN = 0xFF
} headTrackerDevType_e;
struct headTrackerVTable_s;
typedef struct headTrackerDevice_s {
const struct headTrackerVTable_s *vTable;
int pan;
int tilt;
int roll;
timeUs_t expires;
} headTrackerDevice_t;
// {set,get}BandAndChannel: band and channel are 1 origin
// {set,get}PowerByIndex: 0 = Power OFF, 1 = device dependent
// {set,get}PitMode: 0 = OFF, 1 = ON
typedef struct headTrackerVTable_s {
void (*process)(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs);
headTrackerDevType_e (*getDeviceType)(const headTrackerDevice_t *headTrackerDevice);
bool (*isReady)(const headTrackerDevice_t *headTrackerDevice);
bool (*isValid)(const headTrackerDevice_t *headTrackerDevice);
int (*getPanPWM)(const headTrackerDevice_t *headTrackerDevice);
int (*getTiltPWM)(const headTrackerDevice_t *headTrackerDevice);
int (*getRollPWM)(const headTrackerDevice_t *headTrackerDevice);
int (*getPan)(const headTrackerDevice_t *headTrackerDevice);
int (*getTilt)(const headTrackerDevice_t *headTrackerDevice);
int (*getRoll)(const headTrackerDevice_t *headTrackerDevice);
} headTrackerVTable_t;
typedef struct headTrackerConfig_s {
headTrackerDevType_e devType;
float pan_ratio;
float tilt_ratio;
float roll_ratio;
} headTrackerConfig_t;
PG_DECLARE(headTrackerConfig_t, headTrackerConfig);
void headTrackerCommonInit(void);
void headTrackerCommonSetDevice(headTrackerDevice_t *headTrackerDevice);
headTrackerDevice_t *headTrackerCommonDevice(void);
// VTable functions
void headTrackerCommonProcess(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs);
headTrackerDevType_e headTrackerCommonGetDeviceType(const headTrackerDevice_t *headTrackerDevice);
bool headTrackerCommonIsReady(const headTrackerDevice_t *headtrackerDevice);
bool headTrackerCommonIsValid(const headTrackerDevice_t *headtrackerDevice);
// Scaled value, constrained to PWM_RANGE_MIN~PWM_RANGE_MAX
int headTrackerCommonGetPanPWM(const headTrackerDevice_t *headTrackerDevice);
int headTrackerCommonGetTiltPWM(const headTrackerDevice_t *headTrackerDevice);
int headTrackerCommonGetRollPWM(const headTrackerDevice_t *headTrackerDevice);
// Scaled value, constrained to -2048~2047
int headTrackerCommonGetPan(const headTrackerDevice_t *headTrackerDevice);
int headTrackerCommonGetTilt(const headTrackerDevice_t *headTrackerDevice);
int headTrackerCommonGetRoll(const headTrackerDevice_t *headTrackerDevice);
void taskUpdateHeadTracker(timeUs_t currentTimeUs);
bool headtrackerCommonIsEnabled(void);
#ifdef __cplusplus
}
#endif
#endif

10
src/main/drivers/light_ws2811strip.c
View file

@ -124,6 +124,10 @@ void ws2811LedStripInit(void)
{ {
const timerHardware_t * timHw = timerGetByTag(IO_TAG(WS2811_PIN), TIM_USE_ANY); const timerHardware_t * timHw = timerGetByTag(IO_TAG(WS2811_PIN), TIM_USE_ANY);
if (!(timHw->usageFlags & TIM_USE_LED)) { // Check if it has not been reassigned
timHw = timerGetByUsageFlag(TIM_USE_LED); // Get first pin marked as LED
}
if (timHw == NULL) { if (timHw == NULL) {
return; return;
} }
@ -133,14 +137,14 @@ void ws2811LedStripInit(void)
return; return;
} }
ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN)); ws2811IO = IOGetByTag(timHw->tag); //IOGetByTag(IO_TAG(WS2811_PIN));
IOInit(ws2811IO, OWNER_LED_STRIP, RESOURCE_OUTPUT, 0); IOInit(ws2811IO, OWNER_LED_STRIP, RESOURCE_OUTPUT, 0);
IOConfigGPIOAF(ws2811IO, IOCFG_AF_PP_FAST, timHw->alternateFunction); IOConfigGPIOAF(ws2811IO, IOCFG_AF_PP_FAST, timHw->alternateFunction);
if ( ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_LOW ) { if (ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_LOW) {
ledConfigurePWM(); ledConfigurePWM();
*timerCCR(ws2811TCH) = 0; *timerCCR(ws2811TCH) = 0;
} else if ( ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_HIGH ) { } else if (ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_HIGH) {
ledConfigurePWM(); ledConfigurePWM();
*timerCCR(ws2811TCH) = 100; *timerCCR(ws2811TCH) = 100;
} else { } else {

4
src/main/drivers/osd.h
View file

@ -49,8 +49,8 @@ typedef enum {
VIDEO_SYSTEM_HDZERO, VIDEO_SYSTEM_HDZERO,
VIDEO_SYSTEM_DJIWTF, VIDEO_SYSTEM_DJIWTF,
VIDEO_SYSTEM_AVATAR, VIDEO_SYSTEM_AVATAR,
VIDEO_SYSTEM_BFCOMPAT, VIDEO_SYSTEM_DJICOMPAT,
VIDEO_SYSTEM_BFCOMPAT_HD VIDEO_SYSTEM_DJICOMPAT_HD
} videoSystem_e; } videoSystem_e;
typedef enum { typedef enum {

6
src/main/drivers/osd_symbols.h
View file

@ -44,9 +44,9 @@
#define SYM_DBM 0x13 // 019 dBm #define SYM_DBM 0x13 // 019 dBm
#define SYM_SNR 0x14 // 020 SNR #define SYM_SNR 0x14 // 020 SNR
#define SYM_AH_DIRECTION_UP 0x15 // 021 Arrow up AHI #define SYM_AH_DECORATION_UP 0x15 // 021 Arrow up AHI
#define SYM_AH_DIRECTION_DOWN 0x16 // 022 Arrow down AHI #define SYM_AH_DECORATION_DOWN 0x16 // 022 Arrow down AHI
#define SYM_DIRECTION 0x17 // 023 to 030, directional little arrows #define SYM_DECORATION 0x17 // 023 to 030, directional little arrows
#define SYM_VOLT 0x1F // 031 VOLTS #define SYM_VOLT 0x1F // 031 VOLTS
#define SYM_MAH 0x99 // 153 mAh #define SYM_MAH 0x99 // 153 mAh

39
src/main/drivers/pwm_mapping.c
View file

@ -47,13 +47,14 @@ enum {
MAP_TO_NONE, MAP_TO_NONE,
MAP_TO_MOTOR_OUTPUT, MAP_TO_MOTOR_OUTPUT,
MAP_TO_SERVO_OUTPUT, MAP_TO_SERVO_OUTPUT,
MAP_TO_LED_OUTPUT
}; };
typedef struct { typedef struct {
int maxTimMotorCount; int maxTimMotorCount;
int maxTimServoCount; int maxTimServoCount;
const timerHardware_t * timMotors[MAX_PWM_OUTPUT_PORTS]; const timerHardware_t * timMotors[MAX_PWM_OUTPUTS];
const timerHardware_t * timServos[MAX_PWM_OUTPUT_PORTS]; const timerHardware_t * timServos[MAX_PWM_OUTPUTS];
} timMotorServoHardware_t; } timMotorServoHardware_t;
static pwmInitError_e pwmInitError = PWM_INIT_ERROR_NONE; static pwmInitError_e pwmInitError = PWM_INIT_ERROR_NONE;
@ -167,10 +168,16 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw)
#if defined(USE_LED_STRIP) #if defined(USE_LED_STRIP)
if (feature(FEATURE_LED_STRIP)) { if (feature(FEATURE_LED_STRIP)) {
const timerHardware_t * ledTimHw = timerGetByTag(IO_TAG(WS2811_PIN), TIM_USE_ANY); for (int i = 0; i < timerHardwareCount; i++) {
if (ledTimHw != NULL && timHw->tim == ledTimHw->tim) { if (timHw->tim == timerHardware[i].tim && timerHardware[i].usageFlags & TIM_USE_LED) {
return true; return true;
}
} }
//const timerHardware_t * ledTimHw = timerGetByTag(IO_TAG(WS2811_PIN), TIM_USE_ANY);
//if (ledTimHw != NULL && timHw->tim == ledTimHw->tim) {
// return true;
//}
} }
#endif #endif
@ -213,16 +220,16 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw)
static void timerHardwareOverride(timerHardware_t * timer) { static void timerHardwareOverride(timerHardware_t * timer) {
switch (timerOverrides(timer2id(timer->tim))->outputMode) { switch (timerOverrides(timer2id(timer->tim))->outputMode) {
case OUTPUT_MODE_MOTORS: case OUTPUT_MODE_MOTORS:
if (TIM_IS_SERVO(timer->usageFlags)) { timer->usageFlags &= ~(TIM_USE_SERVO|TIM_USE_LED);
timer->usageFlags &= ~TIM_USE_SERVO; timer->usageFlags |= TIM_USE_MOTOR;
timer->usageFlags |= TIM_USE_MOTOR;
}
break; break;
case OUTPUT_MODE_SERVOS: case OUTPUT_MODE_SERVOS:
if (TIM_IS_MOTOR(timer->usageFlags)) { timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_LED);
timer->usageFlags &= ~TIM_USE_MOTOR; timer->usageFlags |= TIM_USE_SERVO;
timer->usageFlags |= TIM_USE_SERVO; break;
} case OUTPUT_MODE_LED:
timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_SERVO);
timer->usageFlags |= TIM_USE_LED;
break; break;
} }
} }
@ -335,6 +342,8 @@ void pwmBuildTimerOutputList(timMotorServoHardware_t * timOutputs, bool isMixerU
type = MAP_TO_SERVO_OUTPUT; type = MAP_TO_SERVO_OUTPUT;
} else if (TIM_IS_MOTOR(timHw->usageFlags) && !pwmHasServoOnTimer(timOutputs, timHw->tim)) { } else if (TIM_IS_MOTOR(timHw->usageFlags) && !pwmHasServoOnTimer(timOutputs, timHw->tim)) {
type = MAP_TO_MOTOR_OUTPUT; type = MAP_TO_MOTOR_OUTPUT;
} else if (TIM_IS_LED(timHw->usageFlags) && !pwmHasMotorOnTimer(timOutputs, timHw->tim) && !pwmHasServoOnTimer(timOutputs, timHw->tim)) {
type = MAP_TO_LED_OUTPUT;
} }
switch(type) { switch(type) {
@ -348,6 +357,10 @@ void pwmBuildTimerOutputList(timMotorServoHardware_t * timOutputs, bool isMixerU
timOutputs->timServos[timOutputs->maxTimServoCount++] = timHw; timOutputs->timServos[timOutputs->maxTimServoCount++] = timHw;
pwmClaimTimer(timHw->tim, timHw->usageFlags); pwmClaimTimer(timHw->tim, timHw->usageFlags);
break; break;
case MAP_TO_LED_OUTPUT:
timHw->usageFlags &= TIM_USE_LED;
pwmClaimTimer(timHw->tim, timHw->usageFlags);
break;
default: default:
break; break;
} }

5
src/main/drivers/pwm_mapping.h
View file

@ -53,6 +53,11 @@ typedef enum {
SERVO_TYPE_SBUS_PWM SERVO_TYPE_SBUS_PWM
} servoProtocolType_e; } servoProtocolType_e;
typedef enum {
PIN_LABEL_NONE = 0,
PIN_LABEL_LED
} pinLabel_e;
typedef enum { typedef enum {
PWM_INIT_ERROR_NONE = 0, PWM_INIT_ERROR_NONE = 0,
PWM_INIT_ERROR_TOO_MANY_MOTORS, PWM_INIT_ERROR_TOO_MANY_MOTORS,

4
src/main/drivers/pwm_output.c
View file

@ -98,7 +98,7 @@ typedef struct {
bool requestTelemetry; bool requestTelemetry;
} pwmOutputMotor_t; } pwmOutputMotor_t;
static DMA_RAM pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUT_PORTS]; static DMA_RAM pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUTS];
static pwmOutputMotor_t motors[MAX_MOTORS]; static pwmOutputMotor_t motors[MAX_MOTORS];
static motorPwmProtocolTypes_e initMotorProtocol; static motorPwmProtocolTypes_e initMotorProtocol;
@ -142,7 +142,7 @@ static void pwmOutConfigTimer(pwmOutputPort_t * p, TCH_t * tch, uint32_t hz, uin
static pwmOutputPort_t *pwmOutAllocatePort(void) static pwmOutputPort_t *pwmOutAllocatePort(void)
{ {
if (allocatedOutputPortCount >= MAX_PWM_OUTPUT_PORTS) { if (allocatedOutputPortCount >= MAX_PWM_OUTPUTS) {
LOG_ERROR(PWM, "Attempt to allocate PWM output beyond MAX_PWM_OUTPUT_PORTS"); LOG_ERROR(PWM, "Attempt to allocate PWM output beyond MAX_PWM_OUTPUT_PORTS");
return NULL; return NULL;
} }

6
src/main/drivers/pwm_output.h
View file

@ -20,6 +20,12 @@
#include "drivers/io_types.h" #include "drivers/io_types.h"
#include "drivers/time.h" #include "drivers/time.h"
#if defined(WS2811_PIN)
#define MAX_PWM_OUTPUTS (MAX_PWM_OUTPUT_PORTS + 1)
#else
#define MAX_PWM_OUTPUTS (MAX_PWM_OUTPUT_PORTS)
#endif
typedef enum { typedef enum {
DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20, DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20,
DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21, DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21,

49
src/main/drivers/serial_tcp.c
View file

@ -43,6 +43,7 @@
#include "drivers/serial.h" #include "drivers/serial.h"
#include "drivers/serial_tcp.h" #include "drivers/serial_tcp.h"
#include "target/SITL/serial_proxy.h"
static const struct serialPortVTable tcpVTable[]; static const struct serialPortVTable tcpVTable[];
static tcpPort_t tcpPorts[SERIAL_PORT_COUNT]; static tcpPort_t tcpPorts[SERIAL_PORT_COUNT];
@ -118,6 +119,23 @@ static tcpPort_t *tcpReConfigure(tcpPort_t *port, uint32_t id)
return port; return port;
} }
void tcpReceiveBytes( tcpPort_t *port, const uint8_t* buffer, ssize_t recvSize ) {
for (ssize_t i = 0; i < recvSize; i++) {
if (port->serialPort.rxCallback) {
port->serialPort.rxCallback((uint16_t)buffer[i], port->serialPort.rxCallbackData);
} else {
pthread_mutex_lock(&port->receiveMutex);
port->serialPort.rxBuffer[port->serialPort.rxBufferHead] = buffer[i];
port->serialPort.rxBufferHead = (port->serialPort.rxBufferHead + 1) % port->serialPort.rxBufferSize;
pthread_mutex_unlock(&port->receiveMutex);
}
}
}
void tcpReceiveBytesEx( int portIndex, const uint8_t* buffer, ssize_t recvSize ) {
tcpReceiveBytes( &tcpPorts[portIndex], buffer, recvSize );
}
int tcpReceive(tcpPort_t *port) int tcpReceive(tcpPort_t *port)
{ {
char addrbuf[IPADDRESS_PRINT_BUFLEN]; char addrbuf[IPADDRESS_PRINT_BUFLEN];
@ -162,22 +180,12 @@ int tcpReceive(tcpPort_t *port)
return 0; return 0;
} }
for (ssize_t i = 0; i < recvSize; i++) {
if (port->serialPort.rxCallback) {
port->serialPort.rxCallback((uint16_t)buffer[i], port->serialPort.rxCallbackData);
} else {
pthread_mutex_lock(&port->receiveMutex);
port->serialPort.rxBuffer[port->serialPort.rxBufferHead] = buffer[i];
port->serialPort.rxBufferHead = (port->serialPort.rxBufferHead + 1) % port->serialPort.rxBufferSize;
pthread_mutex_unlock(&port->receiveMutex);
}
}
if (recvSize < 0) { if (recvSize < 0) {
recvSize = 0; recvSize = 0;
} }
tcpReceiveBytes( port, buffer, recvSize );
return (int)recvSize; return (int)recvSize;
} }
@ -240,9 +248,21 @@ void tcpWritBuf(serialPort_t *instance, const void *data, int count)
send(port->clientSocketFd, data, count, 0); send(port->clientSocketFd, data, count, 0);
} }
int getTcpPortIndex(const serialPort_t *instance) {
for (int i = 0; i < SERIAL_PORT_COUNT; i++) {
if ( &(tcpPorts[i].serialPort) == instance) return i;
}
return -1;
}
void tcpWrite(serialPort_t *instance, uint8_t ch) void tcpWrite(serialPort_t *instance, uint8_t ch)
{ {
tcpWritBuf(instance, (void*)&ch, 1); tcpWritBuf(instance, (void*)&ch, 1);
int index = getTcpPortIndex(instance);
if ( !serialFCProxy && serialProxyIsConnected() && (index == (serialUartIndex-1)) ) {
serialProxyWriteData( (unsigned char *)&ch, 1);
}
} }
uint32_t tcpTotalRxBytesWaiting(const serialPort_t *instance) uint32_t tcpTotalRxBytesWaiting(const serialPort_t *instance)
@ -263,6 +283,10 @@ uint32_t tcpTotalRxBytesWaiting(const serialPort_t *instance)
return count; return count;
} }
uint32_t tcpRXBytesFree(int portIndex) {
return tcpPorts[portIndex].serialPort.rxBufferSize - tcpTotalRxBytesWaiting( &tcpPorts[portIndex].serialPort);
}
uint32_t tcpTotalTxBytesFree(const serialPort_t *instance) uint32_t tcpTotalTxBytesFree(const serialPort_t *instance)
{ {
UNUSED(instance); UNUSED(instance);
@ -272,7 +296,6 @@ uint32_t tcpTotalTxBytesFree(const serialPort_t *instance)
bool isTcpTransmitBufferEmpty(const serialPort_t *instance) bool isTcpTransmitBufferEmpty(const serialPort_t *instance)
{ {
UNUSED(instance); UNUSED(instance);
return true; return true;
} }

8
src/main/drivers/serial_tcp.h
View file

@ -26,6 +26,8 @@
#include <netinet/in.h> #include <netinet/in.h>
#include <netdb.h> #include <netdb.h>
#include "drivers/serial.h"
#define BASE_IP_ADDRESS 5760 #define BASE_IP_ADDRESS 5760
#define TCP_BUFFER_SIZE 2048 #define TCP_BUFFER_SIZE 2048
#define TCP_MAX_PACKET_SIZE 65535 #define TCP_MAX_PACKET_SIZE 65535
@ -50,5 +52,7 @@ typedef struct
serialPort_t *tcpOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback, void *rxCallbackData, uint32_t baudRate, portMode_t mode, portOptions_t options); serialPort_t *tcpOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback, void *rxCallbackData, uint32_t baudRate, portMode_t mode, portOptions_t options);
void tcpSend(tcpPort_t *port); extern void tcpSend(tcpPort_t *port);
int tcpReceive(tcpPort_t *port); extern int tcpReceive(tcpPort_t *port);
extern void tcpReceiveBytesEx( int portIndex, const uint8_t* buffer, ssize_t recvSize );
extern uint32_t tcpRXBytesFree(int portIndex);

7
src/main/drivers/timer.h
View file

@ -113,9 +113,9 @@ typedef enum {
TIM_USE_MOTOR = (1 << 2), // Motor output TIM_USE_MOTOR = (1 << 2), // Motor output
TIM_USE_SERVO = (1 << 3), // Servo output TIM_USE_SERVO = (1 << 3), // Servo output
TIM_USE_MC_CHNFW = (1 << 4), // Deprecated and not used after removal of CHANNEL_FORWARDING feature TIM_USE_MC_CHNFW = (1 << 4), // Deprecated and not used after removal of CHANNEL_FORWARDING feature
//TIM_USE_FW_MOTOR = (1 << 5), // We no longer differentiate mc from fw on pwm allocation //TIM_USE_FW_MOTOR = (1 << 5), // We no longer differentiate mc from fw on pwm allocation
//TIM_USE_FW_SERVO = (1 << 6), //TIM_USE_FW_SERVO = (1 << 6),
TIM_USE_LED = (1 << 24), TIM_USE_LED = (1 << 24), // Remapping needs to be in the lower 8 bits.
TIM_USE_BEEPER = (1 << 25), TIM_USE_BEEPER = (1 << 25),
} timerUsageFlag_e; } timerUsageFlag_e;
@ -123,6 +123,7 @@ typedef enum {
#define TIM_IS_MOTOR(flags) ((flags) & TIM_USE_MOTOR) #define TIM_IS_MOTOR(flags) ((flags) & TIM_USE_MOTOR)
#define TIM_IS_SERVO(flags) ((flags) & TIM_USE_SERVO) #define TIM_IS_SERVO(flags) ((flags) & TIM_USE_SERVO)
#define TIM_IS_LED(flags) ((flags) & TIM_USE_LED)
#define TIM_IS_MOTOR_ONLY(flags) (TIM_IS_MOTOR(flags) && !TIM_IS_SERVO(flags)) #define TIM_IS_MOTOR_ONLY(flags) (TIM_IS_MOTOR(flags) && !TIM_IS_SERVO(flags))
#define TIM_IS_SERVO_ONLY(flags) (!TIM_IS_MOTOR(flags) && TIM_IS_SERVO(flags)) #define TIM_IS_SERVO_ONLY(flags) (!TIM_IS_MOTOR(flags) && TIM_IS_SERVO(flags))

92
src/main/fc/cli.c
View file

@ -104,6 +104,7 @@ bool cliMode = false;
#include "rx/rx.h" #include "rx/rx.h"
#include "rx/spektrum.h" #include "rx/spektrum.h"
#include "rx/srxl2.h" #include "rx/srxl2.h"
#include "rx/crsf.h"
#include "scheduler/scheduler.h" #include "scheduler/scheduler.h"
@ -163,6 +164,7 @@ static const char * outputModeNames[] = {
"AUTO", "AUTO",
"MOTORS", "MOTORS",
"SERVOS", "SERVOS",
"LED",
NULL NULL
}; };
@ -292,7 +294,7 @@ static void cliPutp(void *p, char ch)
typedef enum { typedef enum {
DUMP_MASTER = (1 << 0), DUMP_MASTER = (1 << 0),
DUMP_PROFILE = (1 << 1), DUMP_CONTROL_PROFILE = (1 << 1),
DUMP_BATTERY_PROFILE = (1 << 2), DUMP_BATTERY_PROFILE = (1 << 2),
DUMP_MIXER_PROFILE = (1 << 3), DUMP_MIXER_PROFILE = (1 << 3),
DUMP_ALL = (1 << 4), DUMP_ALL = (1 << 4),
@ -1171,7 +1173,7 @@ static void cliRxRange(char *cmdline)
ptr = cmdline; ptr = cmdline;
i = fastA2I(ptr); i = fastA2I(ptr);
if (i >= 0 && i < NON_AUX_CHANNEL_COUNT) { if (i >= 0 && i < NON_AUX_CHANNEL_COUNT) {
int rangeMin, rangeMax; int rangeMin = 0, rangeMax = 0;
ptr = nextArg(ptr); ptr = nextArg(ptr);
if (ptr) { if (ptr) {
@ -2821,6 +2823,8 @@ static void cliTimerOutputMode(char *cmdline)
mode = OUTPUT_MODE_MOTORS; mode = OUTPUT_MODE_MOTORS;
} else if(!sl_strcasecmp("SERVOS", tok)) { } else if(!sl_strcasecmp("SERVOS", tok)) {
mode = OUTPUT_MODE_SERVOS; mode = OUTPUT_MODE_SERVOS;
} else if(!sl_strcasecmp("LED", tok)) {
mode = OUTPUT_MODE_LED;
} else { } else {
cliShowParseError(); cliShowParseError();
return; return;
@ -3221,6 +3225,12 @@ void cliRxBind(char *cmdline){
srxl2Bind(); srxl2Bind();
cliPrint("Binding SRXL2 receiver..."); cliPrint("Binding SRXL2 receiver...");
break; break;
#endif
#if defined(USE_SERIALRX_CRSF)
case SERIALRX_CRSF:
crsfBind();
cliPrint("Binding CRSF receiver...");
break;
#endif #endif
} }
} }
@ -3333,30 +3343,30 @@ static void cliPlaySound(char *cmdline)
beeper(beeperModeForTableIndex(i)); beeper(beeperModeForTableIndex(i));
} }
static void cliProfile(char *cmdline) static void cliControlProfile(char *cmdline)
{ {
// CLI profile index is 1-based // CLI profile index is 1-based
if (isEmpty(cmdline)) { if (isEmpty(cmdline)) {
cliPrintLinef("profile %d", getConfigProfile() + 1); cliPrintLinef("control_profile %d", getConfigProfile() + 1);
return; return;
} else { } else {
const int i = fastA2I(cmdline) - 1; const int i = fastA2I(cmdline) - 1;
if (i >= 0 && i < MAX_PROFILE_COUNT) { if (i >= 0 && i < MAX_PROFILE_COUNT) {
setConfigProfileAndWriteEEPROM(i); setConfigProfileAndWriteEEPROM(i);
cliProfile(""); cliControlProfile("");
} }
} }
} }
static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask) static void cliDumpControlProfile(uint8_t profileIndex, uint8_t dumpMask)
{ {
if (profileIndex >= MAX_PROFILE_COUNT) { if (profileIndex >= MAX_PROFILE_COUNT) {
// Faulty values // Faulty values
return; return;
} }
setConfigProfile(profileIndex); setConfigProfile(profileIndex);
cliPrintHashLine("profile"); cliPrintHashLine("control_profile");
cliPrintLinef("profile %d\r\n", getConfigProfile() + 1); cliPrintLinef("control_profile %d\r\n", getConfigProfile() + 1);
dumpAllValues(PROFILE_VALUE, dumpMask); dumpAllValues(PROFILE_VALUE, dumpMask);
dumpAllValues(CONTROL_RATE_VALUE, dumpMask); dumpAllValues(CONTROL_RATE_VALUE, dumpMask);
dumpAllValues(EZ_TUNE_VALUE, dumpMask); dumpAllValues(EZ_TUNE_VALUE, dumpMask);
@ -3659,13 +3669,14 @@ static void cliStatus(char *cmdline)
char buf[MAX(FORMATTED_DATE_TIME_BUFSIZE, SETTING_MAX_NAME_LENGTH)]; char buf[MAX(FORMATTED_DATE_TIME_BUFSIZE, SETTING_MAX_NAME_LENGTH)];
dateTime_t dt; dateTime_t dt;
cliPrintLinef("%s/%s %s %s / %s (%s)", cliPrintLinef("%s/%s %s %s / %s (%s) %s",
FC_FIRMWARE_NAME, FC_FIRMWARE_NAME,
targetName, targetName,
FC_VERSION_STRING, FC_VERSION_STRING,
buildDate, buildDate,
buildTime, buildTime,
shortGitRevision shortGitRevision,
FC_VERSION_TYPE
); );
cliPrintLinef("GCC-%s", cliPrintLinef("GCC-%s",
compilerVersion compilerVersion
@ -3903,13 +3914,14 @@ static void cliVersion(char *cmdline)
{ {
UNUSED(cmdline); UNUSED(cmdline);
cliPrintLinef("# %s/%s %s %s / %s (%s)", cliPrintLinef("# %s/%s %s %s / %s (%s) %s",
FC_FIRMWARE_NAME, FC_FIRMWARE_NAME,
targetName, targetName,
FC_VERSION_STRING, FC_VERSION_STRING,
buildDate, buildDate,
buildTime, buildTime,
shortGitRevision shortGitRevision,
FC_VERSION_TYPE
); );
cliPrintLinef("# GCC-%s", cliPrintLinef("# GCC-%s",
compilerVersion compilerVersion
@ -3978,12 +3990,12 @@ static void printConfig(const char *cmdline, bool doDiff)
const char *options; const char *options;
if ((options = checkCommand(cmdline, "master"))) { if ((options = checkCommand(cmdline, "master"))) {
dumpMask = DUMP_MASTER; // only dumpMask = DUMP_MASTER; // only
} else if ((options = checkCommand(cmdline, "profile"))) { } else if ((options = checkCommand(cmdline, "control_profile"))) {
dumpMask = DUMP_PROFILE; // only dumpMask = DUMP_CONTROL_PROFILE; // only
} else if ((options = checkCommand(cmdline, "battery_profile"))) {
dumpMask = DUMP_BATTERY_PROFILE; // only
} else if ((options = checkCommand(cmdline, "mixer_profile"))) { } else if ((options = checkCommand(cmdline, "mixer_profile"))) {
dumpMask = DUMP_MIXER_PROFILE; // only dumpMask = DUMP_MIXER_PROFILE; // only
} else if ((options = checkCommand(cmdline, "battery_profile"))) {
dumpMask = DUMP_BATTERY_PROFILE; // only
} else if ((options = checkCommand(cmdline, "all"))) { } else if ((options = checkCommand(cmdline, "all"))) {
dumpMask = DUMP_ALL; // all profiles and rates dumpMask = DUMP_ALL; // all profiles and rates
} else { } else {
@ -3994,16 +4006,16 @@ static void printConfig(const char *cmdline, bool doDiff)
dumpMask = dumpMask | DO_DIFF; dumpMask = dumpMask | DO_DIFF;
} }
const int currentProfileIndexSave = getConfigProfile(); const int currentControlProfileIndexSave = getConfigProfile();
const int currentBatteryProfileIndexSave = getConfigBatteryProfile();
const int currentMixerProfileIndexSave = getConfigMixerProfile(); const int currentMixerProfileIndexSave = getConfigMixerProfile();
const int currentBatteryProfileIndexSave = getConfigBatteryProfile();
backupConfigs(); backupConfigs();
// reset all configs to defaults to do differencing // reset all configs to defaults to do differencing
resetConfigs(); resetConfigs();
// restore the profile indices, since they should not be reset for proper comparison // restore the profile indices, since they should not be reset for proper comparison
setConfigProfile(currentProfileIndexSave); setConfigProfile(currentControlProfileIndexSave);
setConfigBatteryProfile(currentBatteryProfileIndexSave);
setConfigMixerProfile(currentMixerProfileIndexSave); setConfigMixerProfile(currentMixerProfileIndexSave);
setConfigBatteryProfile(currentBatteryProfileIndexSave);
if (checkCommand(options, "showdefaults")) { if (checkCommand(options, "showdefaults")) {
dumpMask = dumpMask | SHOW_DEFAULTS; // add default values as comments for changed values dumpMask = dumpMask | SHOW_DEFAULTS; // add default values as comments for changed values
@ -4125,25 +4137,25 @@ static void printConfig(const char *cmdline, bool doDiff)
if (dumpMask & DUMP_ALL) { if (dumpMask & DUMP_ALL) {
// dump all profiles // dump all profiles
const int currentProfileIndexSave = getConfigProfile(); const int currentControlProfileIndexSave = getConfigProfile();
const int currentBatteryProfileIndexSave = getConfigBatteryProfile();
const int currentMixerProfileIndexSave = getConfigMixerProfile(); const int currentMixerProfileIndexSave = getConfigMixerProfile();
const int currentBatteryProfileIndexSave = getConfigBatteryProfile();
for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) {
cliDumpControlProfile(ii, dumpMask);
}
for (int ii = 0; ii < MAX_MIXER_PROFILE_COUNT; ++ii) { for (int ii = 0; ii < MAX_MIXER_PROFILE_COUNT; ++ii) {
cliDumpMixerProfile(ii, dumpMask); cliDumpMixerProfile(ii, dumpMask);
} }
for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) {
cliDumpProfile(ii, dumpMask);
}
for (int ii = 0; ii < MAX_BATTERY_PROFILE_COUNT; ++ii) { for (int ii = 0; ii < MAX_BATTERY_PROFILE_COUNT; ++ii) {
cliDumpBatteryProfile(ii, dumpMask); cliDumpBatteryProfile(ii, dumpMask);
} }
setConfigProfile(currentProfileIndexSave); setConfigProfile(currentControlProfileIndexSave);
setConfigBatteryProfile(currentBatteryProfileIndexSave);
setConfigMixerProfile(currentMixerProfileIndexSave); setConfigMixerProfile(currentMixerProfileIndexSave);
setConfigBatteryProfile(currentBatteryProfileIndexSave);
cliPrintHashLine("restore original profile selection"); cliPrintHashLine("restore original profile selection");
cliPrintLinef("control_profile %d", currentControlProfileIndexSave + 1);
cliPrintLinef("mixer_profile %d", currentMixerProfileIndexSave + 1); cliPrintLinef("mixer_profile %d", currentMixerProfileIndexSave + 1);
cliPrintLinef("profile %d", currentProfileIndexSave + 1);
cliPrintLinef("battery_profile %d", currentBatteryProfileIndexSave + 1); cliPrintLinef("battery_profile %d", currentBatteryProfileIndexSave + 1);
#ifdef USE_CLI_BATCH #ifdef USE_CLI_BATCH
@ -4151,18 +4163,19 @@ static void printConfig(const char *cmdline, bool doDiff)
#endif #endif
} else { } else {
// dump just the current profiles // dump just the current profiles
cliDumpControlProfile(getConfigProfile(), dumpMask);
cliDumpMixerProfile(getConfigMixerProfile(), dumpMask); cliDumpMixerProfile(getConfigMixerProfile(), dumpMask);
cliDumpProfile(getConfigProfile(), dumpMask);
cliDumpBatteryProfile(getConfigBatteryProfile(), dumpMask); cliDumpBatteryProfile(getConfigBatteryProfile(), dumpMask);
} }
} }
if (dumpMask & DUMP_CONTROL_PROFILE) {
cliDumpControlProfile(getConfigProfile(), dumpMask);
}
if (dumpMask & DUMP_MIXER_PROFILE) { if (dumpMask & DUMP_MIXER_PROFILE) {
cliDumpMixerProfile(getConfigMixerProfile(), dumpMask); cliDumpMixerProfile(getConfigMixerProfile(), dumpMask);
} }
if (dumpMask & DUMP_PROFILE) {
cliDumpProfile(getConfigProfile(), dumpMask);
}
if (dumpMask & DUMP_BATTERY_PROFILE) { if (dumpMask & DUMP_BATTERY_PROFILE) {
cliDumpBatteryProfile(getConfigBatteryProfile(), dumpMask); cliDumpBatteryProfile(getConfigBatteryProfile(), dumpMask);
@ -4276,9 +4289,9 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults), CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults),
CLI_COMMAND_DEF("dfu", "DFU mode on reboot", NULL, cliDfu), CLI_COMMAND_DEF("dfu", "DFU mode on reboot", NULL, cliDfu),
CLI_COMMAND_DEF("diff", "list configuration changes from default", CLI_COMMAND_DEF("diff", "list configuration changes from default",
"[master|battery_profile|profile|rates|all] {showdefaults}", cliDiff), "[master|battery_profile|control_profile|mixer_profile|rates|all] {showdefaults}", cliDiff),
CLI_COMMAND_DEF("dump", "dump configuration", CLI_COMMAND_DEF("dump", "dump configuration",
"[master|battery_profile|profile|rates|all] {showdefaults}", cliDump), "[master|battery_profile|control_profile|mixer_profile|rates|all] {showdefaults}", cliDump),
#ifdef USE_RX_ELERES #ifdef USE_RX_ELERES
CLI_COMMAND_DEF("eleres_bind", NULL, NULL, cliEleresBind), CLI_COMMAND_DEF("eleres_bind", NULL, NULL, cliEleresBind),
#endif // USE_RX_ELERES #endif // USE_RX_ELERES
@ -4319,12 +4332,9 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("msc", "switch into msc mode", NULL, cliMsc), CLI_COMMAND_DEF("msc", "switch into msc mode", NULL, cliMsc),
#endif #endif
CLI_COMMAND_DEF("play_sound", NULL, "[<index>]\r\n", cliPlaySound), CLI_COMMAND_DEF("play_sound", NULL, "[<index>]\r\n", cliPlaySound),
CLI_COMMAND_DEF("profile", "change profile", CLI_COMMAND_DEF("control_profile", "change control profile", "[<index>]", cliControlProfile),
"[<index>]", cliProfile), CLI_COMMAND_DEF("mixer_profile", "change mixer profile", "[<index>]", cliMixerProfile),
CLI_COMMAND_DEF("battery_profile", "change battery profile", CLI_COMMAND_DEF("battery_profile", "change battery profile", "[<index>]", cliBatteryProfile),
"[<index>]", cliBatteryProfile),
CLI_COMMAND_DEF("mixer_profile", "change mixer profile",
"[<index>]", cliMixerProfile),
CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource), CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange), CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
#if defined(USE_SAFE_HOME) #if defined(USE_SAFE_HOME)

20
src/main/fc/config.c
View file

@ -190,6 +190,18 @@ uint32_t getGyroLooptime(void)
void validateAndFixConfig(void) void validateAndFixConfig(void)
{ {
#ifdef USE_ADAPTIVE_FILTER
// gyroConfig()->adaptiveFilterMinHz has to be at least 5 units lower than gyroConfig()->gyro_main_lpf_hz
if (gyroConfig()->adaptiveFilterMinHz + 5 > gyroConfig()->gyro_main_lpf_hz) {
gyroConfigMutable()->adaptiveFilterMinHz = gyroConfig()->gyro_main_lpf_hz - 5;
}
//gyroConfig()->adaptiveFilterMaxHz has to be at least 5 units higher than gyroConfig()->gyro_main_lpf_hz
if (gyroConfig()->adaptiveFilterMaxHz - 5 < gyroConfig()->gyro_main_lpf_hz) {
gyroConfigMutable()->adaptiveFilterMaxHz = gyroConfig()->gyro_main_lpf_hz + 5;
}
#endif
if (accelerometerConfig()->acc_notch_cutoff >= accelerometerConfig()->acc_notch_hz) { if (accelerometerConfig()->acc_notch_cutoff >= accelerometerConfig()->acc_notch_hz) {
accelerometerConfigMutable()->acc_notch_hz = 0; accelerometerConfigMutable()->acc_notch_hz = 0;
} }
@ -284,6 +296,14 @@ void createDefaultConfig(void)
featureSet(FEATURE_AIRMODE); featureSet(FEATURE_AIRMODE);
targetConfiguration(); targetConfiguration();
#ifdef MSP_UART
int port = findSerialPortIndexByIdentifier(MSP_UART);
if (port) {
serialConfigMutable()->portConfigs[port].functionMask = FUNCTION_MSP;
serialConfigMutable()->portConfigs[port].msp_baudrateIndex = BAUD_115200;
}
#endif
} }
void resetConfigs(void) void resetConfigs(void)

8
src/main/fc/fc_core.c
View file

@ -342,6 +342,10 @@ static void updateArmingStatus(void)
DISABLE_ARMING_FLAG(ARMING_DISABLED_NO_PREARM); DISABLE_ARMING_FLAG(ARMING_DISABLED_NO_PREARM);
} }
if (ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED) && !IS_RC_MODE_ACTIVE(BOXARM)) {
DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
}
/* CHECK: Arming switch */ /* CHECK: Arming switch */
// If arming is disabled and the ARM switch is on // If arming is disabled and the ARM switch is on
// Note that this should be last check so all other blockers could be cleared correctly // Note that this should be last check so all other blockers could be cleared correctly
@ -700,7 +704,7 @@ void processRx(timeUs_t currentTimeUs)
} }
/* Turn assistant mode */ /* Turn assistant mode */
if (IS_RC_MODE_ACTIVE(BOXTURNASSIST)) { if (IS_RC_MODE_ACTIVE(BOXTURNASSIST) || navigationRequiresTurnAssistance()) {
ENABLE_FLIGHT_MODE(TURN_ASSISTANT); ENABLE_FLIGHT_MODE(TURN_ASSISTANT);
} else { } else {
DISABLE_FLIGHT_MODE(TURN_ASSISTANT); DISABLE_FLIGHT_MODE(TURN_ASSISTANT);
@ -896,7 +900,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
} }
#if defined(SITL_BUILD) #if defined(SITL_BUILD)
if (lockMainPID()) { if (ARMING_FLAG(SIMULATOR_MODE_HITL) || lockMainPID()) {
#endif #endif
gyroFilter(); gyroFilter();

30
src/main/fc/fc_init.c
View file

@ -53,6 +53,8 @@
#include "drivers/exti.h" #include "drivers/exti.h"
#include "drivers/io.h" #include "drivers/io.h"
#include "drivers/flash.h" #include "drivers/flash.h"
#include "drivers/gimbal_common.h"
#include "drivers/headtracker_common.h"
#include "drivers/light_led.h" #include "drivers/light_led.h"
#include "drivers/nvic.h" #include "drivers/nvic.h"
#include "drivers/osd.h" #include "drivers/osd.h"
@ -60,7 +62,6 @@
#include "drivers/pwm_esc_detect.h" #include "drivers/pwm_esc_detect.h"
#include "drivers/pwm_mapping.h" #include "drivers/pwm_mapping.h"
#include "drivers/pwm_output.h" #include "drivers/pwm_output.h"
#include "drivers/pwm_output.h"
#include "drivers/sensor.h" #include "drivers/sensor.h"
#include "drivers/serial.h" #include "drivers/serial.h"
#include "drivers/serial_softserial.h" #include "drivers/serial_softserial.h"
@ -108,6 +109,8 @@
#include "io/displayport_msp_osd.h" #include "io/displayport_msp_osd.h"
#include "io/displayport_srxl.h" #include "io/displayport_srxl.h"
#include "io/flashfs.h" #include "io/flashfs.h"
#include "io/gimbal_serial.h"
#include "io/headtracker_msp.h"
#include "io/gps.h" #include "io/gps.h"
#include "io/ledstrip.h" #include "io/ledstrip.h"
#include "io/osd.h" #include "io/osd.h"
@ -147,6 +150,10 @@
#include "telemetry/telemetry.h" #include "telemetry/telemetry.h"
#if defined(SITL_BUILD)
#include "target/SITL/serial_proxy.h"
#endif
#ifdef USE_HARDWARE_REVISION_DETECTION #ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h" #include "hardware_revision.h"
#endif #endif
@ -223,6 +230,10 @@ void init(void)
flashDeviceInitialized = flashInit(); flashDeviceInitialized = flashInit();
#endif #endif
#if defined(SITL_BUILD)
serialProxyInit();
#endif
initEEPROM(); initEEPROM();
ensureEEPROMContainsValidData(); ensureEEPROMContainsValidData();
suspendRxSignal(); suspendRxSignal();
@ -680,6 +691,23 @@ void init(void)
initDShotCommands(); initDShotCommands();
#endif #endif
#ifdef USE_SERIAL_GIMBAL
gimbalCommonInit();
// Needs to be called before gimbalSerialHeadTrackerInit
gimbalSerialInit();
#endif
#ifdef USE_HEADTRACKER
headTrackerCommonInit();
#ifdef USE_HEADTRACKER_SERIAL
// Needs to be called after gimbalSerialInit
gimbalSerialHeadTrackerInit();
#endif
#ifdef USE_HEADTRACKER_MSP
mspHeadTrackerInit();
#endif
#endif
// Latch active features AGAIN since some may be modified by init(). // Latch active features AGAIN since some may be modified by init().
latchActiveFeatures(); latchActiveFeatures();
motorControlEnable = true; motorControlEnable = true;

120
src/main/fc/fc_msp.c
View file

@ -97,6 +97,7 @@
#include "io/vtx.h" #include "io/vtx.h"
#include "io/vtx_string.h" #include "io/vtx_string.h"
#include "io/gps_private.h" //for MSP_SIMULATOR #include "io/gps_private.h" //for MSP_SIMULATOR
#include "io/headtracker_msp.h"
#include "io/osd/custom_elements.h" #include "io/osd/custom_elements.h"
@ -110,6 +111,8 @@
#include "rx/rx.h" #include "rx/rx.h"
#include "rx/msp.h" #include "rx/msp.h"
#include "rx/srxl2.h"
#include "rx/crsf.h"
#include "scheduler/scheduler.h" #include "scheduler/scheduler.h"
@ -857,7 +860,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU32(dst, currentBatteryProfile->capacity.value); sbufWriteU32(dst, currentBatteryProfile->capacity.value);
sbufWriteU32(dst, currentBatteryProfile->capacity.warning); sbufWriteU32(dst, currentBatteryProfile->capacity.warning);
sbufWriteU32(dst, currentBatteryProfile->capacity.critical); sbufWriteU32(dst, currentBatteryProfile->capacity.critical);
sbufWriteU8(dst, currentBatteryProfile->capacity.unit); sbufWriteU8(dst, batteryMetersConfig()->capacity_unit);
break; break;
case MSP2_INAV_MISC2: case MSP2_INAV_MISC2:
@ -896,7 +899,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU32(dst, currentBatteryProfile->capacity.value); sbufWriteU32(dst, currentBatteryProfile->capacity.value);
sbufWriteU32(dst, currentBatteryProfile->capacity.warning); sbufWriteU32(dst, currentBatteryProfile->capacity.warning);
sbufWriteU32(dst, currentBatteryProfile->capacity.critical); sbufWriteU32(dst, currentBatteryProfile->capacity.critical);
sbufWriteU8(dst, currentBatteryProfile->capacity.unit); sbufWriteU8(dst, batteryMetersConfig()->capacity_unit);
break; break;
#ifdef USE_GPS #ifdef USE_GPS
@ -1030,6 +1033,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP_MIXER: case MSP_MIXER:
sbufWriteU8(dst, 3); // mixerMode no longer supported, send 3 (QuadX) as fallback sbufWriteU8(dst, 3); // mixerMode no longer supported, send 3 (QuadX) as fallback
break; break;
case MSP_RX_CONFIG: case MSP_RX_CONFIG:
sbufWriteU8(dst, rxConfig()->serialrx_provider); sbufWriteU8(dst, rxConfig()->serialrx_provider);
@ -1110,7 +1114,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
legacyLedConfig |= ledConfig->led_function << shiftCount; legacyLedConfig |= ledConfig->led_function << shiftCount;
shiftCount += 4; shiftCount += 4;
legacyLedConfig |= (ledConfig->led_overlay & 0x3F) << (shiftCount); legacyLedConfig |= (ledConfig->led_overlay & 0x3F) << (shiftCount);
shiftCount += 6; shiftCount += 6;
legacyLedConfig |= (ledConfig->led_color) << (shiftCount); legacyLedConfig |= (ledConfig->led_color) << (shiftCount);
shiftCount += 4; shiftCount += 4;
legacyLedConfig |= (ledConfig->led_direction) << (shiftCount); legacyLedConfig |= (ledConfig->led_direction) << (shiftCount);
@ -1337,9 +1341,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP_NAV_POSHOLD: case MSP_NAV_POSHOLD:
sbufWriteU8(dst, navConfig()->general.flags.user_control_mode); sbufWriteU8(dst, navConfig()->general.flags.user_control_mode);
sbufWriteU16(dst, navConfig()->general.max_auto_speed); sbufWriteU16(dst, navConfig()->general.max_auto_speed);
sbufWriteU16(dst, navConfig()->mc.max_auto_climb_rate); sbufWriteU16(dst, mixerConfig()->platformType == PLATFORM_AIRPLANE ? navConfig()->fw.max_auto_climb_rate : navConfig()->mc.max_auto_climb_rate);
sbufWriteU16(dst, navConfig()->general.max_manual_speed); sbufWriteU16(dst, navConfig()->general.max_manual_speed);
sbufWriteU16(dst, mixerConfig()->platformType != PLATFORM_AIRPLANE ? navConfig()->mc.max_manual_climb_rate:navConfig()->fw.max_manual_climb_rate); sbufWriteU16(dst, mixerConfig()->platformType == PLATFORM_AIRPLANE ? navConfig()->fw.max_manual_climb_rate : navConfig()->mc.max_manual_climb_rate);
sbufWriteU8(dst, navConfig()->mc.max_bank_angle); sbufWriteU8(dst, navConfig()->mc.max_bank_angle);
sbufWriteU8(dst, navConfig()->mc.althold_throttle_type); sbufWriteU8(dst, navConfig()->mc.althold_throttle_type);
sbufWriteU16(dst, currentBatteryProfile->nav.mc.hover_throttle); sbufWriteU16(dst, currentBatteryProfile->nav.mc.hover_throttle);
@ -1576,6 +1580,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
} }
break; break;
// Obsolete, replaced by MSP2_INAV_OUTPUT_MAPPING_EXT2
case MSP2_INAV_OUTPUT_MAPPING_EXT: case MSP2_INAV_OUTPUT_MAPPING_EXT:
for (uint8_t i = 0; i < timerHardwareCount; ++i) for (uint8_t i = 0; i < timerHardwareCount; ++i)
if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM))) { if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM))) {
@ -1584,10 +1589,36 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
#else #else
sbufWriteU8(dst, timer2id(timerHardware[i].tim)); sbufWriteU8(dst, timer2id(timerHardware[i].tim));
#endif #endif
// usageFlags is u32, cuts out the higher 24bits
sbufWriteU8(dst, timerHardware[i].usageFlags); sbufWriteU8(dst, timerHardware[i].usageFlags);
} }
break; break;
case MSP2_INAV_OUTPUT_MAPPING_EXT2:
{
#if !defined(SITL_BUILD) && defined(WS2811_PIN)
ioTag_t led_tag = IO_TAG(WS2811_PIN);
#endif
for (uint8_t i = 0; i < timerHardwareCount; ++i)
if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM))) {
#if defined(SITL_BUILD)
sbufWriteU8(dst, i);
#else
sbufWriteU8(dst, timer2id(timerHardware[i].tim));
#endif
sbufWriteU32(dst, timerHardware[i].usageFlags);
#if defined(SITL_BUILD) || !defined(WS2811_PIN)
sbufWriteU8(dst, 0);
#else
// Extra label to help identify repurposed PINs.
// Eventually, we can try to add more labels for PPM pins, etc.
sbufWriteU8(dst, timerHardware[i].tag == led_tag ? PIN_LABEL_LED : PIN_LABEL_NONE);
#endif
}
}
break;
case MSP2_INAV_MC_BRAKING: case MSP2_INAV_MC_BRAKING:
#ifdef USE_MR_BRAKING_MODE #ifdef USE_MR_BRAKING_MODE
sbufWriteU16(dst, navConfig()->mc.braking_speed_threshold); sbufWriteU16(dst, navConfig()->mc.braking_speed_threshold);
@ -2055,13 +2086,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
currentBatteryProfileMutable->capacity.value = sbufReadU32(src); currentBatteryProfileMutable->capacity.value = sbufReadU32(src);
currentBatteryProfileMutable->capacity.warning = sbufReadU32(src); currentBatteryProfileMutable->capacity.warning = sbufReadU32(src);
currentBatteryProfileMutable->capacity.critical = sbufReadU32(src); currentBatteryProfileMutable->capacity.critical = sbufReadU32(src);
currentBatteryProfileMutable->capacity.unit = sbufReadU8(src); batteryMetersConfigMutable()->capacity_unit = sbufReadU8(src);
if ((batteryMetersConfig()->voltageSource != BAT_VOLTAGE_RAW) && (batteryMetersConfig()->voltageSource != BAT_VOLTAGE_SAG_COMP)) { if ((batteryMetersConfig()->voltageSource != BAT_VOLTAGE_RAW) && (batteryMetersConfig()->voltageSource != BAT_VOLTAGE_SAG_COMP)) {
batteryMetersConfigMutable()->voltageSource = BAT_VOLTAGE_RAW; batteryMetersConfigMutable()->voltageSource = BAT_VOLTAGE_RAW;
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
} }
if ((currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MAH) && (currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MWH)) { if ((batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MAH) && (batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MWH)) {
currentBatteryProfileMutable->capacity.unit = BAT_CAPACITY_UNIT_MAH; batteryMetersConfigMutable()->capacity_unit = BAT_CAPACITY_UNIT_MAH;
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
} }
} else } else
@ -2094,13 +2125,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
currentBatteryProfileMutable->capacity.value = sbufReadU32(src); currentBatteryProfileMutable->capacity.value = sbufReadU32(src);
currentBatteryProfileMutable->capacity.warning = sbufReadU32(src); currentBatteryProfileMutable->capacity.warning = sbufReadU32(src);
currentBatteryProfileMutable->capacity.critical = sbufReadU32(src); currentBatteryProfileMutable->capacity.critical = sbufReadU32(src);
currentBatteryProfileMutable->capacity.unit = sbufReadU8(src); batteryMetersConfigMutable()->capacity_unit = sbufReadU8(src);
if ((batteryMetersConfig()->voltageSource != BAT_VOLTAGE_RAW) && (batteryMetersConfig()->voltageSource != BAT_VOLTAGE_SAG_COMP)) { if ((batteryMetersConfig()->voltageSource != BAT_VOLTAGE_RAW) && (batteryMetersConfig()->voltageSource != BAT_VOLTAGE_SAG_COMP)) {
batteryMetersConfigMutable()->voltageSource = BAT_VOLTAGE_RAW; batteryMetersConfigMutable()->voltageSource = BAT_VOLTAGE_RAW;
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
} }
if ((currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MAH) && (currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MWH)) { if ((batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MAH) && (batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MWH)) {
currentBatteryProfileMutable->capacity.unit = BAT_CAPACITY_UNIT_MAH; batteryMetersConfigMutable()->capacity_unit = BAT_CAPACITY_UNIT_MAH;
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
} }
} else } else
@ -2400,12 +2431,16 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
if (dataSize == 13) { if (dataSize == 13) {
navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src); navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
navConfigMutable()->general.max_auto_speed = sbufReadU16(src); navConfigMutable()->general.max_auto_speed = sbufReadU16(src);
navConfigMutable()->mc.max_auto_climb_rate = sbufReadU16(src); if (mixerConfig()->platformType == PLATFORM_AIRPLANE) {
navConfigMutable()->fw.max_auto_climb_rate = sbufReadU16(src);
} else {
navConfigMutable()->mc.max_auto_climb_rate = sbufReadU16(src);
}
navConfigMutable()->general.max_manual_speed = sbufReadU16(src); navConfigMutable()->general.max_manual_speed = sbufReadU16(src);
if (mixerConfig()->platformType != PLATFORM_AIRPLANE) { if (mixerConfig()->platformType == PLATFORM_AIRPLANE) {
navConfigMutable()->mc.max_manual_climb_rate = sbufReadU16(src);
}else{
navConfigMutable()->fw.max_manual_climb_rate = sbufReadU16(src); navConfigMutable()->fw.max_manual_climb_rate = sbufReadU16(src);
} else {
navConfigMutable()->mc.max_manual_climb_rate = sbufReadU16(src);
} }
navConfigMutable()->mc.max_bank_angle = sbufReadU8(src); navConfigMutable()->mc.max_bank_angle = sbufReadU8(src);
navConfigMutable()->mc.althold_throttle_type = sbufReadU8(src); navConfigMutable()->mc.althold_throttle_type = sbufReadU8(src);
@ -2735,7 +2770,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP_SET_WP: case MSP_SET_WP:
if (dataSize == 21) { if (dataSize == 21) {
const uint8_t msp_wp_no = sbufReadU8(src); // get the waypoint number const uint8_t msp_wp_no = sbufReadU8(src); // get the waypoint number
navWaypoint_t msp_wp; navWaypoint_t msp_wp;
msp_wp.action = sbufReadU8(src); // action msp_wp.action = sbufReadU8(src); // action
@ -2856,7 +2891,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
} else } else
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
break; break;
case MSP_SET_FAILSAFE_CONFIG: case MSP_SET_FAILSAFE_CONFIG:
if (dataSize == 20) { if (dataSize == 20) {
failsafeConfigMutable()->failsafe_delay = sbufReadU8(src); failsafeConfigMutable()->failsafe_delay = sbufReadU8(src);
@ -2949,7 +2984,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
ledConfig->led_position = legacyConfig & 0xFF; ledConfig->led_position = legacyConfig & 0xFF;
ledConfig->led_function = (legacyConfig >> 8) & 0xF; ledConfig->led_function = (legacyConfig >> 8) & 0xF;
ledConfig->led_overlay = (legacyConfig >> 12) & 0x3F; ledConfig->led_overlay = (legacyConfig >> 12) & 0x3F;
ledConfig->led_color = (legacyConfig >> 18) & 0xF; ledConfig->led_color = (legacyConfig >> 18) & 0xF;
ledConfig->led_direction = (legacyConfig >> 22) & 0x3F; ledConfig->led_direction = (legacyConfig >> 22) & 0x3F;
ledConfig->led_params = (legacyConfig >> 28) & 0xF; ledConfig->led_params = (legacyConfig >> 28) & 0xF;
@ -3239,7 +3274,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
fwAutolandApproachConfigMutable(i)->approachAlt = sbufReadU32(src); fwAutolandApproachConfigMutable(i)->approachAlt = sbufReadU32(src);
fwAutolandApproachConfigMutable(i)->landAlt = sbufReadU32(src); fwAutolandApproachConfigMutable(i)->landAlt = sbufReadU32(src);
fwAutolandApproachConfigMutable(i)->approachDirection = sbufReadU8(src); fwAutolandApproachConfigMutable(i)->approachDirection = sbufReadU8(src);
int16_t head1 = 0, head2 = 0; int16_t head1 = 0, head2 = 0;
if (sbufReadI16Safe(&head1, src)) { if (sbufReadI16Safe(&head1, src)) {
fwAutolandApproachConfigMutable(i)->landApproachHeading1 = head1; fwAutolandApproachConfigMutable(i)->landApproachHeading1 = head1;
@ -3300,12 +3335,12 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionEnd = sbufReadU8(src); ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionEnd = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightCenter = sbufReadU8(src); ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightCenter = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightEnd = sbufReadU8(src); ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightEnd = sbufReadU8(src);
} else { } else {
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
} }
break; break;
#endif #endif
#ifdef USE_PROGRAMMING_FRAMEWORK #ifdef USE_PROGRAMMING_FRAMEWORK
@ -3328,6 +3363,26 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break; break;
case MSP2_BETAFLIGHT_BIND:
if (rxConfig()->receiverType == RX_TYPE_SERIAL) {
switch (rxConfig()->serialrx_provider) {
default:
return MSP_RESULT_ERROR;
#if defined(USE_SERIALRX_SRXL2)
case SERIALRX_SRXL2:
srxl2Bind();
break;
#endif
#if defined(USE_SERIALRX_CRSF)
case SERIALRX_CRSF:
crsfBind();
break;
#endif
}
} else {
return MSP_RESULT_ERROR;
}
break;
default: default:
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
@ -3599,7 +3654,7 @@ void mspWriteSimulatorOSD(sbuf_t *dst)
static uint8_t osdPos_x = 0; static uint8_t osdPos_x = 0;
//indicate new format hitl 1.4.0 //indicate new format hitl 1.4.0
sbufWriteU8(dst, 255); sbufWriteU8(dst, 255);
if (isOSDTypeSupportedBySimulator()) if (isOSDTypeSupportedBySimulator())
{ {
@ -3805,7 +3860,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
#ifdef USE_SIMULATOR #ifdef USE_SIMULATOR
case MSP_SIMULATOR: case MSP_SIMULATOR:
tmp_u8 = sbufReadU8(src); // Get the Simulator MSP version tmp_u8 = sbufReadU8(src); // Get the Simulator MSP version
// Check the MSP version of simulator // Check the MSP version of simulator
if (tmp_u8 != SIMULATOR_MSP_VERSION) { if (tmp_u8 != SIMULATOR_MSP_VERSION) {
break; break;
@ -3900,7 +3955,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
} else { } else {
sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT); sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT);
} }
// Get the acceleration in 1G units // Get the acceleration in 1G units
acc.accADCf[X] = ((int16_t)sbufReadU16(src)) / 1000.0f; acc.accADCf[X] = ((int16_t)sbufReadU16(src)) / 1000.0f;
acc.accADCf[Y] = ((int16_t)sbufReadU16(src)) / 1000.0f; acc.accADCf[Y] = ((int16_t)sbufReadU16(src)) / 1000.0f;
@ -3908,7 +3963,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
acc.accVibeSq[X] = 0.0f; acc.accVibeSq[X] = 0.0f;
acc.accVibeSq[Y] = 0.0f; acc.accVibeSq[Y] = 0.0f;
acc.accVibeSq[Z] = 0.0f; acc.accVibeSq[Z] = 0.0f;
// Get the angular velocity in DPS // Get the angular velocity in DPS
gyro.gyroADCf[X] = ((int16_t)sbufReadU16(src)) / 16.0f; gyro.gyroADCf[X] = ((int16_t)sbufReadU16(src)) / 16.0f;
gyro.gyroADCf[Y] = ((int16_t)sbufReadU16(src)) / 16.0f; gyro.gyroADCf[Y] = ((int16_t)sbufReadU16(src)) / 16.0f;
@ -3939,7 +3994,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
simulatorData.airSpeed = sbufReadU16(src); simulatorData.airSpeed = sbufReadU16(src);
} else { } else {
if (SIMULATOR_HAS_OPTION(HITL_EXTENDED_FLAGS)) { if (SIMULATOR_HAS_OPTION(HITL_EXTENDED_FLAGS)) {
sbufReadU16(src); sbufReadU16(src);
} }
} }
@ -4014,8 +4069,8 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
*ret = MSP_RESULT_ERROR; *ret = MSP_RESULT_ERROR;
} }
break; break;
#endif #endif
default: default:
// Not handled // Not handled
return false; return false;
@ -4025,7 +4080,8 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
static mspResult_e mspProcessSensorCommand(uint16_t cmdMSP, sbuf_t *src) static mspResult_e mspProcessSensorCommand(uint16_t cmdMSP, sbuf_t *src)
{ {
UNUSED(src); int dataSize = sbufBytesRemaining(src);
UNUSED(dataSize);
switch (cmdMSP) { switch (cmdMSP) {
#if defined(USE_RANGEFINDER_MSP) #if defined(USE_RANGEFINDER_MSP)
@ -4063,6 +4119,12 @@ static mspResult_e mspProcessSensorCommand(uint16_t cmdMSP, sbuf_t *src)
mspPitotmeterReceiveNewData(sbufPtr(src)); mspPitotmeterReceiveNewData(sbufPtr(src));
break; break;
#endif #endif
#if (defined(USE_HEADTRACKER) && defined(USE_HEADTRACKER_MSP))
case MSP2_SENSOR_HEADTRACKER:
mspHeadTrackerReceiverNewData(sbufPtr(src), dataSize);
break;
#endif
} }
return MSP_RESULT_NO_REPLY; return MSP_RESULT_NO_REPLY;

37
src/main/fc/fc_msp_box.c
View file

@ -43,6 +43,9 @@
#include "telemetry/telemetry.h" #include "telemetry/telemetry.h"
#include "drivers/gimbal_common.h"
#include "drivers/headtracker_common.h"
#define BOX_SUFFIX ';' #define BOX_SUFFIX ';'
#define BOX_SUFFIX_LEN 1 #define BOX_SUFFIX_LEN 1
@ -102,6 +105,10 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ .boxId = BOXMIXERPROFILE, .boxName = "MIXER PROFILE 2", .permanentId = 62 }, { .boxId = BOXMIXERPROFILE, .boxName = "MIXER PROFILE 2", .permanentId = 62 },
{ .boxId = BOXMIXERTRANSITION, .boxName = "MIXER TRANSITION", .permanentId = 63 }, { .boxId = BOXMIXERTRANSITION, .boxName = "MIXER TRANSITION", .permanentId = 63 },
{ .boxId = BOXANGLEHOLD, .boxName = "ANGLE HOLD", .permanentId = 64 }, { .boxId = BOXANGLEHOLD, .boxName = "ANGLE HOLD", .permanentId = 64 },
{ .boxId = BOXGIMBALTLOCK, .boxName = "GIMBAL LEVEL TILT", .permanentId = 65 },
{ .boxId = BOXGIMBALRLOCK, .boxName = "GIMBAL LEVEL ROLL", .permanentId = 66 },
{ .boxId = BOXGIMBALCENTER, .boxName = "GIMBAL CENTER", .permanentId = 67 },
{ .boxId = BOXGIMBALHTRK, .boxName = "GIMBAL HEADTRACKER", .permanentId = 68 },
{ .boxId = CHECKBOX_ITEM_COUNT, .boxName = NULL, .permanentId = 0xFF } { .boxId = CHECKBOX_ITEM_COUNT, .boxName = NULL, .permanentId = 0xFF }
}; };
@ -215,7 +222,7 @@ void initActiveBoxIds(void)
bool navReadyAltControl = getHwBarometerStatus() != HW_SENSOR_NONE; bool navReadyAltControl = getHwBarometerStatus() != HW_SENSOR_NONE;
#ifdef USE_GPS #ifdef USE_GPS
navReadyAltControl = navReadyAltControl || (feature(FEATURE_GPS) && (STATE(AIRPLANE) || positionEstimationConfig()->use_gps_no_baro)); navReadyAltControl = navReadyAltControl || feature(FEATURE_GPS);
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning; const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS); bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS);
@ -358,6 +365,19 @@ void initActiveBoxIds(void)
ADD_ACTIVE_BOX(BOXMIXERPROFILE); ADD_ACTIVE_BOX(BOXMIXERPROFILE);
ADD_ACTIVE_BOX(BOXMIXERTRANSITION); ADD_ACTIVE_BOX(BOXMIXERTRANSITION);
#endif #endif
#ifdef USE_SERIAL_GIMBAL
if (gimbalCommonIsEnabled()) {
ADD_ACTIVE_BOX(BOXGIMBALTLOCK);
ADD_ACTIVE_BOX(BOXGIMBALRLOCK);
ADD_ACTIVE_BOX(BOXGIMBALCENTER);
}
#endif
#ifdef USE_HEADTRACKER
if(headTrackerConfig()->devType != HEADTRACKER_NONE) {
ADD_ACTIVE_BOX(BOXGIMBALHTRK);
}
#endif
} }
#define IS_ENABLED(mask) ((mask) == 0 ? 0 : 1) #define IS_ENABLED(mask) ((mask) == 0 ? 0 : 1)
@ -431,6 +451,21 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXMIXERTRANSITION)), BOXMIXERTRANSITION); CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXMIXERTRANSITION)), BOXMIXERTRANSITION);
#endif #endif
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXANGLEHOLD)), BOXANGLEHOLD); CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXANGLEHOLD)), BOXANGLEHOLD);
#ifdef USE_SERIAL_GIMBAL
if(IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)) {
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)), BOXGIMBALCENTER);
#ifdef USE_HEADTRACKER
} else if (headTrackerCommonIsReady(headTrackerCommonDevice()) && IS_RC_MODE_ACTIVE(BOXGIMBALHTRK)) {
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGIMBALHTRK)), BOXGIMBALHTRK);
#endif
} else {
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGIMBALTLOCK) && !IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)), BOXGIMBALTLOCK);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGIMBALRLOCK) && !IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)), BOXGIMBALRLOCK);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGIMBALHTRK) && !IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)), BOXGIMBALRLOCK);
}
#endif
memset(mspBoxModeFlags, 0, sizeof(boxBitmask_t)); memset(mspBoxModeFlags, 0, sizeof(boxBitmask_t));
for (uint32_t i = 0; i < activeBoxIdCount; i++) { for (uint32_t i = 0; i < activeBoxIdCount; i++) {
if (activeBoxes[activeBoxIds[i]]) { if (activeBoxes[activeBoxIds[i]]) {

54
src/main/fc/fc_tasks.c
View file

@ -34,6 +34,8 @@
#include "drivers/serial.h" #include "drivers/serial.h"
#include "drivers/stack_check.h" #include "drivers/stack_check.h"
#include "drivers/pwm_mapping.h" #include "drivers/pwm_mapping.h"
#include "drivers/gimbal_common.h"
#include "drivers/headtracker_common.h"
#include "fc/cli.h" #include "fc/cli.h"
#include "fc/config.h" #include "fc/config.h"
@ -51,6 +53,7 @@
#include "flight/rpm_filter.h" #include "flight/rpm_filter.h"
#include "flight/servos.h" #include "flight/servos.h"
#include "flight/wind_estimator.h" #include "flight/wind_estimator.h"
#include "flight/adaptive_filter.h"
#include "navigation/navigation.h" #include "navigation/navigation.h"
@ -93,6 +96,10 @@
#include "config/feature.h" #include "config/feature.h"
#if defined(SITL_BUILD)
#include "target/SITL/serial_proxy.h"
#endif
void taskHandleSerial(timeUs_t currentTimeUs) void taskHandleSerial(timeUs_t currentTimeUs)
{ {
UNUSED(currentTimeUs); UNUSED(currentTimeUs);
@ -421,6 +428,26 @@ void fcTasksInit(void)
#if defined(USE_SMARTPORT_MASTER) #if defined(USE_SMARTPORT_MASTER)
setTaskEnabled(TASK_SMARTPORT_MASTER, true); setTaskEnabled(TASK_SMARTPORT_MASTER, true);
#endif #endif
#ifdef USE_SERIAL_GIMBAL
setTaskEnabled(TASK_GIMBAL, true);
#endif
#ifdef USE_HEADTRACKER
setTaskEnabled(TASK_HEADTRACKER, true);
#endif
#ifdef USE_ADAPTIVE_FILTER
setTaskEnabled(TASK_ADAPTIVE_FILTER, (
gyroConfig()->gyroFilterMode == GYRO_FILTER_MODE_ADAPTIVE &&
gyroConfig()->adaptiveFilterMinHz > 0 &&
gyroConfig()->adaptiveFilterMaxHz > 0
));
#endif
#if defined(SITL_BUILD)
serialProxyStart();
#endif
} }
cfTask_t cfTasks[TASK_COUNT] = { cfTask_t cfTasks[TASK_COUNT] = {
@ -672,4 +699,31 @@ cfTask_t cfTasks[TASK_COUNT] = {
.desiredPeriod = TASK_PERIOD_HZ(TASK_AUX_RATE_HZ), // 100Hz @10ms .desiredPeriod = TASK_PERIOD_HZ(TASK_AUX_RATE_HZ), // 100Hz @10ms
.staticPriority = TASK_PRIORITY_HIGH, .staticPriority = TASK_PRIORITY_HIGH,
}, },
#ifdef USE_ADAPTIVE_FILTER
[TASK_ADAPTIVE_FILTER] = {
.taskName = "ADAPTIVE_FILTER",
.taskFunc = adaptiveFilterTask,
.desiredPeriod = TASK_PERIOD_HZ(ADAPTIVE_FILTER_RATE_HZ), // 100Hz @10ms
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef USE_SERIAL_GIMBAL
[TASK_GIMBAL] = {
.taskName = "GIMBAL",
.taskFunc = taskUpdateGimbal,
.desiredPeriod = TASK_PERIOD_HZ(50),
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#endif
#ifdef USE_HEADTRACKER
[TASK_HEADTRACKER] = {
.taskName = "HEADTRACKER",
.taskFunc = taskUpdateHeadTracker,
.desiredPeriod = TASK_PERIOD_HZ(50),
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#endif
}; };

16
src/main/fc/rc_modes.c
View file

@ -114,7 +114,6 @@ void processAirmode(void) {
} else if (STATE(MULTIROTOR)) { } else if (STATE(MULTIROTOR)) {
processAirmodeMultirotor(); processAirmodeMultirotor();
} }
} }
bool isUsingNavigationModes(void) bool isUsingNavigationModes(void)
@ -122,6 +121,21 @@ bool isUsingNavigationModes(void)
return isUsingNAVModes; return isUsingNAVModes;
} }
bool isFwAutoModeActive(boxId_e mode)
{
/* Sets activation priority of fixed wing auto tune/trim modes: Autotune -> Autotrim -> Autolevel */
if (mode == BOXAUTOTUNE) {
return IS_RC_MODE_ACTIVE(BOXAUTOTUNE);
} else if (mode == BOXAUTOTRIM) {
return IS_RC_MODE_ACTIVE(BOXAUTOTRIM) && !IS_RC_MODE_ACTIVE(BOXAUTOTUNE);
} else if (mode == BOXAUTOLEVEL) {
return IS_RC_MODE_ACTIVE(BOXAUTOLEVEL) && !IS_RC_MODE_ACTIVE(BOXAUTOTUNE) && !IS_RC_MODE_ACTIVE(BOXAUTOTRIM);
}
return false;
}
bool IS_RC_MODE_ACTIVE(boxId_e boxId) bool IS_RC_MODE_ACTIVE(boxId_e boxId)
{ {
return bitArrayGet(rcModeActivationMask.bits, boxId); return bitArrayGet(rcModeActivationMask.bits, boxId);

9
src/main/fc/rc_modes.h
View file

@ -78,9 +78,13 @@ typedef enum {
BOXCHANGEMISSION = 50, BOXCHANGEMISSION = 50,
BOXBEEPERMUTE = 51, BOXBEEPERMUTE = 51,
BOXMULTIFUNCTION = 52, BOXMULTIFUNCTION = 52,
BOXMIXERPROFILE = 53, BOXMIXERPROFILE = 53,
BOXMIXERTRANSITION = 54, BOXMIXERTRANSITION = 54,
BOXANGLEHOLD = 55, BOXANGLEHOLD = 55,
BOXGIMBALTLOCK = 56,
BOXGIMBALRLOCK = 57,
BOXGIMBALCENTER = 58,
BOXGIMBALHTRK = 59,
CHECKBOX_ITEM_COUNT CHECKBOX_ITEM_COUNT
} boxId_e; } boxId_e;
@ -140,3 +144,4 @@ bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
void updateActivatedModes(void); void updateActivatedModes(void);
void updateUsedModeActivationConditionFlags(void); void updateUsedModeActivationConditionFlags(void);
bool isFwAutoModeActive(boxId_e mode);

281
src/main/fc/settings.yaml
View file

@ -5,7 +5,7 @@ tables:
values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX", "FAKE"] values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX", "FAKE"]
enum: accelerationSensor_e enum: accelerationSensor_e
- name: rangefinder_hardware - name: rangefinder_hardware
values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE", "TERARANGER_EVO"] values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE", "TERARANGER_EVO", "USD1_V0", "NRA"]
enum: rangefinderType_e enum: rangefinderType_e
- name: mag_hardware - name: mag_hardware
values: ["NONE", "AUTO", "HMC5883", "AK8975", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"] values: ["NONE", "AUTO", "HMC5883", "AK8975", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]
@ -83,7 +83,7 @@ tables:
values: ["NONE", "AGL", "FLOW_RAW", "FLOW", "ALWAYS", "SAG_COMP_VOLTAGE", values: ["NONE", "AGL", "FLOW_RAW", "FLOW", "ALWAYS", "SAG_COMP_VOLTAGE",
"VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC", "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
"NAV_YAW", "PCF8574", "DYN_GYRO_LPF", "AUTOLEVEL", "ALTITUDE", "NAV_YAW", "PCF8574", "DYN_GYRO_LPF", "AUTOLEVEL", "ALTITUDE",
"AUTOTRIM", "AUTOTUNE", "RATE_DYNAMICS", "LANDING", "POS_EST"] "AUTOTRIM", "AUTOTUNE", "RATE_DYNAMICS", "LANDING", "POS_EST", "ADAPTIVE_FILTER", "HEADTRACKER" ]
- name: aux_operator - name: aux_operator
values: ["OR", "AND"] values: ["OR", "AND"]
enum: modeActivationOperator_e enum: modeActivationOperator_e
@ -191,6 +191,12 @@ tables:
- name: led_pin_pwm_mode - name: led_pin_pwm_mode
values: ["SHARED_LOW", "SHARED_HIGH", "LOW", "HIGH"] values: ["SHARED_LOW", "SHARED_HIGH", "LOW", "HIGH"]
enum: led_pin_pwm_mode_e enum: led_pin_pwm_mode_e
- name: gyro_filter_mode
values: ["STATIC", "DYNAMIC", "ADAPTIVE"]
enum: gyroFilterType_e
- name: headtracker_dev_type
values: ["NONE", "SERIAL", "MSP"]
enum: headTrackerDevType_e
constants: constants:
RPYL_PID_MIN: 0 RPYL_PID_MIN: 0
@ -226,11 +232,11 @@ groups:
field: gyro_main_lpf_hz field: gyro_main_lpf_hz
min: 0 min: 0
max: 500 max: 500
- name: gyro_use_dyn_lpf - name: gyro_filter_mode
description: "Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position." description: "Specifies the type of the software LPF of the gyro signals."
default_value: OFF default_value: "STATIC"
field: useDynamicLpf field: gyroFilterMode
type: bool table: gyro_filter_mode
- name: gyro_dyn_lpf_min_hz - name: gyro_dyn_lpf_min_hz
description: "Minimum frequency of the gyro Dynamic LPF" description: "Minimum frequency of the gyro Dynamic LPF"
default_value: 200 default_value: 200
@ -330,6 +336,55 @@ groups:
field: gravity_cmss_cal field: gravity_cmss_cal
min: 0 min: 0
max: 2000 max: 2000
- name: gyro_adaptive_filter_target
description: "Target value for adaptive filter"
default_value: 3.5
field: adaptiveFilterTarget
min: 1
max: 6
condition: USE_ADAPTIVE_FILTER
- name: gyro_adaptive_filter_min_hz
description: "Minimum frequency for adaptive filter"
default_value: 50
field: adaptiveFilterMinHz
min: 0
max: 250
condition: USE_ADAPTIVE_FILTER
- name: gyro_adaptive_filter_max_hz
description: "Maximum frequency for adaptive filter"
default_value: 150
field: adaptiveFilterMaxHz
min: 0
max: 505
condition: USE_ADAPTIVE_FILTER
- name: gyro_adaptive_filter_std_lpf_hz
description: "Standard deviation low pass filter cutoff frequency"
default_value: 2
field: adaptiveFilterStdLpfHz
min: 0
max: 10
condition: USE_ADAPTIVE_FILTER
- name: gyro_adaptive_filter_hpf_hz
description: "High pass filter cutoff frequency"
default_value: 10
field: adaptiveFilterHpfHz
min: 1
max: 50
condition: USE_ADAPTIVE_FILTER
- name: gyro_adaptive_filter_integrator_threshold_high
description: "High threshold for adaptive filter integrator"
default_value: 4
field: adaptiveFilterIntegratorThresholdHigh
min: 1
max: 10
condition: USE_ADAPTIVE_FILTER
- name: gyro_adaptive_filter_integrator_threshold_low
description: "Low threshold for adaptive filter integrator"
default_value: -2
field: adaptiveFilterIntegratorThresholdLow
min: -10
max: 0
condition: USE_ADAPTIVE_FILTER
- name: PG_ADC_CHANNEL_CONFIG - name: PG_ADC_CHANNEL_CONFIG
type: adcChannelConfig_t type: adcChannelConfig_t
@ -890,6 +945,12 @@ groups:
condition: USE_ADC condition: USE_ADC
min: 0 min: 0
max: 65535 max: 65535
- name: battery_capacity_unit
description: "Unit used for `battery_capacity`, `battery_capacity_warning` and `battery_capacity_critical` [MAH/MWH] (milliAmpere hour / milliWatt hour)."
default_value: "MAH"
field: capacity_unit
table: bat_capacity_unit
type: uint8_t
- name: current_meter_scale - name: current_meter_scale
description: "This sets the output voltage to current scaling for the current sensor in 0.1 mV/A steps. 400 is 40mV/A such as the ACS756 sensor outputs. 183 is the setting for the uberdistro with a 0.25mOhm shunt." description: "This sets the output voltage to current scaling for the current sensor in 0.1 mV/A steps. 400 is 40mV/A such as the ACS756 sensor outputs. 183 is the setting for the uberdistro with a 0.25mOhm shunt."
default_value: :target default_value: :target
@ -996,12 +1057,6 @@ groups:
field: capacity.critical field: capacity.critical
min: 0 min: 0
max: 4294967295 max: 4294967295
- name: battery_capacity_unit
description: "Unit used for `battery_capacity`, `battery_capacity_warning` and `battery_capacity_critical` [MAH/MWH] (milliAmpere hour / milliWatt hour)."
default_value: "MAH"
field: capacity.unit
table: bat_capacity_unit
type: uint8_t
- name: controlrate_profile - name: controlrate_profile
description: "Control rate profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control rate profile" description: "Control rate profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control rate profile"
default_value: 0 default_value: 0
@ -1891,13 +1946,13 @@ groups:
max: RPYL_PID_MAX max: RPYL_PID_MAX
- name: max_angle_inclination_rll - name: max_angle_inclination_rll
description: "Maximum inclination in level (angle) mode (ROLL axis). 100=10°" description: "Maximum inclination in level (angle) mode (ROLL axis). 100=10°"
default_value: 300 default_value: 450
field: max_angle_inclination[FD_ROLL] field: max_angle_inclination[FD_ROLL]
min: 100 min: 100
max: 900 max: 900
- name: max_angle_inclination_pit - name: max_angle_inclination_pit
description: "Maximum inclination in level (angle) mode (PITCH axis). 100=10°" description: "Maximum inclination in level (angle) mode (PITCH axis). 100=10°"
default_value: 300 default_value: 450
field: max_angle_inclination[FD_PITCH] field: max_angle_inclination[FD_PITCH]
min: 100 min: 100
max: 900 max: 900
@ -1934,12 +1989,6 @@ groups:
field: fixedWingCoordinatedPitchGain field: fixedWingCoordinatedPitchGain
min: 0 min: 0
max: 2 max: 2
- name: fw_iterm_limit_stick_position
description: "Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. `0` mean stick is in center position, `1` means it is fully deflected to either side"
default_value: 0.5
field: fixedWingItermLimitOnStickPosition
min: 0
max: 1
- name: fw_yaw_iterm_freeze_bank_angle - name: fw_yaw_iterm_freeze_bank_angle
description: "Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled." description: "Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled."
default_value: 0 default_value: 0
@ -2075,6 +2124,12 @@ groups:
field: bank_fw.pid[PID_POS_Z].D field: bank_fw.pid[PID_POS_Z].D
min: 0 min: 0
max: 255 max: 255
- name: nav_fw_alt_control_response
description: "Adjusts the deceleration response of fixed wing altitude control as the target altitude is approached. Decrease value to help avoid overshooting the target altitude."
default_value: 20
field: fwAltControlResponseFactor
min: 5
max: 100
- name: nav_fw_pos_xy_p - name: nav_fw_pos_xy_p
description: "P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH" description: "P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH"
default_value: 75 default_value: 75
@ -2227,6 +2282,24 @@ groups:
field: fixedWingLevelTrimGain field: fixedWingLevelTrimGain
min: 0 min: 0
max: 20 max: 20
- name: fw_iterm_lock_time_max_ms
description: Defines max time in milliseconds for how long ITerm Lock will shut down Iterm after sticks are release
default_value: 500
field: fwItermLockTimeMaxMs
min: 100
max: 1000
- name: fw_iterm_lock_rate_threshold
description: Defines rate percentage when full P I and D attenuation should happen. 100 disables Iterm Lock for P and D term
field: fwItermLockRateLimit
default_value: 40
min: 10
max: 100
- name: fw_iterm_lock_engage_threshold
description: Defines error rate (in percents of max rate) when Iterm Lock is engaged when sticks are release. Iterm Lock will stay active until error drops below this number
default_value: 10
min: 5
max: 25
field: fwItermLockEngageThreshold
- name: PG_PID_AUTOTUNE_CONFIG - name: PG_PID_AUTOTUNE_CONFIG
type: pidAutotuneConfig_t type: pidAutotuneConfig_t
@ -2265,10 +2338,6 @@ groups:
field: gravity_calibration_tolerance field: gravity_calibration_tolerance
min: 0 min: 0
max: 255 max: 255
- name: inav_use_gps_no_baro
field: use_gps_no_baro
type: bool
default_value: OFF
- name: inav_allow_dead_reckoning - name: inav_allow_dead_reckoning
description: "Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation" description: "Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation"
default_value: OFF default_value: OFF
@ -2301,7 +2370,7 @@ groups:
field: w_z_surface_p field: w_z_surface_p
min: 0 min: 0
max: 100 max: 100
default_value: 3.5 default_value: 3.5
- name: inav_w_z_surface_v - name: inav_w_z_surface_v
description: "Weight of rangefinder measurements in estimated climb rate. Setting is used on both airplanes and multirotors when rangefinder is present and Surface mode enabled" description: "Weight of rangefinder measurements in estimated climb rate. Setting is used on both airplanes and multirotors when rangefinder is present and Surface mode enabled"
field: w_z_surface_v field: w_z_surface_v
@ -2397,10 +2466,16 @@ groups:
min: 1 min: 1
max: 15 max: 15
- name: nav_landing_bump_detection - name: nav_landing_bump_detection
description: "Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and currently only works for multirotors." description: "Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and GPS and currently only works for multirotors (Note: will work during Failsafe without need for a GPS)."
default_value: OFF default_value: OFF
field: general.flags.landing_bump_detection field: general.flags.landing_bump_detection
type: bool type: bool
- name: nav_mc_inverted_crash_detection
description: "Setting a value > 0 enables inverted crash detection for multirotors. It will auto disarm in situations where the multirotor has crashed inverted on the ground and can't be manually disarmed due to loss of control or for some other reason. When enabled this setting defines the additional number of seconds before disarm beyond a minimum fixed time delay of 3s. Requires a barometer to work."
default_value: 0
field: mc.inverted_crash_detection
min: 0
max: 15
- name: nav_mc_althold_throttle - name: nav_mc_althold_throttle
description: "If set to STICK the FC remembers the throttle stick position when enabling ALTHOLD and treats it as the neutral midpoint for holding altitude. If set to MID_STICK or HOVER the neutral midpoint is set to the mid stick position or the hover throttle position respectively." description: "If set to STICK the FC remembers the throttle stick position when enabling ALTHOLD and treats it as the neutral midpoint for holding altitude. If set to MID_STICK or HOVER the neutral midpoint is set to the mid stick position or the hover throttle position respectively."
default_value: "STICK" default_value: "STICK"
@ -2476,7 +2551,7 @@ groups:
table: nav_fw_wp_turn_smoothing table: nav_fw_wp_turn_smoothing
- name: nav_auto_speed - name: nav_auto_speed
description: "Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no specific WP speed set. [Multirotor only]" description: "Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no specific WP speed set. [Multirotor only]"
default_value: 300 default_value: 500
field: general.auto_speed field: general.auto_speed
min: 10 min: 10
max: 2000 max: 2000
@ -2494,7 +2569,7 @@ groups:
max: 2000 max: 2000
- name: nav_manual_speed - name: nav_manual_speed
description: "Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]" description: "Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]"
default_value: 500 default_value: 750
field: general.max_manual_speed field: general.max_manual_speed
min: 10 min: 10
max: 2000 max: 2000
@ -2670,7 +2745,7 @@ groups:
max: 120 max: 120
- name: nav_mc_bank_angle - name: nav_mc_bank_angle
description: "Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude" description: "Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude"
default_value: 30 default_value: 35
field: mc.max_bank_angle field: mc.max_bank_angle
min: 15 min: 15
max: 45 max: 45
@ -2771,6 +2846,12 @@ groups:
field: fw.max_bank_angle field: fw.max_bank_angle
min: 5 min: 5
max: 80 max: 80
- name: nav_fw_auto_climb_rate
description: "Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]"
default_value: 500
field: fw.max_auto_climb_rate
min: 10
max: 2000
- name: nav_fw_manual_climb_rate - name: nav_fw_manual_climb_rate
description: "Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]" description: "Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]"
default_value: 300 default_value: 300
@ -2846,7 +2927,7 @@ groups:
description: "Forward acceleration threshold for bungee launch or 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 default_value: 1863
field: fw.launch_accel_thresh field: fw.launch_accel_thresh
min: 1500 min: 1350
max: 20000 max: 20000
- name: nav_fw_launch_max_angle - name: nav_fw_launch_max_angle
description: "Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]" description: "Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]"
@ -3405,6 +3486,12 @@ groups:
min: 1 min: 1
max: 10 max: 10
default_value: 3 default_value: 3
- name: osd_radar_peers_display_time
description: "Time in seconds to display next peer "
field: radar_peers_display_time
min: 1
max: 10
default_value: 3
- name: osd_hud_wp_disp - name: osd_hud_wp_disp
description: "How many navigation waypoints are displayed, set to 0 (zero) to disable. As sample, if set to 2, and you just passed the 3rd waypoint of the mission, you'll see markers for the 4th waypoint (marked 1) and the 5th waypoint (marked 2)" description: "How many navigation waypoints are displayed, set to 0 (zero) to disable. As sample, if set to 2, and you just passed the 3rd waypoint of the mission, you'll see markers for the 4th waypoint (marked 1) and the 5th waypoint (marked 2)"
default_value: 0 default_value: 0
@ -3440,7 +3527,6 @@ groups:
min: 8 min: 8
max: 11 max: 11
default_value: 9 default_value: 9
- name: osd_adsb_distance_warning - name: osd_adsb_distance_warning
description: "Distance in meters of ADSB aircraft that is displayed" description: "Distance in meters of ADSB aircraft that is displayed"
default_value: 20000 default_value: 20000
@ -3465,7 +3551,6 @@ groups:
min: 0 min: 0
max: 64000 max: 64000
type: uint16_t type: uint16_t
- name: osd_estimations_wind_compensation - name: osd_estimations_wind_compensation
description: "Use wind estimation for remaining flight time/distance estimation" description: "Use wind estimation for remaining flight time/distance estimation"
default_value: ON default_value: ON
@ -3478,12 +3563,10 @@ groups:
condition: USE_WIND_ESTIMATOR condition: USE_WIND_ESTIMATOR
field: estimations_wind_mps field: estimations_wind_mps
type: bool type: bool
- name: osd_failsafe_switch_layout - name: osd_failsafe_switch_layout
description: "If enabled the OSD automatically switches to the first layout during failsafe" description: "If enabled the OSD automatically switches to the first layout during failsafe"
default_value: OFF default_value: OFF
type: bool type: bool
- name: osd_plus_code_digits - name: osd_plus_code_digits
description: "Numer of plus code digits before shortening with `osd_plus_code_short`. Precision at the equator: 10=13.9x13.9m; 11=2.8x3.5m; 12=56x87cm; 13=11x22cm." description: "Numer of plus code digits before shortening with `osd_plus_code_short`. Precision at the equator: 10=13.9x13.9m; 11=2.8x3.5m; 12=56x87cm; 13=11x22cm."
field: plus_code_digits field: plus_code_digits
@ -3495,213 +3578,186 @@ groups:
field: plus_code_short field: plus_code_short
default_value: "0" default_value: "0"
table: osd_plus_code_short table: osd_plus_code_short
- name: osd_ahi_style - name: osd_ahi_style
description: "Sets OSD Artificial Horizon style \"DEFAULT\" or \"LINE\" for the FrSky Graphical OSD." description: "Sets OSD Artificial Horizon style \"DEFAULT\" or \"LINE\" for the FrSky Graphical OSD."
field: ahi_style field: ahi_style
default_value: "DEFAULT" default_value: "DEFAULT"
table: osd_ahi_style table: osd_ahi_style
type: uint8_t type: uint8_t
- name: osd_force_grid - name: osd_force_grid
field: force_grid field: force_grid
type: bool type: bool
default_value: OFF default_value: OFF
description: Force OSD to work in grid mode even if the OSD device supports pixel level access (mainly used for development) description: Force OSD to work in grid mode even if the OSD device supports pixel level access (mainly used for development)
- name: osd_ahi_bordered - name: osd_ahi_bordered
field: ahi_bordered field: ahi_bordered
type: bool type: bool
description: Shows a border/corners around the AHI region (pixel OSD only) description: Shows a border/corners around the AHI region (pixel OSD only)
default_value: OFF default_value: OFF
- name: osd_ahi_width - name: osd_ahi_width
field: ahi_width field: ahi_width
max: 255 max: 255
description: AHI width in pixels (pixel OSD only) description: AHI width in pixels (pixel OSD only)
default_value: 132 default_value: 132
- name: osd_ahi_height - name: osd_ahi_height
field: ahi_height field: ahi_height
max: 255 max: 255
description: AHI height in pixels (pixel OSD only) description: AHI height in pixels (pixel OSD only)
default_value: 162 default_value: 162
- name: osd_ahi_vertical_offset - name: osd_ahi_vertical_offset
field: ahi_vertical_offset field: ahi_vertical_offset
min: -128 min: -128
max: 127 max: 127
description: AHI vertical offset from center (pixel OSD only) description: AHI vertical offset from center (pixel OSD only)
default_value: -18 default_value: -18
- name: osd_sidebar_horizontal_offset - name: osd_sidebar_horizontal_offset
field: sidebar_horizontal_offset field: sidebar_horizontal_offset
min: -128 min: -128
max: 127 max: 127
default_value: 0 default_value: 0
description: Sidebar horizontal offset from default position. Positive values move the sidebars closer to the edges. description: Sidebar horizontal offset from default position. Positive values move the sidebars closer to the edges.
- name: osd_left_sidebar_scroll_step - name: osd_left_sidebar_scroll_step
field: left_sidebar_scroll_step field: left_sidebar_scroll_step
max: 255 max: 255
default_value: 0 default_value: 0
description: How many units each sidebar step represents. 0 means the default value for the scroll type. description: How many units each sidebar step represents. 0 means the default value for the scroll type.
- name: osd_right_sidebar_scroll_step - name: osd_right_sidebar_scroll_step
field: right_sidebar_scroll_step field: right_sidebar_scroll_step
max: 255 max: 255
default_value: 0 default_value: 0
description: Same as left_sidebar_scroll_step, but for the right sidebar description: Same as left_sidebar_scroll_step, but for the right sidebar
- name: osd_sidebar_height - name: osd_sidebar_height
field: sidebar_height field: sidebar_height
min: 0 min: 0
max: 5 max: 5
default_value: 3 default_value: 3
description: Height of sidebars in rows. 0 leaves only the level indicator arrows (Not for pixel OSD) description: Height of sidebars in rows. 0 leaves only the level indicator arrows (Not for pixel OSD)
- name: osd_ahi_pitch_interval - name: osd_ahi_pitch_interval
field: ahi_pitch_interval field: ahi_pitch_interval
min: 0 min: 0
max: 30 max: 30
default_value: 0 default_value: 0
description: Draws AHI at increments of the set pitch interval over the full pitch range. AHI line is drawn with ends offset when pitch first exceeds interval with offset increasing with increasing pitch. Offset direction changes between climb and dive. Set to 0 to disable (Not for pixel OSD) description: Draws AHI at increments of the set pitch interval over the full pitch range. AHI line is drawn with ends offset when pitch first exceeds interval with offset increasing with increasing pitch. Offset direction changes between climb and dive. Set to 0 to disable (Not for pixel OSD)
- name: osd_home_position_arm_screen - name: osd_home_position_arm_screen
type: bool type: bool
default_value: ON default_value: ON
description: Should home position coordinates be displayed on the arming screen. description: Should home position coordinates be displayed on the arming screen.
- name: osd_pan_servo_index - name: osd_pan_servo_index
description: Index of the pan servo, used to adjust osd home heading direction based on camera pan. Note that this feature does not work with continiously rotating servos. description: Index of the pan servo, used to adjust osd home heading direction based on camera pan. Note that this feature does not work with continiously rotating servos.
field: pan_servo_index field: pan_servo_index
min: 0 min: 0
max: 16 max: 16
default_value: 0 default_value: 0
- name: osd_pan_servo_pwm2centideg - name: osd_pan_servo_pwm2centideg
description: Centidegrees of pan servo rotation us PWM signal. A servo with 180 degrees of rotation from 1000 to 2000 us PWM typically needs `18` for this setting. Change sign to inverse direction. description: Centidegrees of pan servo rotation us PWM signal. A servo with 180 degrees of rotation from 1000 to 2000 us PWM typically needs `18` for this setting. Change sign to inverse direction.
field: pan_servo_pwm2centideg field: pan_servo_pwm2centideg
default_value: 0 default_value: 0
min: -36 min: -36
max: 36 max: 36
- name: osd_pan_servo_offcentre_warning - name: osd_pan_servo_offcentre_warning
description: Degrees either side of the pan servo centre; where it is assumed camera is wanted to be facing forwards, but isn't at 0. If in this range and not 0 for longer than 10 seconds, the pan servo offset OSD element will blink. 0 means the warning is disabled. description: Degrees either side of the pan servo centre; where it is assumed camera is wanted to be facing forwards, but isn't at 0. If in this range and not 0 for longer than 10 seconds, the pan servo offset OSD element will blink. 0 means the warning is disabled.
field: pan_servo_offcentre_warning field: pan_servo_offcentre_warning
min: 0 min: 0
max: 45 max: 45
default_value: 10 default_value: 10
- name: osd_pan_servo_indicator_show_degrees - name: osd_pan_servo_indicator_show_degrees
description: Show the degress of offset from centre on the pan servo OSD display element. description: Show the degress of offset from centre on the pan servo OSD display element.
field: pan_servo_indicator_show_degrees field: pan_servo_indicator_show_degrees
type: bool type: bool
default_value: OFF default_value: OFF
- name: osd_esc_rpm_precision - name: osd_esc_rpm_precision
description: Number of characters used to display the RPM value. description: Number of characters used to display the RPM value.
field: esc_rpm_precision field: esc_rpm_precision
min: 3 min: 3
max: 6 max: 6
default_value: 3 default_value: 3
- name: osd_mah_precision - name: osd_mah_precision
description: Number of digits used for mAh precision. Currently used by mAh Used and Battery Remaining Capacity description: Number of digits used for mAh precision. Currently used by mAh Used and Battery Remaining Capacity
field: mAh_precision field: mAh_precision
min: 4 min: 4
max: 6 max: 6
default_value: 4 default_value: 4
- name: osd_use_pilot_logo - name: osd_use_pilot_logo
description: Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511 description: Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511
field: use_pilot_logo field: use_pilot_logo
type: bool type: bool
default_value: OFF default_value: OFF
- name: osd_inav_to_pilot_logo_spacing - name: osd_inav_to_pilot_logo_spacing
description: The space between the INAV and pilot logos, if `osd_use_pilot_logo` is `ON`. This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen. description: The space between the INAV and pilot logos, if `osd_use_pilot_logo` is `ON`. This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen.
field: inav_to_pilot_logo_spacing field: inav_to_pilot_logo_spacing
min: 0 min: 0
max: 20 max: 20
default_value: 8 default_value: 8
- name: osd_arm_screen_display_time - name: osd_arm_screen_display_time
description: Amount of time to display the arm screen [ms] description: Amount of time to display the arm screen [ms]
field: arm_screen_display_time field: arm_screen_display_time
min: 1000 min: 1000
max: 5000 max: 5000
default_value: 1500 default_value: 1500
- name: osd_switch_indicator_zero_name - name: osd_switch_indicator_zero_name
description: "Character to use for OSD switch incicator 0." description: "Character to use for OSD switch incicator 0."
field: osd_switch_indicator0_name field: osd_switch_indicator0_name
type: string type: string
max: 5 max: 5
default_value: "FLAP" default_value: "FLAP"
- name: osd_switch_indicator_one_name - name: osd_switch_indicator_one_name
description: "Character to use for OSD switch incicator 1." description: "Character to use for OSD switch incicator 1."
field: osd_switch_indicator1_name field: osd_switch_indicator1_name
type: string type: string
max: 5 max: 5
default_value: "GEAR" default_value: "GEAR"
- name: osd_switch_indicator_two_name - name: osd_switch_indicator_two_name
description: "Character to use for OSD switch incicator 2." description: "Character to use for OSD switch incicator 2."
field: osd_switch_indicator2_name field: osd_switch_indicator2_name
type: string type: string
max: 5 max: 5
default_value: "CAM" default_value: "CAM"
- name: osd_switch_indicator_three_name - name: osd_switch_indicator_three_name
description: "Character to use for OSD switch incicator 3." description: "Character to use for OSD switch incicator 3."
field: osd_switch_indicator3_name field: osd_switch_indicator3_name
type: string type: string
max: 5 max: 5
default_value: "LIGT" default_value: "LIGT"
- name: osd_switch_indicator_zero_channel - name: osd_switch_indicator_zero_channel
description: "RC Channel to use for OSD switch indicator 0." description: "RC Channel to use for OSD switch indicator 0."
field: osd_switch_indicator0_channel field: osd_switch_indicator0_channel
min: 5 min: 5
max: MAX_SUPPORTED_RC_CHANNEL_COUNT max: MAX_SUPPORTED_RC_CHANNEL_COUNT
default_value: 5 default_value: 5
- name: osd_switch_indicator_one_channel - name: osd_switch_indicator_one_channel
description: "RC Channel to use for OSD switch indicator 1." description: "RC Channel to use for OSD switch indicator 1."
field: osd_switch_indicator1_channel field: osd_switch_indicator1_channel
min: 5 min: 5
max: MAX_SUPPORTED_RC_CHANNEL_COUNT max: MAX_SUPPORTED_RC_CHANNEL_COUNT
default_value: 5 default_value: 5
- name: osd_switch_indicator_two_channel - name: osd_switch_indicator_two_channel
description: "RC Channel to use for OSD switch indicator 2." description: "RC Channel to use for OSD switch indicator 2."
field: osd_switch_indicator2_channel field: osd_switch_indicator2_channel
min: 5 min: 5
max: MAX_SUPPORTED_RC_CHANNEL_COUNT max: MAX_SUPPORTED_RC_CHANNEL_COUNT
default_value: 5 default_value: 5
- name: osd_switch_indicator_three_channel - name: osd_switch_indicator_three_channel
description: "RC Channel to use for OSD switch indicator 3." description: "RC Channel to use for OSD switch indicator 3."
field: osd_switch_indicator3_channel field: osd_switch_indicator3_channel
min: 5 min: 5
max: MAX_SUPPORTED_RC_CHANNEL_COUNT max: MAX_SUPPORTED_RC_CHANNEL_COUNT
default_value: 5 default_value: 5
- name: osd_switch_indicators_align_left - name: osd_switch_indicators_align_left
description: "Align text to left of switch indicators" description: "Align text to left of switch indicators"
field: osd_switch_indicators_align_left field: osd_switch_indicators_align_left
type: bool type: bool
default_value: ON default_value: ON
- name: osd_system_msg_display_time - name: osd_system_msg_display_time
description: System message display cycle time for multiple messages (milliseconds). description: System message display cycle time for multiple messages (milliseconds).
field: system_msg_display_time field: system_msg_display_time
default_value: 1000 default_value: 1000
min: 500 min: 500
max: 5000 max: 5000
- name: osd_highlight_djis_missing_font_symbols
description: Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes.
field: highlight_djis_missing_characters
default_value: ON
type: bool
- name: PG_OSD_COMMON_CONFIG - name: PG_OSD_COMMON_CONFIG
type: osdCommonConfig_t type: osdCommonConfig_t
headers: ["io/osd_common.h"] headers: ["io/osd_common.h"]
@ -4114,7 +4170,7 @@ groups:
type: navFwAutolandConfig_t type: navFwAutolandConfig_t
headers: ["navigation/navigation.h"] headers: ["navigation/navigation.h"]
condition: USE_FW_AUTOLAND condition: USE_FW_AUTOLAND
members: members:
- name: nav_fw_land_approach_length - name: nav_fw_land_approach_length
description: "Length of the final approach" description: "Length of the final approach"
default_value: 35000 default_value: 35000
@ -4157,3 +4213,92 @@ groups:
field: maxTailwind field: maxTailwind
min: 0 min: 0
max: 3000 max: 3000
- name: PG_GIMBAL_CONFIG
type: gimbalConfig_t
headers: ["drivers/gimbal_common.h"]
condition: USE_SERIAL_GIMBAL
members:
- name: gimbal_pan_channel
description: "Gimbal pan rc channel index. 0 is no channel."
default_value: 0
field: panChannel
min: 0
max: 32
- name: gimbal_roll_channel
description: "Gimbal roll rc channel index. 0 is no channel."
default_value: 0
field: rollChannel
min: 0
max: 32
- name: gimbal_tilt_channel
description: "Gimbal tilt rc channel index. 0 is no channel."
default_value: 0
field: tiltChannel
min: 0
max: 32
- name: gimbal_sensitivity
description: "Gimbal sensitivity is similar to gain and will affect how quickly the gimbal will react."
default_value: 0
field: sensitivity
min: -16
max: 15
- name: gimbal_pan_trim
field: panTrim
description: "Trim gimbal pan center position."
default_value: 0
min: -500
max: 500
- name: gimbal_tilt_trim
field: tiltTrim
description: "Trim gimbal tilt center position."
default_value: 0
min: -500
max: 500
- name: gimbal_roll_trim
field: rollTrim
description: "Trim gimbal roll center position."
default_value: 0
min: -500
max: 500
- name: PG_GIMBAL_SERIAL_CONFIG
type: gimbalSerialConfig_t
headers: ["io/gimbal_serial.h"]
condition: USE_SERIAL_GIMBAL
members:
- name: gimbal_serial_single_uart
description: "Gimbal serial and headtracker device share same UART. FC RX goes to headtracker device, FC TX goes to gimbal."
type: bool
default_value: OFF
field: singleUart
- name: PG_HEADTRACKER_CONFIG
type: headTrackerConfig_t
headers: ["drivers/headtracker_common.h"]
condition: USE_HEADTRACKER
members:
- name: headtracker_type
description: "Type of headtrackr dervice"
default_value: "NONE"
field: devType
type: uint8_t
table: headtracker_dev_type
- name: headtracker_pan_ratio
description: "Head pan movement vs camera movement ratio"
type: float
default_value: 1
field: pan_ratio
min: 0
max: 5
- name: headtracker_tilt_ratio
description: "Head tilt movement vs camera movement ratio"
type: float
default_value: 1
field: tilt_ratio
min: 0
max: 5
- name: headtracker_roll_ratio
description: "Head roll movement vs camera movement ratio"
type: float
default_value: 1
field: roll_ratio
min: 0
max: 5

190
src/main/flight/adaptive_filter.c Normal file
View file

@ -0,0 +1,190 @@
/*
* 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 "platform.h"
#ifdef USE_ADAPTIVE_FILTER
#include <stdlib.h>
#include "flight/adaptive_filter.h"
#include "arm_math.h"
#include <math.h>
#include "common/maths.h"
#include "common/axis.h"
#include "common/filter.h"
#include "build/debug.h"
#include "fc/config.h"
#include "fc/runtime_config.h"
#include "fc/rc_controls.h"
#include "sensors/gyro.h"
STATIC_FASTRAM float32_t adaptiveFilterSamples[XYZ_AXIS_COUNT][ADAPTIVE_FILTER_BUFFER_SIZE];
STATIC_FASTRAM uint8_t adaptiveFilterSampleIndex = 0;
STATIC_FASTRAM pt1Filter_t stdFilter[XYZ_AXIS_COUNT];
STATIC_FASTRAM pt1Filter_t hpfFilter[XYZ_AXIS_COUNT];
/*
We want to run adaptive filter only when UAV is commanded to stay stationary
Any rotation request on axis will add noise that we are not interested in as it will
automatically cause LPF frequency to be lowered
*/
STATIC_FASTRAM float axisAttenuationFactor[XYZ_AXIS_COUNT];
STATIC_FASTRAM uint8_t adaptiveFilterInitialized = 0;
STATIC_FASTRAM uint8_t hpfFilterInitialized = 0;
//Defines if current, min and max values for the filter were set and filter is ready to work
STATIC_FASTRAM uint8_t targetsSet = 0;
STATIC_FASTRAM float currentLpf;
STATIC_FASTRAM float initialLpf;
STATIC_FASTRAM float minLpf;
STATIC_FASTRAM float maxLpf;
STATIC_FASTRAM float adaptiveFilterIntegrator;
STATIC_FASTRAM float adaptiveIntegratorTarget;
/**
* This function is called at pid rate, so has to be initialized at PID loop frequency
*/
void adaptiveFilterPush(const flight_dynamics_index_t index, const float value) {
if (!hpfFilterInitialized) {
//Initialize the filter
for (flight_dynamics_index_t axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pt1FilterInit(&hpfFilter[axis], gyroConfig()->adaptiveFilterHpfHz, US2S(getLooptime()));
}
hpfFilterInitialized = 1;
}
//Apply high pass filter, we are not interested in slowly changing values, only noise
const float filteredGyro = value - pt1FilterApply(&hpfFilter[index], value);
//Push new sample to the buffer so later we can compute RMS and other measures
adaptiveFilterSamples[index][adaptiveFilterSampleIndex] = filteredGyro;
adaptiveFilterSampleIndex = (adaptiveFilterSampleIndex + 1) % ADAPTIVE_FILTER_BUFFER_SIZE;
}
void adaptiveFilterPushRate(const flight_dynamics_index_t index, const float rate, const uint8_t configRate) {
const float maxRate = configRate * 10.0f;
axisAttenuationFactor[index] = scaleRangef(fabsf(rate), 0.0f, maxRate, 1.0f, 0.0f);
axisAttenuationFactor[index] = constrainf(axisAttenuationFactor[index], 0.0f, 1.0f);
}
void adaptiveFilterResetIntegrator(void) {
adaptiveFilterIntegrator = 0.0f;
}
void adaptiveFilterSetDefaultFrequency(int lpf, int min, int max) {
currentLpf = lpf;
minLpf = min;
maxLpf = max;
initialLpf = currentLpf;
targetsSet = 1;
}
void adaptiveFilterTask(timeUs_t currentTimeUs) {
//If we don't have current, min and max values for the filter, we can't run it yet
if (!targetsSet) {
return;
}
static timeUs_t previousUpdateTimeUs = 0;
//Initialization procedure, filter setup etc.
if (!adaptiveFilterInitialized) {
adaptiveIntegratorTarget = 3.5f;
previousUpdateTimeUs = currentTimeUs;
//Initialize the filter
for (flight_dynamics_index_t axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pt1FilterInit(&stdFilter[axis], gyroConfig()->adaptiveFilterStdLpfHz, 1.0f / ADAPTIVE_FILTER_RATE_HZ);
}
adaptiveFilterInitialized = 1;
}
//If not armed, leave this routine but reset integrator and set default LPF
if (!ARMING_FLAG(ARMED)) {
currentLpf = initialLpf;
adaptiveFilterResetIntegrator();
gyroUpdateDynamicLpf(currentLpf);
return;
}
//Do not run adaptive filter when throttle is low
if (rcCommand[THROTTLE] < 1200) {
return;
}
//Prepare time delta to normalize time factor of the integrator
const float dT = US2S(currentTimeUs - previousUpdateTimeUs);
previousUpdateTimeUs = currentTimeUs;
float combinedStd = 0.0f;
//Compute RMS for each axis
for (flight_dynamics_index_t axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
//Copy axis samples to a temporary buffer
float32_t tempBuffer[ADAPTIVE_FILTER_BUFFER_SIZE];
//Copute STD from buffer using arm_std_f32
float32_t std;
memcpy(tempBuffer, adaptiveFilterSamples[axis], sizeof(adaptiveFilterSamples[axis]));
arm_std_f32(tempBuffer, ADAPTIVE_FILTER_BUFFER_SIZE, &std);
const float filteredStd = pt1FilterApply(&stdFilter[axis], std);
const float error = filteredStd - adaptiveIntegratorTarget;
const float adjustedError = error * axisAttenuationFactor[axis];
const float timeAdjustedError = adjustedError * dT;
//Put into integrator
adaptiveFilterIntegrator += timeAdjustedError;
combinedStd += std;
}
if (adaptiveFilterIntegrator > gyroConfig()->adaptiveFilterIntegratorThresholdHigh) {
//In this case there is too much noise, we need to lower the LPF frequency
currentLpf = constrainf(currentLpf - 1.0f, minLpf, maxLpf);
gyroUpdateDynamicLpf(currentLpf);
adaptiveFilterResetIntegrator();
} else if (adaptiveFilterIntegrator < gyroConfig()->adaptiveFilterIntegratorThresholdLow) {
//In this case there is too little noise, we can to increase the LPF frequency
currentLpf = constrainf(currentLpf + 1.0f, minLpf, maxLpf);
gyroUpdateDynamicLpf(currentLpf);
adaptiveFilterResetIntegrator();
}
combinedStd /= XYZ_AXIS_COUNT;
DEBUG_SET(DEBUG_ADAPTIVE_FILTER, 0, combinedStd * 1000.0f);
DEBUG_SET(DEBUG_ADAPTIVE_FILTER, 1, adaptiveFilterIntegrator * 10.0f);
DEBUG_SET(DEBUG_ADAPTIVE_FILTER, 2, currentLpf);
}
#endif /* USE_ADAPTIVE_FILTER */

35
src/main/flight/adaptive_filter.h Normal file
View file

@ -0,0 +1,35 @@
/*
* 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 "common/axis.h"
#include "common/time.h"
#define ADAPTIVE_FILTER_BUFFER_SIZE 64
#define ADAPTIVE_FILTER_RATE_HZ 100
void adaptiveFilterPush(const flight_dynamics_index_t index, const float value);
void adaptiveFilterPushRate(const flight_dynamics_index_t index, const float rate, const uint8_t configRate);
void adaptiveFilterResetIntegrator(void);
void adaptiveFilterSetDefaultFrequency(int lpf, int min, int max);
void adaptiveFilterTask(timeUs_t currentTimeUs);

2
src/main/flight/dynamic_lpf.c
View file

@ -37,7 +37,7 @@ static float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLp
void dynamicLpfGyroTask(void) { void dynamicLpfGyroTask(void) {
if (!gyroConfig()->useDynamicLpf) { if (gyroConfig()->gyroFilterMode != GYRO_FILTER_MODE_DYNAMIC) {
return; return;
} }

2
src/main/flight/ez_tune.c
View file

@ -109,7 +109,7 @@ void ezTuneUpdate(void) {
#endif #endif
//Disable dynamic LPF //Disable dynamic LPF
gyroConfigMutable()->useDynamicLpf = 0; gyroConfigMutable()->gyroFilterMode = GYRO_FILTER_MODE_STATIC;
//Setup PID controller //Setup PID controller

16
src/main/flight/failsafe.c
View file

@ -84,7 +84,7 @@ PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
.failsafe_mission_delay = SETTING_FAILSAFE_MISSION_DELAY_DEFAULT, // Time delay before Failsafe activated during WP mission (s) .failsafe_mission_delay = SETTING_FAILSAFE_MISSION_DELAY_DEFAULT, // Time delay before Failsafe activated during WP mission (s)
#ifdef USE_GPS_FIX_ESTIMATION #ifdef USE_GPS_FIX_ESTIMATION
.failsafe_gps_fix_estimation_delay = SETTING_FAILSAFE_GPS_FIX_ESTIMATION_DELAY_DEFAULT, // Time delay before Failsafe activated when GPS Fix estimation is allied .failsafe_gps_fix_estimation_delay = SETTING_FAILSAFE_GPS_FIX_ESTIMATION_DELAY_DEFAULT, // Time delay before Failsafe activated when GPS Fix estimation is allied
#endif #endif
); );
typedef enum { typedef enum {
@ -350,16 +350,16 @@ static failsafeProcedure_e failsafeChooseFailsafeProcedure(void)
} }
} }
// Inhibit Failsafe if emergency landing triggered manually // Inhibit Failsafe if emergency landing triggered manually or if landing is detected
if (posControl.flags.manualEmergLandActive) { if (posControl.flags.manualEmergLandActive || STATE(LANDING_DETECTED)) {
return FAILSAFE_PROCEDURE_NONE; return FAILSAFE_PROCEDURE_NONE;
} }
// Craft is closer than minimum failsafe procedure distance (if set to non-zero) // Craft is closer than minimum failsafe procedure distance (if set to non-zero)
// GPS must also be working, and home position set // GPS must also be working, and home position set
if (failsafeConfig()->failsafe_min_distance > 0 && if (failsafeConfig()->failsafe_min_distance > 0 &&
((sensors(SENSOR_GPS) && STATE(GPS_FIX)) ((sensors(SENSOR_GPS) && STATE(GPS_FIX))
#ifdef USE_GPS_FIX_ESTIMATION #ifdef USE_GPS_FIX_ESTIMATION
|| STATE(GPS_ESTIMATED_FIX) || STATE(GPS_ESTIMATED_FIX)
#endif #endif
) && STATE(GPS_FIX_HOME)) { ) && STATE(GPS_FIX_HOME)) {
@ -429,8 +429,8 @@ void failsafeUpdateState(void)
#ifdef USE_GPS_FIX_ESTIMATION #ifdef USE_GPS_FIX_ESTIMATION
if ( checkGPSFixFailsafe() ) { if ( checkGPSFixFailsafe() ) {
reprocessState = true; reprocessState = true;
} else } else
#endif #endif
if (!receivingRxDataAndNotFailsafeMode) { if (!receivingRxDataAndNotFailsafeMode) {
if ((failsafeConfig()->failsafe_throttle_low_delay && (millis() > failsafeState.throttleLowPeriod)) || STATE(NAV_MOTOR_STOP_OR_IDLE)) { if ((failsafeConfig()->failsafe_throttle_low_delay && (millis() > failsafeState.throttleLowPeriod)) || STATE(NAV_MOTOR_STOP_OR_IDLE)) {
// JustDisarm: throttle was LOW for at least 'failsafe_throttle_low_delay' seconds or waiting for launch // JustDisarm: throttle was LOW for at least 'failsafe_throttle_low_delay' seconds or waiting for launch
@ -499,7 +499,7 @@ void failsafeUpdateState(void)
} else if (failsafeChooseFailsafeProcedure() != FAILSAFE_PROCEDURE_NONE) { // trigger new failsafe procedure if changed } else if (failsafeChooseFailsafeProcedure() != FAILSAFE_PROCEDURE_NONE) { // trigger new failsafe procedure if changed
failsafeState.phase = FAILSAFE_RX_LOSS_DETECTED; failsafeState.phase = FAILSAFE_RX_LOSS_DETECTED;
reprocessState = true; reprocessState = true;
} }
#ifdef USE_GPS_FIX_ESTIMATION #ifdef USE_GPS_FIX_ESTIMATION
else { else {
if ( checkGPSFixFailsafe() ) { if ( checkGPSFixFailsafe() ) {

2
src/main/flight/mixer.c
View file

@ -728,7 +728,7 @@ bool areMotorsRunning(void)
return false; return false;
} }
uint16_t getMaxThrottle() { uint16_t getMaxThrottle(void) {
static uint16_t throttle = 0; static uint16_t throttle = 0;

3
src/main/flight/mixer.h
View file

@ -48,7 +48,8 @@ typedef enum {
typedef enum { typedef enum {
OUTPUT_MODE_AUTO = 0, OUTPUT_MODE_AUTO = 0,
OUTPUT_MODE_MOTORS, OUTPUT_MODE_MOTORS,
OUTPUT_MODE_SERVOS OUTPUT_MODE_SERVOS,
OUTPUT_MODE_LED
} outputMode_e; } outputMode_e;
typedef struct motorAxisCorrectionLimits_s { typedef struct motorAxisCorrectionLimits_s {

2
src/main/flight/mixer_profile.c
View file

@ -79,7 +79,7 @@ void pgResetFn_mixerProfiles(mixerProfile_t *instance)
} }
} }
void activateMixerConfig(){ void activateMixerConfig(void){
currentMixerProfileIndex = getConfigMixerProfile(); currentMixerProfileIndex = getConfigMixerProfile();
currentMixerConfig = *mixerConfig(); currentMixerConfig = *mixerConfig();
nextMixerProfileIndex = (currentMixerProfileIndex + 1) % MAX_MIXER_PROFILE_COUNT; nextMixerProfileIndex = (currentMixerProfileIndex + 1) % MAX_MIXER_PROFILE_COUNT;

156
src/main/flight/pid.c
View file

@ -47,6 +47,7 @@
#include "flight/rpm_filter.h" #include "flight/rpm_filter.h"
#include "flight/kalman.h" #include "flight/kalman.h"
#include "flight/smith_predictor.h" #include "flight/smith_predictor.h"
#include "flight/adaptive_filter.h"
#include "io/gps.h" #include "io/gps.h"
@ -65,6 +66,14 @@
#include "programming/logic_condition.h" #include "programming/logic_condition.h"
typedef struct {
float aP;
float aI;
float aD;
float aFF;
timeMs_t targetOverThresholdTimeMs;
} fwPidAttenuation_t;
typedef struct { typedef struct {
uint8_t axis; uint8_t axis;
float kP; // Proportional gain float kP; // Proportional gain
@ -106,6 +115,8 @@ typedef struct {
pt3Filter_t rateTargetFilter; pt3Filter_t rateTargetFilter;
smithPredictor_t smithPredictor; smithPredictor_t smithPredictor;
fwPidAttenuation_t attenuation;
} pidState_t; } pidState_t;
STATIC_FASTRAM bool pidFiltersConfigured = false; STATIC_FASTRAM bool pidFiltersConfigured = false;
@ -154,10 +165,9 @@ static EXTENDED_FASTRAM float iTermAntigravityGain;
#endif #endif
static EXTENDED_FASTRAM uint8_t usedPidControllerType; static EXTENDED_FASTRAM uint8_t usedPidControllerType;
typedef void (*pidControllerFnPtr)(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv); typedef void (*pidControllerFnPtr)(pidState_t *pidState, float dT, float dT_inv);
static EXTENDED_FASTRAM pidControllerFnPtr pidControllerApplyFn; static EXTENDED_FASTRAM pidControllerFnPtr pidControllerApplyFn;
static EXTENDED_FASTRAM filterApplyFnPtr dTermLpfFilterApplyFn; static EXTENDED_FASTRAM filterApplyFnPtr dTermLpfFilterApplyFn;
static EXTENDED_FASTRAM bool levelingEnabled = false;
static EXTENDED_FASTRAM bool restartAngleHoldMode = true; static EXTENDED_FASTRAM bool restartAngleHoldMode = true;
static EXTENDED_FASTRAM bool angleHoldIsLevel = false; static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
@ -169,7 +179,7 @@ static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
static EXTENDED_FASTRAM float fixedWingLevelTrim; static EXTENDED_FASTRAM float fixedWingLevelTrim;
static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController; static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController;
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 7); PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 9);
PG_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
.bank_mc = { .bank_mc = {
@ -230,9 +240,9 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
}, },
[PID_HEADING] = { SETTING_NAV_FW_HEADING_P_DEFAULT, 0, 0, 0 }, [PID_HEADING] = { SETTING_NAV_FW_HEADING_P_DEFAULT, 0, 0, 0 },
[PID_POS_Z] = { [PID_POS_Z] = {
.P = SETTING_NAV_FW_POS_Z_P_DEFAULT, // FW_POS_Z_P * 10 .P = SETTING_NAV_FW_POS_Z_P_DEFAULT, // FW_POS_Z_P * 100
.I = SETTING_NAV_FW_POS_Z_I_DEFAULT, // FW_POS_Z_I * 10 .I = SETTING_NAV_FW_POS_Z_I_DEFAULT, // FW_POS_Z_I * 100
.D = SETTING_NAV_FW_POS_Z_D_DEFAULT, // FW_POS_Z_D * 10 .D = SETTING_NAV_FW_POS_Z_D_DEFAULT, // FW_POS_Z_D * 100
.FF = 0, .FF = 0,
}, },
[PID_POS_XY] = { [PID_POS_XY] = {
@ -268,7 +278,6 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
.fixedWingReferenceAirspeed = SETTING_FW_REFERENCE_AIRSPEED_DEFAULT, .fixedWingReferenceAirspeed = SETTING_FW_REFERENCE_AIRSPEED_DEFAULT,
.fixedWingCoordinatedYawGain = SETTING_FW_TURN_ASSIST_YAW_GAIN_DEFAULT, .fixedWingCoordinatedYawGain = SETTING_FW_TURN_ASSIST_YAW_GAIN_DEFAULT,
.fixedWingCoordinatedPitchGain = SETTING_FW_TURN_ASSIST_PITCH_GAIN_DEFAULT, .fixedWingCoordinatedPitchGain = SETTING_FW_TURN_ASSIST_PITCH_GAIN_DEFAULT,
.fixedWingItermLimitOnStickPosition = SETTING_FW_ITERM_LIMIT_STICK_POSITION_DEFAULT,
.fixedWingYawItermBankFreeze = SETTING_FW_YAW_ITERM_FREEZE_BANK_ANGLE_DEFAULT, .fixedWingYawItermBankFreeze = SETTING_FW_YAW_ITERM_FREEZE_BANK_ANGLE_DEFAULT,
.navVelXyDTermLpfHz = SETTING_NAV_MC_VEL_XY_DTERM_LPF_HZ_DEFAULT, .navVelXyDTermLpfHz = SETTING_NAV_MC_VEL_XY_DTERM_LPF_HZ_DEFAULT,
@ -298,11 +307,15 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
.fixedWingLevelTrim = SETTING_FW_LEVEL_PITCH_TRIM_DEFAULT, .fixedWingLevelTrim = SETTING_FW_LEVEL_PITCH_TRIM_DEFAULT,
.fixedWingLevelTrimGain = SETTING_FW_LEVEL_PITCH_GAIN_DEFAULT, .fixedWingLevelTrimGain = SETTING_FW_LEVEL_PITCH_GAIN_DEFAULT,
.fwAltControlResponseFactor = SETTING_NAV_FW_ALT_CONTROL_RESPONSE_DEFAULT,
#ifdef USE_SMITH_PREDICTOR #ifdef USE_SMITH_PREDICTOR
.smithPredictorStrength = SETTING_SMITH_PREDICTOR_STRENGTH_DEFAULT, .smithPredictorStrength = SETTING_SMITH_PREDICTOR_STRENGTH_DEFAULT,
.smithPredictorDelay = SETTING_SMITH_PREDICTOR_DELAY_DEFAULT, .smithPredictorDelay = SETTING_SMITH_PREDICTOR_DELAY_DEFAULT,
.smithPredictorFilterHz = SETTING_SMITH_PREDICTOR_LPF_HZ_DEFAULT, .smithPredictorFilterHz = SETTING_SMITH_PREDICTOR_LPF_HZ_DEFAULT,
#endif #endif
.fwItermLockTimeMaxMs = SETTING_FW_ITERM_LOCK_TIME_MAX_MS_DEFAULT,
.fwItermLockRateLimit = SETTING_FW_ITERM_LOCK_RATE_THRESHOLD_DEFAULT,
.fwItermLockEngageThreshold = SETTING_FW_ITERM_LOCK_ENGAGE_THRESHOLD_DEFAULT,
); );
bool pidInitFilters(void) bool pidInitFilters(void)
@ -669,19 +682,6 @@ static void pidApplySetpointRateLimiting(pidState_t *pidState, flight_dynamics_i
} }
} }
bool isFixedWingItermLimitActive(float stickPosition)
{
/*
* Iterm anti windup whould be active only when pilot controls the rotation
* velocity directly, not when ANGLE or HORIZON are used
*/
if (levelingEnabled) {
return false;
}
return fabsf(stickPosition) > pidProfile()->fixedWingItermLimitOnStickPosition;
}
static float pTermProcess(pidState_t *pidState, float rateError, float dT) { static float pTermProcess(pidState_t *pidState, float rateError, float dT) {
float newPTerm = rateError * pidState->kP; float newPTerm = rateError * pidState->kP;
@ -744,41 +744,81 @@ static void applyItermLimiting(pidState_t *pidState) {
} }
} }
static void nullRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv) { static void nullRateController(pidState_t *pidState, float dT, float dT_inv) {
UNUSED(pidState); UNUSED(pidState);
UNUSED(axis);
UNUSED(dT); UNUSED(dT);
UNUSED(dT_inv); UNUSED(dT_inv);
} }
static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv) static void fwRateAttenuation(pidState_t *pidState, const float rateTarget, const float rateError) {
const float maxRate = currentControlRateProfile->stabilized.rates[pidState->axis] * 10.0f;
const float dampingFactor = attenuation(rateTarget, maxRate * pidProfile()->fwItermLockRateLimit / 100.0f);
/*
* Iterm damping is applied (down to 0) when:
* abs(error) > 10% rate and sticks were moved in the last 500ms (hard stop at this mark)
* itermAttenuation = MIN(curve(setpoint), (abs(error) > 10%) && (sticks were deflected in 500ms) ? 0 : 1)
*/
//If error is greater than 10% or max rate
const bool errorThresholdReached = fabsf(rateError) > maxRate * pidProfile()->fwItermLockEngageThreshold / 100.0f;
//If stick (setpoint) was moved above threshold in the last 500ms
if (fabsf(rateTarget) > maxRate * 0.2f) {
pidState->attenuation.targetOverThresholdTimeMs = millis();
}
//If error is below threshold, we no longer track time for lock mechanism
if (!errorThresholdReached) {
pidState->attenuation.targetOverThresholdTimeMs = 0;
}
pidState->attenuation.aI = MIN(dampingFactor, (errorThresholdReached && (millis() - pidState->attenuation.targetOverThresholdTimeMs) < pidProfile()->fwItermLockTimeMaxMs) ? 0.0f : 1.0f);
//P & D damping factors are always the same and based on current damping factor
pidState->attenuation.aP = dampingFactor;
pidState->attenuation.aD = dampingFactor;
if (pidState->axis == FD_ROLL) {
DEBUG_SET(DEBUG_ALWAYS, 0, pidState->attenuation.aP * 1000);
DEBUG_SET(DEBUG_ALWAYS, 1, pidState->attenuation.aI * 1000);
DEBUG_SET(DEBUG_ALWAYS, 2, pidState->attenuation.aD * 1000);
}
}
static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, float dT, float dT_inv)
{ {
const float rateTarget = getFlightAxisRateOverride(axis, pidState->rateTarget); const float rateTarget = getFlightAxisRateOverride(pidState->axis, pidState->rateTarget);
const float rateError = rateTarget - pidState->gyroRate; const float rateError = rateTarget - pidState->gyroRate;
const float newPTerm = pTermProcess(pidState, rateError, dT);
const float newDTerm = dTermProcess(pidState, rateTarget, dT, dT_inv); fwRateAttenuation(pidState, rateTarget, rateError);
const float newPTerm = pTermProcess(pidState, rateError, dT) * pidState->attenuation.aP;
const float newDTerm = dTermProcess(pidState, rateTarget, dT, dT_inv) * pidState->attenuation.aD;
const float newFFTerm = rateTarget * pidState->kFF; const float newFFTerm = rateTarget * pidState->kFF;
/* /*
* Integral should be updated only if axis Iterm is not frozen * Integral should be updated only if axis Iterm is not frozen
*/ */
if (!pidState->itermFreezeActive) { if (!pidState->itermFreezeActive) {
pidState->errorGyroIf += rateError * pidState->kI * dT; pidState->errorGyroIf += rateError * pidState->kI * dT * pidState->attenuation.aI;
} }
applyItermLimiting(pidState); applyItermLimiting(pidState);
const uint16_t limit = getPidSumLimit(axis); const uint16_t limit = getPidSumLimit(pidState->axis);
if (pidProfile()->pidItermLimitPercent != 0){ if (pidProfile()->pidItermLimitPercent != 0){
float itermLimit = limit * pidProfile()->pidItermLimitPercent * 0.01f; float itermLimit = limit * pidProfile()->pidItermLimitPercent * 0.01f;
pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -itermLimit, +itermLimit); pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -itermLimit, +itermLimit);
} }
axisPID[axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf + newDTerm, -limit, +limit); axisPID[pidState->axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf + newDTerm, -limit, +limit);
if (FLIGHT_MODE(SOARING_MODE) && axis == FD_PITCH && calculateRollPitchCenterStatus() == CENTERED) { if (FLIGHT_MODE(SOARING_MODE) && pidState->axis == FD_PITCH && calculateRollPitchCenterStatus() == CENTERED) {
if (!angleFreefloatDeadband(DEGREES_TO_DECIDEGREES(navConfig()->fw.soaring_pitch_deadband), FD_PITCH)) { if (!angleFreefloatDeadband(DEGREES_TO_DECIDEGREES(navConfig()->fw.soaring_pitch_deadband), FD_PITCH)) {
axisPID[FD_PITCH] = 0; // center pitch servo if pitch attitude within soaring mode deadband axisPID[FD_PITCH] = 0; // center pitch servo if pitch attitude within soaring mode deadband
} }
@ -786,16 +826,16 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
#ifdef USE_AUTOTUNE_FIXED_WING #ifdef USE_AUTOTUNE_FIXED_WING
if (FLIGHT_MODE(AUTO_TUNE) && !FLIGHT_MODE(MANUAL_MODE)) { if (FLIGHT_MODE(AUTO_TUNE) && !FLIGHT_MODE(MANUAL_MODE)) {
autotuneFixedWingUpdate(axis, rateTarget, pidState->gyroRate, constrainf(newPTerm + newFFTerm, -limit, +limit)); autotuneFixedWingUpdate(pidState->axis, rateTarget, pidState->gyroRate, constrainf(newPTerm + newFFTerm, -limit, +limit));
} }
#endif #endif
#ifdef USE_BLACKBOX #ifdef USE_BLACKBOX
axisPID_P[axis] = newPTerm; axisPID_P[pidState->axis] = newPTerm;
axisPID_I[axis] = pidState->errorGyroIf; axisPID_I[pidState->axis] = pidState->errorGyroIf;
axisPID_D[axis] = newDTerm; axisPID_D[pidState->axis] = newDTerm;
axisPID_F[axis] = newFFTerm; axisPID_F[pidState->axis] = newFFTerm;
axisPID_Setpoint[axis] = rateTarget; axisPID_Setpoint[pidState->axis] = rateTarget;
#endif #endif
pidState->previousRateGyro = pidState->gyroRate; pidState->previousRateGyro = pidState->gyroRate;
@ -818,10 +858,10 @@ static float FAST_CODE applyItermRelax(const int axis, float currentPidSetpoint,
return itermErrorRate; return itermErrorRate;
} }
static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv) static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pidState, float dT, float dT_inv)
{ {
const float rateTarget = getFlightAxisRateOverride(axis, pidState->rateTarget); const float rateTarget = getFlightAxisRateOverride(pidState->axis, pidState->rateTarget);
const float rateError = rateTarget - pidState->gyroRate; const float rateError = rateTarget - pidState->gyroRate;
const float newPTerm = pTermProcess(pidState, rateError, dT); const float newPTerm = pTermProcess(pidState, rateError, dT);
@ -835,13 +875,13 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
*/ */
const float newCDTerm = rateTargetDeltaFiltered * pidState->kCD; const float newCDTerm = rateTargetDeltaFiltered * pidState->kCD;
const uint16_t limit = getPidSumLimit(axis); const uint16_t limit = getPidSumLimit(pidState->axis);
// TODO: Get feedback from mixer on available correction range for each axis // TODO: Get feedback from mixer on available correction range for each axis
const float newOutput = newPTerm + newDTerm + pidState->errorGyroIf + newCDTerm; const float newOutput = newPTerm + newDTerm + pidState->errorGyroIf + newCDTerm;
const float newOutputLimited = constrainf(newOutput, -limit, +limit); const float newOutputLimited = constrainf(newOutput, -limit, +limit);
float itermErrorRate = applyItermRelax(axis, rateTarget, rateError); float itermErrorRate = applyItermRelax(pidState->axis, rateTarget, rateError);
#ifdef USE_ANTIGRAVITY #ifdef USE_ANTIGRAVITY
itermErrorRate *= iTermAntigravityGain; itermErrorRate *= iTermAntigravityGain;
@ -859,14 +899,14 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
// Don't grow I-term if motors are at their limit // Don't grow I-term if motors are at their limit
applyItermLimiting(pidState); applyItermLimiting(pidState);
axisPID[axis] = newOutputLimited; axisPID[pidState->axis] = newOutputLimited;
#ifdef USE_BLACKBOX #ifdef USE_BLACKBOX
axisPID_P[axis] = newPTerm; axisPID_P[pidState->axis] = newPTerm;
axisPID_I[axis] = pidState->errorGyroIf; axisPID_I[pidState->axis] = pidState->errorGyroIf;
axisPID_D[axis] = newDTerm; axisPID_D[pidState->axis] = newDTerm;
axisPID_F[axis] = newCDTerm; axisPID_F[pidState->axis] = newCDTerm;
axisPID_Setpoint[axis] = rateTarget; axisPID_Setpoint[pidState->axis] = rateTarget;
#endif #endif
pidState->previousRateTarget = rateTarget; pidState->previousRateTarget = rateTarget;
@ -1046,11 +1086,9 @@ static void pidApplyFpvCameraAngleMix(pidState_t *pidState, uint8_t fpvCameraAng
void checkItermLimitingActive(pidState_t *pidState) void checkItermLimitingActive(pidState_t *pidState)
{ {
bool shouldActivate; bool shouldActivate = false;
if (usedPidControllerType == PID_TYPE_PIFF) {
shouldActivate = isFixedWingItermLimitActive(pidState->stickPosition); if (usedPidControllerType == PID_TYPE_PID) {
} else
{
shouldActivate = mixerIsOutputSaturated(); //just in case, since it is already managed by itermWindupPointPercent shouldActivate = mixerIsOutputSaturated(); //just in case, since it is already managed by itermWindupPointPercent
} }
@ -1062,7 +1100,7 @@ void checkItermFreezingActive(pidState_t *pidState, flight_dynamics_index_t axis
if (usedPidControllerType == PID_TYPE_PIFF && pidProfile()->fixedWingYawItermBankFreeze != 0 && axis == FD_YAW) { if (usedPidControllerType == PID_TYPE_PIFF && pidProfile()->fixedWingYawItermBankFreeze != 0 && axis == FD_YAW) {
// Do not allow yaw I-term to grow when bank angle is too large // Do not allow yaw I-term to grow when bank angle is too large
float bankAngle = DECIDEGREES_TO_DEGREES(attitude.values.roll); float bankAngle = DECIDEGREES_TO_DEGREES(attitude.values.roll);
if (fabsf(bankAngle) > pidProfile()->fixedWingYawItermBankFreeze && !(FLIGHT_MODE(AUTO_TUNE) || FLIGHT_MODE(TURN_ASSISTANT) || navigationRequiresTurnAssistance())){ if (fabsf(bankAngle) > pidProfile()->fixedWingYawItermBankFreeze && !(FLIGHT_MODE(AUTO_TUNE) || FLIGHT_MODE(TURN_ASSISTANT))) {
pidState->itermFreezeActive = true; pidState->itermFreezeActive = true;
} else } else
{ {
@ -1168,6 +1206,10 @@ void FAST_CODE pidController(float dT)
// Limit desired rate to something gyro can measure reliably // Limit desired rate to something gyro can measure reliably
pidState[axis].rateTarget = constrainf(rateTarget, -GYRO_SATURATION_LIMIT, +GYRO_SATURATION_LIMIT); pidState[axis].rateTarget = constrainf(rateTarget, -GYRO_SATURATION_LIMIT, +GYRO_SATURATION_LIMIT);
#ifdef USE_ADAPTIVE_FILTER
adaptiveFilterPushRate(axis, pidState[axis].rateTarget, currentControlRateProfile->stabilized.rates[axis]);
#endif
#ifdef USE_GYRO_KALMAN #ifdef USE_GYRO_KALMAN
gyroKalmanUpdateSetpoint(axis, pidState[axis].rateTarget); gyroKalmanUpdateSetpoint(axis, pidState[axis].rateTarget);
@ -1180,7 +1222,6 @@ void FAST_CODE pidController(float dT)
// Step 3: Run control for ANGLE_MODE, HORIZON_MODE and ANGLEHOLD_MODE // Step 3: Run control for ANGLE_MODE, HORIZON_MODE and ANGLEHOLD_MODE
const float horizonRateMagnitude = FLIGHT_MODE(HORIZON_MODE) ? calcHorizonRateMagnitude() : 0.0f; const float horizonRateMagnitude = FLIGHT_MODE(HORIZON_MODE) ? calcHorizonRateMagnitude() : 0.0f;
levelingEnabled = false;
angleHoldIsLevel = false; angleHoldIsLevel = false;
for (uint8_t axis = FD_ROLL; axis <= FD_PITCH; axis++) { for (uint8_t axis = FD_ROLL; axis <= FD_PITCH; axis++) {
@ -1200,14 +1241,13 @@ void FAST_CODE pidController(float dT)
// Apply the Level PID controller // Apply the Level PID controller
pidLevel(angleTarget, &pidState[axis], axis, horizonRateMagnitude, dT); pidLevel(angleTarget, &pidState[axis], axis, horizonRateMagnitude, dT);
canUseFpvCameraMix = false; // FPVANGLEMIX is incompatible with ANGLE/HORIZON canUseFpvCameraMix = false; // FPVANGLEMIX is incompatible with ANGLE/HORIZON
levelingEnabled = true;
} else { } else {
restartAngleHoldMode = true; restartAngleHoldMode = true;
} }
} }
// Apply Turn Assistance // Apply Turn Assistance
if ((FLIGHT_MODE(TURN_ASSISTANT) || navigationRequiresTurnAssistance()) && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) { if (FLIGHT_MODE(TURN_ASSISTANT) && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
float bankAngleTarget = DECIDEGREES_TO_RADIANS(pidRcCommandToAngle(rcCommand[FD_ROLL], pidProfile()->max_angle_inclination[FD_ROLL])); float bankAngleTarget = DECIDEGREES_TO_RADIANS(pidRcCommandToAngle(rcCommand[FD_ROLL], pidProfile()->max_angle_inclination[FD_ROLL]));
float pitchAngleTarget = DECIDEGREES_TO_RADIANS(pidRcCommandToAngle(rcCommand[FD_PITCH], pidProfile()->max_angle_inclination[FD_PITCH])); float pitchAngleTarget = DECIDEGREES_TO_RADIANS(pidRcCommandToAngle(rcCommand[FD_PITCH], pidProfile()->max_angle_inclination[FD_PITCH]));
pidTurnAssistant(pidState, bankAngleTarget, pitchAngleTarget); pidTurnAssistant(pidState, bankAngleTarget, pitchAngleTarget);
@ -1230,7 +1270,7 @@ void FAST_CODE pidController(float dT)
checkItermLimitingActive(&pidState[axis]); checkItermLimitingActive(&pidState[axis]);
checkItermFreezingActive(&pidState[axis], axis); checkItermFreezingActive(&pidState[axis], axis);
pidControllerApplyFn(&pidState[axis], axis, dT, dT_inv); pidControllerApplyFn(&pidState[axis], dT, dT_inv);
} }
} }
@ -1345,7 +1385,7 @@ pidBank_t * pidBankMutable(void) {
bool isFixedWingLevelTrimActive(void) bool isFixedWingLevelTrimActive(void)
{ {
return IS_RC_MODE_ACTIVE(BOXAUTOLEVEL) && !areSticksDeflected() && return isFwAutoModeActive(BOXAUTOLEVEL) && !areSticksDeflected() &&
(FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) &&
!FLIGHT_MODE(SOARING_MODE) && !FLIGHT_MODE(MANUAL_MODE) && !FLIGHT_MODE(SOARING_MODE) && !FLIGHT_MODE(MANUAL_MODE) &&
!navigationIsControllingAltitude() && !(navCheckActiveAngleHoldAxis() == FD_PITCH && !angleHoldIsLevel); !navigationIsControllingAltitude() && !(navCheckActiveAngleHoldAxis() == FD_PITCH && !angleHoldIsLevel);
@ -1369,7 +1409,7 @@ void updateFixedWingLevelTrim(timeUs_t currentTimeUs)
previousArmingState = ARMING_FLAG(ARMED); previousArmingState = ARMING_FLAG(ARMED);
// return if not active or disarmed // return if not active or disarmed
if (!IS_RC_MODE_ACTIVE(BOXAUTOLEVEL) || !ARMING_FLAG(ARMED)) { if (!isFwAutoModeActive(BOXAUTOLEVEL) || !ARMING_FLAG(ARMED)) {
return; return;
} }

9
src/main/flight/pid.h
View file

@ -121,7 +121,6 @@ typedef struct pidProfile_s {
float fixedWingReferenceAirspeed; // Reference tuning airspeed for the airplane - the speed for which PID gains are tuned float fixedWingReferenceAirspeed; // Reference tuning airspeed for the airplane - the speed for which PID gains are tuned
float fixedWingCoordinatedYawGain; // This is the gain of the yaw rate required to keep the yaw rate consistent with the turn rate for a coordinated turn. float fixedWingCoordinatedYawGain; // This is the gain of the yaw rate required to keep the yaw rate consistent with the turn rate for a coordinated turn.
float fixedWingCoordinatedPitchGain; // This is the gain of the pitch rate to keep the pitch angle constant during coordinated turns. float fixedWingCoordinatedPitchGain; // This is the gain of the pitch rate to keep the pitch angle constant during coordinated turns.
float fixedWingItermLimitOnStickPosition; //Do not allow Iterm to grow when stick position is above this point
uint16_t fixedWingYawItermBankFreeze; // Freeze yaw Iterm when bank angle is more than this many degrees uint16_t fixedWingYawItermBankFreeze; // Freeze yaw Iterm when bank angle is more than this many degrees
float navVelXyDTermLpfHz; float navVelXyDTermLpfHz;
@ -149,11 +148,19 @@ typedef struct pidProfile_s {
float fixedWingLevelTrim; float fixedWingLevelTrim;
float fixedWingLevelTrimGain; float fixedWingLevelTrimGain;
uint8_t fwAltControlResponseFactor;
#ifdef USE_SMITH_PREDICTOR #ifdef USE_SMITH_PREDICTOR
float smithPredictorStrength; float smithPredictorStrength;
float smithPredictorDelay; float smithPredictorDelay;
uint16_t smithPredictorFilterHz; uint16_t smithPredictorFilterHz;
#endif #endif
uint16_t fwItermLockTimeMaxMs;
uint8_t fwItermLockRateLimit;
uint8_t fwItermLockEngageThreshold;
} pidProfile_t; } pidProfile_t;
typedef struct pidAutotuneConfig_s { typedef struct pidAutotuneConfig_s {

5
src/main/flight/pid_autotune.c
View file

@ -40,6 +40,7 @@
#include "fc/config.h" #include "fc/config.h"
#include "fc/controlrate_profile.h" #include "fc/controlrate_profile.h"
#include "fc/rc_controls.h" #include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/rc_adjustments.h" #include "fc/rc_adjustments.h"
#include "fc/runtime_config.h" #include "fc/runtime_config.h"
#include "fc/settings.h" #include "fc/settings.h"
@ -130,7 +131,7 @@ void autotuneStart(void)
void autotuneUpdateState(void) void autotuneUpdateState(void)
{ {
if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE) && STATE(AIRPLANE) && ARMING_FLAG(ARMED)) { if (isFwAutoModeActive(BOXAUTOTUNE) && STATE(AIRPLANE) && ARMING_FLAG(ARMED)) {
if (!FLIGHT_MODE(AUTO_TUNE)) { if (!FLIGHT_MODE(AUTO_TUNE)) {
autotuneStart(); autotuneStart();
ENABLE_FLIGHT_MODE(AUTO_TUNE); ENABLE_FLIGHT_MODE(AUTO_TUNE);
@ -202,7 +203,7 @@ void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRa
if ((tuneCurrent[axis].updateCount & 25) == 0 && tuneCurrent[axis].updateCount >= AUTOTUNE_FIXED_WING_MIN_SAMPLES) { if ((tuneCurrent[axis].updateCount & 25) == 0 && tuneCurrent[axis].updateCount >= AUTOTUNE_FIXED_WING_MIN_SAMPLES) {
if (pidAutotuneConfig()->fw_rate_adjustment != FIXED && !FLIGHT_MODE(ANGLE_MODE)) { // Rate discovery is not possible in ANGLE mode if (pidAutotuneConfig()->fw_rate_adjustment != FIXED && !FLIGHT_MODE(ANGLE_MODE)) { // Rate discovery is not possible in ANGLE mode
// Target 80% control surface deflection to leave some room for P and I to work // Target 80% control surface deflection to leave some room for P and I to work
float pidSumTarget = (pidAutotuneConfig()->fw_max_rate_deflection / 100.0f) * pidSumLimit; float pidSumTarget = (pidAutotuneConfig()->fw_max_rate_deflection / 100.0f) * pidSumLimit;

2
src/main/flight/rth_estimator.c
View file

@ -222,7 +222,7 @@ float calculateRemainingDistanceBeforeRTH(bool takeWindIntoAccount) {
// check requirements // check requirements
const bool areBatterySettingsOK = feature(FEATURE_VBAT) && feature(FEATURE_CURRENT_METER) && batteryWasFullWhenPluggedIn(); const bool areBatterySettingsOK = feature(FEATURE_VBAT) && feature(FEATURE_CURRENT_METER) && batteryWasFullWhenPluggedIn();
const bool areRTHEstimatorSettingsOK = batteryMetersConfig()->cruise_power > 0 && currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MWH &&currentBatteryProfile->capacity.value > 0 && navConfig()->fw.cruise_speed > 0; const bool areRTHEstimatorSettingsOK = batteryMetersConfig()->cruise_power > 0 && batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MWH && currentBatteryProfile->capacity.value > 0 && navConfig()->fw.cruise_speed > 0;
const bool isNavigationOK = navigationPositionEstimateIsHealthy() && isImuHeadingValid(); const bool isNavigationOK = navigationPositionEstimateIsHealthy() && isImuHeadingValid();
if (!(areBatterySettingsOK && areRTHEstimatorSettingsOK && isNavigationOK)) { if (!(areBatterySettingsOK && areRTHEstimatorSettingsOK && isNavigationOK)) {

43
src/main/flight/servos.c
View file

@ -38,6 +38,8 @@
#include "drivers/pwm_output.h" #include "drivers/pwm_output.h"
#include "drivers/pwm_mapping.h" #include "drivers/pwm_mapping.h"
#include "drivers/time.h" #include "drivers/time.h"
#include "drivers/gimbal_common.h"
#include "drivers/headtracker_common.h"
#include "fc/config.h" #include "fc/config.h"
#include "fc/fc_core.h" #include "fc/fc_core.h"
@ -82,7 +84,7 @@ void Reset_servoMixers(servoMixer_t *instance)
#ifdef USE_PROGRAMMING_FRAMEWORK #ifdef USE_PROGRAMMING_FRAMEWORK
,.conditionId = -1 ,.conditionId = -1
#endif #endif
); );
} }
} }
@ -96,7 +98,7 @@ void pgResetFn_servoParams(servoParam_t *instance)
.max = DEFAULT_SERVO_MAX, .max = DEFAULT_SERVO_MAX,
.middle = DEFAULT_SERVO_MIDDLE, .middle = DEFAULT_SERVO_MIDDLE,
.rate = 100 .rate = 100
); );
} }
} }
@ -194,7 +196,7 @@ void servosInit(void)
} }
int getServoCount(void) int getServoCount(void)
{ {
if (mixerUsesServos) { if (mixerUsesServos) {
return 1 + maxServoIndex - minServoIndex; return 1 + maxServoIndex - minServoIndex;
} }
@ -246,7 +248,7 @@ static void filterServos(void)
void writeServos(void) void writeServos(void)
{ {
filterServos(); filterServos();
#if !defined(SITL_BUILD) #if !defined(SITL_BUILD)
int servoIndex = 0; int servoIndex = 0;
bool zeroServoValue = false; bool zeroServoValue = false;
@ -347,6 +349,23 @@ void servoMixer(float dT)
input[INPUT_RC_CH16] = GET_RX_CHANNEL_INPUT(AUX12); input[INPUT_RC_CH16] = GET_RX_CHANNEL_INPUT(AUX12);
#undef GET_RX_CHANNEL_INPUT #undef GET_RX_CHANNEL_INPUT
#ifdef USE_HEADTRACKER
headTrackerDevice_t *dev = headTrackerCommonDevice();
if(dev && headTrackerCommonIsValid(dev) && !IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)) {
input[INPUT_HEADTRACKER_PAN] = headTrackerCommonGetPanPWM(dev) - PWM_RANGE_MIDDLE;
input[INPUT_HEADTRACKER_TILT] = headTrackerCommonGetTiltPWM(dev) - PWM_RANGE_MIDDLE;
input[INPUT_HEADTRACKER_ROLL] = headTrackerCommonGetRollPWM(dev) - PWM_RANGE_MIDDLE;
} else {
input[INPUT_HEADTRACKER_PAN] = 0;
input[INPUT_HEADTRACKER_TILT] = 0;
input[INPUT_HEADTRACKER_ROLL] = 0;
}
#else
input[INPUT_HEADTRACKER_PAN] = 0;
input[INPUT_HEADTRACKER_TILT] = 0;
input[INPUT_HEADTRACKER_ROLL] = 0;
#endif
#ifdef USE_SIMULATOR #ifdef USE_SIMULATOR
simulatorData.input[INPUT_STABILIZED_ROLL] = input[INPUT_STABILIZED_ROLL]; simulatorData.input[INPUT_STABILIZED_ROLL] = input[INPUT_STABILIZED_ROLL];
simulatorData.input[INPUT_STABILIZED_PITCH] = input[INPUT_STABILIZED_PITCH]; simulatorData.input[INPUT_STABILIZED_PITCH] = input[INPUT_STABILIZED_PITCH];
@ -449,7 +468,7 @@ void processServoAutotrimMode(void)
static int32_t servoMiddleAccum[MAX_SUPPORTED_SERVOS]; static int32_t servoMiddleAccum[MAX_SUPPORTED_SERVOS];
static int32_t servoMiddleAccumCount[MAX_SUPPORTED_SERVOS]; static int32_t servoMiddleAccumCount[MAX_SUPPORTED_SERVOS];
if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM)) { if (isFwAutoModeActive(BOXAUTOTRIM)) {
switch (trimState) { switch (trimState) {
case AUTOTRIM_IDLE: case AUTOTRIM_IDLE:
if (ARMING_FLAG(ARMED)) { if (ARMING_FLAG(ARMED)) {
@ -544,7 +563,7 @@ void processServoAutotrimMode(void)
void processContinuousServoAutotrim(const float dT) void processContinuousServoAutotrim(const float dT)
{ {
static timeMs_t lastUpdateTimeMs; static timeMs_t lastUpdateTimeMs;
static servoAutotrimState_e trimState = AUTOTRIM_IDLE; static servoAutotrimState_e trimState = AUTOTRIM_IDLE;
static uint32_t servoMiddleUpdateCount; static uint32_t servoMiddleUpdateCount;
const float rotRateMagnitudeFiltered = pt1FilterApply4(&rotRateFilter, fast_fsqrtf(vectorNormSquared(&imuMeasuredRotationBF)), SERVO_AUTOTRIM_FILTER_CUTOFF, dT); const float rotRateMagnitudeFiltered = pt1FilterApply4(&rotRateFilter, fast_fsqrtf(vectorNormSquared(&imuMeasuredRotationBF)), SERVO_AUTOTRIM_FILTER_CUTOFF, dT);
@ -556,16 +575,16 @@ void processContinuousServoAutotrim(const float dT)
const bool planeIsFlyingStraight = rotRateMagnitudeFiltered <= DEGREES_TO_RADIANS(servoConfig()->servo_autotrim_rotation_limit); const bool planeIsFlyingStraight = rotRateMagnitudeFiltered <= DEGREES_TO_RADIANS(servoConfig()->servo_autotrim_rotation_limit);
const bool noRotationCommanded = targetRateMagnitudeFiltered <= servoConfig()->servo_autotrim_rotation_limit; const bool noRotationCommanded = targetRateMagnitudeFiltered <= servoConfig()->servo_autotrim_rotation_limit;
const bool sticksAreCentered = !areSticksDeflected(); const bool sticksAreCentered = !areSticksDeflected();
const bool planeIsFlyingLevel = ABS(attitude.values.pitch + DEGREES_TO_DECIDEGREES(getFixedWingLevelTrim())) <= SERVO_AUTOTRIM_ATTITUDE_LIMIT const bool planeIsFlyingLevel = ABS(attitude.values.pitch + DEGREES_TO_DECIDEGREES(getFixedWingLevelTrim())) <= SERVO_AUTOTRIM_ATTITUDE_LIMIT
&& ABS(attitude.values.roll) <= SERVO_AUTOTRIM_ATTITUDE_LIMIT; && ABS(attitude.values.roll) <= SERVO_AUTOTRIM_ATTITUDE_LIMIT;
if ( if (
planeIsFlyingStraight && planeIsFlyingStraight &&
noRotationCommanded && noRotationCommanded &&
planeIsFlyingLevel && planeIsFlyingLevel &&
sticksAreCentered && sticksAreCentered &&
!FLIGHT_MODE(MANUAL_MODE) && !FLIGHT_MODE(MANUAL_MODE) &&
isGPSHeadingValid() // TODO: proper flying detection isGPSHeadingValid() // TODO: proper flying detection
) { ) {
// Plane is flying straight and level: trim servos // Plane is flying straight and level: trim servos
for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) { for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) {
// For each stabilized axis, add 5 units of I-term to all associated servo midpoints // For each stabilized axis, add 5 units of I-term to all associated servo midpoints
@ -610,7 +629,7 @@ void processContinuousServoAutotrim(const float dT)
DEBUG_SET(DEBUG_AUTOTRIM, 1, servoMiddleUpdateCount); DEBUG_SET(DEBUG_AUTOTRIM, 1, servoMiddleUpdateCount);
DEBUG_SET(DEBUG_AUTOTRIM, 3, MAX(RADIANS_TO_DEGREES(rotRateMagnitudeFiltered), targetRateMagnitudeFiltered)); DEBUG_SET(DEBUG_AUTOTRIM, 3, MAX(RADIANS_TO_DEGREES(rotRateMagnitudeFiltered), targetRateMagnitudeFiltered));
DEBUG_SET(DEBUG_AUTOTRIM, 5, axisPID_I[FD_ROLL]); DEBUG_SET(DEBUG_AUTOTRIM, 5, axisPID_I[FD_ROLL]);
DEBUG_SET(DEBUG_AUTOTRIM, 7, axisPID_I[FD_PITCH]); DEBUG_SET(DEBUG_AUTOTRIM, 7, axisPID_I[FD_PITCH]);
} }
void processServoAutotrim(const float dT) { void processServoAutotrim(const float dT) {

3
src/main/flight/servos.h
View file

@ -63,6 +63,9 @@ typedef enum {
INPUT_GVAR_6 = 36, INPUT_GVAR_6 = 36,
INPUT_GVAR_7 = 37, INPUT_GVAR_7 = 37,
INPUT_MIXER_TRANSITION = 38, INPUT_MIXER_TRANSITION = 38,
INPUT_HEADTRACKER_PAN = 39,
INPUT_HEADTRACKER_TILT = 40,
INPUT_HEADTRACKER_ROLL = 41,
INPUT_SOURCE_COUNT INPUT_SOURCE_COUNT
} inputSource_e; } inputSource_e;

163
src/main/io/bf_osd_symbols.h
View file

@ -1,163 +0,0 @@
/* @file max7456_symbols.h
* @brief max7456 symbols for the mwosd font set
*
* @author Nathan Tsoi nathan@vertile.com
*
* Copyright (C) 2016 Nathan Tsoi
*
* This program 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.
*
* This program 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
//Misc
#define BF_SYM_NONE 0x00
#define BF_SYM_END_OF_FONT 0xFF
#define BF_SYM_BLANK 0x20
#define BF_SYM_HYPHEN 0x2D
#define BF_SYM_BBLOG 0x10
#define BF_SYM_HOMEFLAG 0x11
#define BF_SYM_RPM 0x12
#define BF_SYM_ROLL 0x14
#define BF_SYM_PITCH 0x15
#define BF_SYM_TEMPERATURE 0x7A
// GPS and navigation
#define BF_SYM_LAT 0x89
#define BF_SYM_LON 0x98
#define BF_SYM_ALTITUDE 0x7F
#define BF_SYM_TOTAL_DISTANCE 0x71
#define BF_SYM_OVER_HOME 0x05
// RSSI
#define BF_SYM_RSSI 0x01
#define BF_SYM_LINK_QUALITY 0x7B
// Throttle Position (%)
#define BF_SYM_THR 0x04
// Unit Icons (Metric)
#define BF_SYM_M 0x0C
#define BF_SYM_KM 0x7D
#define BF_SYM_C 0x0E
// Unit Icons (Imperial)
#define BF_SYM_FT 0x0F
#define BF_SYM_MILES 0x7E
#define BF_SYM_F 0x0D
// Heading Graphics
#define BF_SYM_HEADING_N 0x18
#define BF_SYM_HEADING_S 0x19
#define BF_SYM_HEADING_E 0x1A
#define BF_SYM_HEADING_W 0x1B
#define BF_SYM_HEADING_DIVIDED_LINE 0x1C
#define BF_SYM_HEADING_LINE 0x1D
// AH Center screen Graphics
#define BF_SYM_AH_CENTER_LINE 0x72
#define BF_SYM_AH_CENTER 0x73
#define BF_SYM_AH_CENTER_LINE_RIGHT 0x74
#define BF_SYM_AH_RIGHT 0x02
#define BF_SYM_AH_LEFT 0x03
#define BF_SYM_AH_DECORATION 0x13
// Satellite Graphics
#define BF_SYM_SAT_L 0x1E
#define BF_SYM_SAT_R 0x1F
// Direction arrows
#define BF_SYM_ARROW_SOUTH 0x60
#define BF_SYM_ARROW_2 0x61
#define BF_SYM_ARROW_3 0x62
#define BF_SYM_ARROW_4 0x63
#define BF_SYM_ARROW_EAST 0x64
#define BF_SYM_ARROW_6 0x65
#define BF_SYM_ARROW_7 0x66
#define BF_SYM_ARROW_8 0x67
#define BF_SYM_ARROW_NORTH 0x68
#define BF_SYM_ARROW_10 0x69
#define BF_SYM_ARROW_11 0x6A
#define BF_SYM_ARROW_12 0x6B
#define BF_SYM_ARROW_WEST 0x6C
#define BF_SYM_ARROW_14 0x6D
#define BF_SYM_ARROW_15 0x6E
#define BF_SYM_ARROW_16 0x6F
#define BF_SYM_ARROW_SMALL_UP 0x75
#define BF_SYM_ARROW_SMALL_DOWN 0x76
// AH Bars
#define BF_SYM_AH_BAR9_0 0x80
#define BF_SYM_AH_BAR9_1 0x81
#define BF_SYM_AH_BAR9_2 0x82
#define BF_SYM_AH_BAR9_3 0x83
#define BF_SYM_AH_BAR9_4 0x84
#define BF_SYM_AH_BAR9_5 0x85
#define BF_SYM_AH_BAR9_6 0x86
#define BF_SYM_AH_BAR9_7 0x87
#define BF_SYM_AH_BAR9_8 0x88
// Progress bar
#define BF_SYM_PB_START 0x8A
#define BF_SYM_PB_FULL 0x8B
#define BF_SYM_PB_HALF 0x8C
#define BF_SYM_PB_EMPTY 0x8D
#define BF_SYM_PB_END 0x8E
#define BF_SYM_PB_CLOSE 0x8F
// Batt evolution
#define BF_SYM_BATT_FULL 0x90
#define BF_SYM_BATT_5 0x91
#define BF_SYM_BATT_4 0x92
#define BF_SYM_BATT_3 0x93
#define BF_SYM_BATT_2 0x94
#define BF_SYM_BATT_1 0x95
#define BF_SYM_BATT_EMPTY 0x96
// Batt Icons
#define BF_SYM_MAIN_BATT 0x97
// Voltage and amperage
#define BF_SYM_VOLT 0x06
#define BF_SYM_AMP 0x9A
#define BF_SYM_MAH 0x07
#define BF_SYM_WATT 0x57 // 0x57 is 'W'
// Time
#define BF_SYM_ON_M 0x9B
#define BF_SYM_FLY_M 0x9C
// Speed
#define BF_SYM_SPEED 0x70
#define BF_SYM_KPH 0x9E
#define BF_SYM_MPH 0x9D
#define BF_SYM_MPS 0x9F
#define BF_SYM_FTPS 0x99
// Menu cursor
#define BF_SYM_CURSOR BF_SYM_AH_LEFT
// Stick overlays
#define BF_SYM_STICK_OVERLAY_SPRITE_HIGH 0x08
#define BF_SYM_STICK_OVERLAY_SPRITE_MID 0x09
#define BF_SYM_STICK_OVERLAY_SPRITE_LOW 0x0A
#define BF_SYM_STICK_OVERLAY_CENTER 0x0B
#define BF_SYM_STICK_OVERLAY_VERTICAL 0x16
#define BF_SYM_STICK_OVERLAY_HORIZONTAL 0x17
// GPS degree/minute/second symbols
#define BF_SYM_GPS_DEGREE BF_SYM_STICK_OVERLAY_SPRITE_HIGH // kind of looks like the degree symbol
#define BF_SYM_GPS_MINUTE 0x27 // '
#define BF_SYM_GPS_SECOND 0x22 // "

748
src/main/io/displayport_msp_bf_compat.c
View file

@ -1,748 +0,0 @@
/*
* This file is part of INAV Project.
*
* 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.
*
* 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 "platform.h"
#if defined(USE_OSD) && defined(USE_MSP_DISPLAYPORT)
#ifndef DISABLE_MSP_BF_COMPAT
#include "io/displayport_msp_bf_compat.h"
#include "io/bf_osd_symbols.h"
#include "drivers/osd_symbols.h"
uint8_t getBfCharacter(uint8_t ch, uint8_t page)
{
uint16_t ech = ch | (page << 8);
if (ech >= 0x20 && ech <= 0x5F) { // ASCII range
return ch;
}
if (ech >= SYM_AH_DECORATION_MIN && ech <= SYM_AH_DECORATION_MAX) {
return BF_SYM_AH_DECORATION;
}
switch (ech) {
case SYM_RSSI:
return BF_SYM_RSSI;
case SYM_LQ:
return BF_SYM_LINK_QUALITY;
case SYM_LAT:
return BF_SYM_LAT;
case SYM_LON:
return BF_SYM_LON;
case SYM_SAT_L:
return BF_SYM_SAT_L;
case SYM_SAT_R:
return BF_SYM_SAT_R;
case SYM_HOME_NEAR:
return BF_SYM_HOMEFLAG;
case SYM_DEGREES:
return BF_SYM_GPS_DEGREE;
/*
case SYM_HEADING:
return BF_SYM_HEADING;
case SYM_SCALE:
return BF_SYM_SCALE;
case SYM_HDP_L:
return BF_SYM_HDP_L;
case SYM_HDP_R:
return BF_SYM_HDP_R;
*/
case SYM_HOME:
return BF_SYM_HOMEFLAG;
case SYM_2RSS:
return BF_SYM_RSSI;
/*
case SYM_DB:
return BF_SYM_DB
case SYM_DBM:
return BF_SYM_DBM;
case SYM_SNR:
return BF_SYM_SNR;
case SYM_AH_DECORATION_UP:
return BF_SYM_AH_DECORATION_UP;
case SYM_AH_DECORATION_DOWN:
return BF_SYM_AH_DECORATION_DOWN;
*/
case SYM_DIRECTION:
return BF_SYM_ARROW_NORTH;
case SYM_DIRECTION + 1: // NE pointing arrow
return BF_SYM_ARROW_7;
case SYM_DIRECTION + 2: // E pointing arrow
return BF_SYM_ARROW_EAST;
case SYM_DIRECTION + 3: // SE pointing arrow
return BF_SYM_ARROW_3;
case SYM_DIRECTION + 4: // S pointing arrow
return BF_SYM_ARROW_SOUTH;
case SYM_DIRECTION + 5: // SW pointing arrow
return BF_SYM_ARROW_15;
case SYM_DIRECTION + 6: // W pointing arrow
return BF_SYM_ARROW_WEST;
case SYM_DIRECTION + 7: // NW pointing arrow
return BF_SYM_ARROW_11;
case SYM_VOLT:
return BF_SYM_VOLT;
case SYM_MAH:
return BF_SYM_MAH;
case SYM_AH_KM:
return BF_SYM_KM;
case SYM_AH_MI:
return BF_SYM_MILES;
/*
case SYM_VTX_POWER:
return BF_SYM_VTX_POWER;
case SYM_AH_NM:
return BF_SYM_AH_NM;
case SYM_MAH_NM_0:
return BF_SYM_MAH_NM_0;
case SYM_MAH_NM_1:
return BF_SYM_MAH_NM_1;
case SYM_MAH_KM_0:
return BF_SYM_MAH_KM_0;
case SYM_MAH_KM_1:
return BF_SYM_MAH_KM_1;
case SYM_MILLIOHM:
return BF_SYM_MILLIOHM;
*/
case SYM_BATT_FULL:
return BF_SYM_BATT_FULL;
case SYM_BATT_5:
return BF_SYM_BATT_5;
case SYM_BATT_4:
return BF_SYM_BATT_4;
case SYM_BATT_3:
return BF_SYM_BATT_3;
case SYM_BATT_2:
return BF_SYM_BATT_2;
case SYM_BATT_1:
return BF_SYM_BATT_1;
case SYM_BATT_EMPTY:
return BF_SYM_BATT_EMPTY;
case SYM_AMP:
return BF_SYM_AMP;
/*
case SYM_WH:
return BF_SYM_WH;
case SYM_WH_KM:
return BF_SYM_WH_KM;
case SYM_WH_MI:
return BF_SYM_WH_MI;
case SYM_WH_NM:
return BF_SYM_WH_NM;
*/
case SYM_WATT:
return BF_SYM_WATT;
/*
case SYM_MW:
return BF_SYM_MW;
case SYM_KILOWATT:
return BF_SYM_KILOWATT;
*/
case SYM_FT:
return BF_SYM_FT;
case SYM_ALT_FT:
return BF_SYM_FT;
case SYM_ALT_M:
return BF_SYM_M;
case SYM_TOTAL:
return BF_SYM_TOTAL_DISTANCE;
/*
case SYM_ALT_KM:
return BF_SYM_ALT_KM;
case SYM_ALT_KFT:
return BF_SYM_ALT_KFT;
case SYM_DIST_M:
return BF_SYM_DIST_M;
case SYM_DIST_KM:
return BF_SYM_DIST_KM;
case SYM_DIST_FT:
return BF_SYM_DIST_FT;
case SYM_DIST_MI:
return BF_SYM_DIST_MI;
case SYM_DIST_NM:
return BF_SYM_DIST_NM;
*/
case SYM_M:
return BF_SYM_M;
case SYM_KM:
return BF_SYM_KM;
case SYM_MI:
return BF_SYM_MILES;
/*
case SYM_NM:
return BF_SYM_NM;
*/
case SYM_WIND_HORIZONTAL:
return 'W'; // W for wind
/*
case SYM_WIND_VERTICAL:
return BF_SYM_WIND_VERTICAL;
case SYM_3D_KT:
return BF_SYM_3D_KT;
*/
case SYM_AIR:
return 'A'; // A for airspeed
case SYM_3D_KMH:
return BF_SYM_KPH;
case SYM_3D_MPH:
return BF_SYM_MPH;
case SYM_RPM:
return BF_SYM_RPM;
case SYM_FTS:
return BF_SYM_FTPS;
/*
case SYM_100FTM:
return BF_SYM_100FTM;
*/
case SYM_MS:
return BF_SYM_MPS;
case SYM_KMH:
return BF_SYM_KPH;
case SYM_MPH:
return BF_SYM_MPH;
/*
case SYM_KT:
return BF_SYM_KT
case SYM_MAH_MI_0:
return BF_SYM_MAH_MI_0;
case SYM_MAH_MI_1:
return BF_SYM_MAH_MI_1;
*/
case SYM_THR:
return BF_SYM_THR;
case SYM_TEMP_F:
return BF_SYM_F;
case SYM_TEMP_C:
return BF_SYM_C;
case SYM_BLANK:
return BF_SYM_BLANK;
/*
case SYM_ON_H:
return BF_SYM_ON_H;
case SYM_FLY_H:
return BF_SYM_FLY_H;
*/
case SYM_ON_M:
return BF_SYM_ON_M;
case SYM_FLY_M:
return BF_SYM_FLY_M;
/*
case SYM_GLIDESLOPE:
return BF_SYM_GLIDESLOPE;
case SYM_WAYPOINT:
return BF_SYM_WAYPOINT;
case SYM_CLOCK:
return BF_SYM_CLOCK;
case SYM_ZERO_HALF_TRAILING_DOT:
return BF_SYM_ZERO_HALF_TRAILING_DOT;
case SYM_ZERO_HALF_LEADING_DOT:
return BF_SYM_ZERO_HALF_LEADING_DOT;
case SYM_AUTO_THR0:
return BF_SYM_AUTO_THR0;
case SYM_AUTO_THR1:
return BF_SYM_AUTO_THR1;
case SYM_ROLL_LEFT:
return BF_SYM_ROLL_LEFT;
case SYM_ROLL_LEVEL:
return BF_SYM_ROLL_LEVEL;
case SYM_ROLL_RIGHT:
return BF_SYM_ROLL_RIGHT;
case SYM_PITCH_UP:
return BF_SYM_PITCH_UP;
case SYM_PITCH_DOWN:
return BF_SYM_PITCH_DOWN;
*/
case SYM_GFORCE:
return 'G';
/*
case SYM_GFORCE_X:
return BF_SYM_GFORCE_X;
case SYM_GFORCE_Y:
return BF_SYM_GFORCE_Y;
case SYM_GFORCE_Z:
return BF_SYM_GFORCE_Z;
case SYM_BARO_TEMP:
return BF_SYM_BARO_TEMP;
case SYM_IMU_TEMP:
return BF_SYM_IMU_TEMP;
case SYM_TEMP:
return BF_SYM_TEMP;
case SYM_TEMP_SENSOR_FIRST:
return BF_SYM_TEMP_SENSOR_FIRST;
case SYM_ESC_TEMP:
return BF_SYM_ESC_TEMP;
case SYM_TEMP_SENSOR_LAST:
return BF_SYM_TEMP_SENSOR_LAST;
case TEMP_SENSOR_SYM_COUNT:
return BF_TEMP_SENSOR_SYM_COUNT;
*/
case SYM_HEADING_N:
return BF_SYM_HEADING_N;
case SYM_HEADING_S:
return BF_SYM_HEADING_S;
case SYM_HEADING_E:
return BF_SYM_HEADING_E;
case SYM_HEADING_W:
return BF_SYM_HEADING_W;
case SYM_HEADING_DIVIDED_LINE:
return BF_SYM_HEADING_DIVIDED_LINE;
case SYM_HEADING_LINE:
return BF_SYM_HEADING_LINE;
/*
case SYM_MAX:
return BF_SYM_MAX;
case SYM_PROFILE:
return BF_SYM_PROFILE;
case SYM_SWITCH_INDICATOR_LOW:
return BF_SYM_SWITCH_INDICATOR_LOW;
case SYM_SWITCH_INDICATOR_MID:
return BF_SYM_SWITCH_INDICATOR_MID;
case SYM_SWITCH_INDICATOR_HIGH:
return BF_SYM_SWITCH_INDICATOR_HIGH;
case SYM_AH:
return BF_SYM_AH;
case SYM_GLIDE_DIST:
return BF_SYM_GLIDE_DIST;
case SYM_GLIDE_MINS:
return BF_SYM_GLIDE_MINS;
case SYM_AH_V_FT_0:
return BF_SYM_AH_V_FT_0;
case SYM_AH_V_FT_1:
return BF_SYM_AH_V_FT_1;
case SYM_AH_V_M_0:
return BF_SYM_AH_V_M_0;
case SYM_AH_V_M_1:
return BF_SYM_AH_V_M_1;
case SYM_FLIGHT_MINS_REMAINING:
return BF_SYM_FLIGHT_MINS_REMAINING;
case SYM_FLIGHT_HOURS_REMAINING:
return BF_SYM_FLIGHT_HOURS_REMAINING;
case SYM_GROUND_COURSE:
return BF_SYM_GROUND_COURSE;
case SYM_CROSS_TRACK_ERROR:
return BF_SYM_CROSS_TRACK_ERROR;
case SYM_LOGO_START:
return BF_SYM_LOGO_START;
case SYM_LOGO_WIDTH:
return BF_SYM_LOGO_WIDTH;
case SYM_LOGO_HEIGHT:
return BF_SYM_LOGO_HEIGHT;
*/
case SYM_AH_LEFT:
return BF_SYM_AH_LEFT;
case SYM_AH_RIGHT:
return BF_SYM_AH_RIGHT;
/*
case SYM_AH_DECORATION_COUNT:
return BF_SYM_AH_DECORATION_COUNT;
*/
case SYM_AH_CH_LEFT:
case SYM_AH_CH_TYPE3:
case SYM_AH_CH_TYPE4:
case SYM_AH_CH_TYPE5:
case SYM_AH_CH_TYPE6:
case SYM_AH_CH_TYPE7:
case SYM_AH_CH_TYPE8:
case SYM_AH_CH_AIRCRAFT1:
return BF_SYM_AH_CENTER_LINE;
case SYM_AH_CH_RIGHT:
case (SYM_AH_CH_TYPE3+2):
case (SYM_AH_CH_TYPE4+2):
case (SYM_AH_CH_TYPE5+2):
case (SYM_AH_CH_TYPE6+2):
case (SYM_AH_CH_TYPE7+2):
case (SYM_AH_CH_TYPE8+2):
case SYM_AH_CH_AIRCRAFT3:
return BF_SYM_AH_CENTER_LINE_RIGHT;
case SYM_AH_CH_AIRCRAFT0:
case SYM_AH_CH_AIRCRAFT4:
return ' ';
case SYM_ARROW_UP:
return BF_SYM_ARROW_NORTH;
case SYM_ARROW_2:
return BF_SYM_ARROW_8;
case SYM_ARROW_3:
return BF_SYM_ARROW_7;
case SYM_ARROW_4:
return BF_SYM_ARROW_6;
case SYM_ARROW_RIGHT:
return BF_SYM_ARROW_EAST;
case SYM_ARROW_6:
return BF_SYM_ARROW_4;
case SYM_ARROW_7:
return BF_SYM_ARROW_3;
case SYM_ARROW_8:
return BF_SYM_ARROW_2;
case SYM_ARROW_DOWN:
return BF_SYM_ARROW_SOUTH;
case SYM_ARROW_10:
return BF_SYM_ARROW_16;
case SYM_ARROW_11:
return BF_SYM_ARROW_15;
case SYM_ARROW_12:
return BF_SYM_ARROW_14;
case SYM_ARROW_LEFT:
return BF_SYM_ARROW_WEST;
case SYM_ARROW_14:
return BF_SYM_ARROW_12;
case SYM_ARROW_15:
return BF_SYM_ARROW_11;
case SYM_ARROW_16:
return BF_SYM_ARROW_10;
case SYM_AH_H_START:
return BF_SYM_AH_BAR9_0;
case (SYM_AH_H_START+1):
return BF_SYM_AH_BAR9_1;
case (SYM_AH_H_START+2):
return BF_SYM_AH_BAR9_2;
case (SYM_AH_H_START+3):
return BF_SYM_AH_BAR9_3;
case (SYM_AH_H_START+4):
return BF_SYM_AH_BAR9_4;
case (SYM_AH_H_START+5):
return BF_SYM_AH_BAR9_5;
case (SYM_AH_H_START+6):
return BF_SYM_AH_BAR9_6;
case (SYM_AH_H_START+7):
return BF_SYM_AH_BAR9_7;
case (SYM_AH_H_START+8):
return BF_SYM_AH_BAR9_8;
// BF does not have vertical artificial horizon. replace with middle horizontal one
case SYM_AH_V_START:
case (SYM_AH_V_START+1):
case (SYM_AH_V_START+2):
case (SYM_AH_V_START+3):
case (SYM_AH_V_START+4):
case (SYM_AH_V_START+5):
return BF_SYM_AH_BAR9_4;
// BF for ESP_RADAR Symbols
case SYM_HUD_CARDINAL:
return BF_SYM_ARROW_SOUTH;
case SYM_HUD_CARDINAL + 1:
return BF_SYM_ARROW_16;
case SYM_HUD_CARDINAL + 2:
return BF_SYM_ARROW_15;
case SYM_HUD_CARDINAL + 3:
return BF_SYM_ARROW_WEST;
case SYM_HUD_CARDINAL + 4:
return BF_SYM_ARROW_12;
case SYM_HUD_CARDINAL + 5:
return BF_SYM_ARROW_11;
case SYM_HUD_CARDINAL + 6:
return BF_SYM_ARROW_NORTH;
case SYM_HUD_CARDINAL + 7:
return BF_SYM_ARROW_7;
case SYM_HUD_CARDINAL + 8:
return BF_SYM_ARROW_6;
case SYM_HUD_CARDINAL + 9:
return BF_SYM_ARROW_EAST;
case SYM_HUD_CARDINAL + 10:
return BF_SYM_ARROW_3;
case SYM_HUD_CARDINAL + 11:
return BF_SYM_ARROW_2;
case SYM_HUD_ARROWS_R3:
return BF_SYM_AH_RIGHT;
case SYM_HUD_ARROWS_L3:
return BF_SYM_AH_LEFT;
case SYM_HUD_SIGNAL_0:
return BF_SYM_AH_BAR9_1;
case SYM_HUD_SIGNAL_1:
return BF_SYM_AH_BAR9_3;
case SYM_HUD_SIGNAL_2:
return BF_SYM_AH_BAR9_4;
case SYM_HUD_SIGNAL_3:
return BF_SYM_AH_BAR9_5;
case SYM_HUD_SIGNAL_4:
return BF_SYM_AH_BAR9_7;
/*
case SYM_VARIO_UP_2A:
return BF_SYM_VARIO_UP_2A;
case SYM_VARIO_UP_1A:
return BF_SYM_VARIO_UP_1A;
case SYM_VARIO_DOWN_1A:
return BF_SYM_VARIO_DOWN_1A;
case SYM_VARIO_DOWN_2A:
return BF_SYM_VARIO_DOWN_2A;
*/
case SYM_ALT:
return BF_SYM_ALTITUDE;
/*
case SYM_HUD_SIGNAL_0:
return BF_SYM_HUD_SIGNAL_0;
case SYM_HUD_SIGNAL_1:
return BF_SYM_HUD_SIGNAL_1;
case SYM_HUD_SIGNAL_2:
return BF_SYM_HUD_SIGNAL_2;
case SYM_HUD_SIGNAL_3:
return BF_SYM_HUD_SIGNAL_3;
case SYM_HUD_SIGNAL_4:
return BF_SYM_HUD_SIGNAL_4;
case SYM_HOME_DIST:
return BF_SYM_HOME_DIST;
*/
case SYM_AH_CH_CENTER:
case (SYM_AH_CH_TYPE3+1):
case (SYM_AH_CH_TYPE4+1):
case (SYM_AH_CH_TYPE5+1):
case (SYM_AH_CH_TYPE6+1):
case (SYM_AH_CH_TYPE7+1):
case (SYM_AH_CH_TYPE8+1):
case SYM_AH_CH_AIRCRAFT2:
return BF_SYM_AH_CENTER;
/*
case SYM_FLIGHT_DIST_REMAINING:
return BF_SYM_FLIGHT_DIST_REMAINING;
case SYM_AH_CH_TYPE3:
return BF_SYM_AH_CH_TYPE3;
case SYM_AH_CH_TYPE4:
return BF_SYM_AH_CH_TYPE4;
case SYM_AH_CH_TYPE5:
return BF_SYM_AH_CH_TYPE5;
case SYM_AH_CH_TYPE6:
return BF_SYM_AH_CH_TYPE6;
case SYM_AH_CH_TYPE7:
return BF_SYM_AH_CH_TYPE7;
case SYM_AH_CH_TYPE8:
return BF_SYM_AH_CH_TYPE8;
case SYM_AH_CH_AIRCRAFT0:
return BF_SYM_AH_CH_AIRCRAFT0;
case SYM_AH_CH_AIRCRAFT1:
return BF_SYM_AH_CH_AIRCRAFT1;
case SYM_AH_CH_AIRCRAFT2:
return BF_SYM_AH_CH_AIRCRAFT2;
case SYM_AH_CH_AIRCRAFT3:
return BF_SYM_AH_CH_AIRCRAFT3;
case SYM_AH_CH_AIRCRAFT4:
return BF_SYM_AH_CH_AIRCRAFT4;
case SYM_HUD_ARROWS_L1:
return BF_SYM_HUD_ARROWS_L1;
case SYM_HUD_ARROWS_L2:
return BF_SYM_HUD_ARROWS_L2;
case SYM_HUD_ARROWS_L3:
return BF_SYM_HUD_ARROWS_L3;
case SYM_HUD_ARROWS_R1:
return BF_SYM_HUD_ARROWS_R1;
case SYM_HUD_ARROWS_R2:
return BF_SYM_HUD_ARROWS_R2;
case SYM_HUD_ARROWS_R3:
return BF_SYM_HUD_ARROWS_R3;
case SYM_HUD_ARROWS_U1:
return BF_SYM_HUD_ARROWS_U1;
case SYM_HUD_ARROWS_U2:
return BF_SYM_HUD_ARROWS_U2;
case SYM_HUD_ARROWS_U3:
return BF_SYM_HUD_ARROWS_U3;
case SYM_HUD_ARROWS_D1:
return BF_SYM_HUD_ARROWS_D1;
case SYM_HUD_ARROWS_D2:
return BF_SYM_HUD_ARROWS_D2;
case SYM_HUD_ARROWS_D3:
return BF_SYM_HUD_ARROWS_D3;
*/
default:
break;
}
return '?'; // Missing/not mapped character
}
#endif
#endif

732
src/main/io/displayport_msp_dji_compat.c Normal file
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@ -0,0 +1,732 @@
/*
* This file is part of INAV Project.
*
* 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.
*
* 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 "platform.h"
#if defined(USE_OSD) && defined(USE_MSP_DISPLAYPORT)
#ifndef DISABLE_MSP_DJI_COMPAT
#include "io/displayport_msp_dji_compat.h"
#include "io/dji_osd_symbols.h"
#include "drivers/osd_symbols.h"
uint8_t getDJICharacter(uint8_t ch, uint8_t page)
{
uint16_t ech = ch | ((page & 0x3)<< 8) ;
if (ech >= 0x20 && ech <= 0x5F) { // ASCII range
return ch;
}
if (ech >= SYM_AH_DECORATION_MIN && ech <= SYM_AH_DECORATION_MAX) {
return DJI_SYM_AH_DECORATION;
}
switch (ech) {
case SYM_RSSI:
return DJI_SYM_RSSI;
case SYM_LQ:
return 'Q';
case SYM_LAT:
return DJI_SYM_LAT;
case SYM_LON:
return DJI_SYM_LON;
case SYM_SAT_L:
return DJI_SYM_SAT_L;
case SYM_SAT_R:
return DJI_SYM_SAT_R;
case SYM_HOME_NEAR:
return DJI_SYM_HOMEFLAG;
case SYM_DEGREES:
return DJI_SYM_GPS_DEGREE;
/*
case SYM_HEADING:
return DJI_SYM_HEADING;
case SYM_SCALE:
return DJI_SYM_SCALE;
case SYM_HDP_L:
return DJI_SYM_HDP_L;
case SYM_HDP_R:
return DJI_SYM_HDP_R;
*/
case SYM_HOME:
return DJI_SYM_HOMEFLAG;
case SYM_2RSS:
return DJI_SYM_RSSI;
/*
case SYM_DB:
return DJI_SYM_DB
case SYM_DBM:
return DJI_SYM_DBM;
case SYM_SNR:
return DJI_SYM_SNR;
*/
case SYM_AH_DECORATION_UP:
return DJI_SYM_ARROW_SMALL_UP;
case SYM_AH_DECORATION_DOWN:
return DJI_SYM_ARROW_SMALL_DOWN;
case SYM_DECORATION:
return DJI_SYM_ARROW_SMALL_UP;
case SYM_DECORATION + 1: // NE pointing arrow
return DJI_SYM_ARROW_7;
case SYM_DECORATION + 2: // E pointing arrow
return DJI_SYM_ARROW_EAST;
case SYM_DECORATION + 3: // SE pointing arrow
return DJI_SYM_ARROW_3;
case SYM_DECORATION + 4: // S pointing arrow
return DJI_SYM_ARROW_SOUTH;
case SYM_DECORATION + 5: // SW pointing arrow
return DJI_SYM_ARROW_15;
case SYM_DECORATION + 6: // W pointing arrow
return DJI_SYM_ARROW_WEST;
case SYM_DECORATION + 7: // NW pointing arrow
return DJI_SYM_ARROW_11;
case SYM_VOLT:
return DJI_SYM_VOLT;
case SYM_MAH:
return DJI_SYM_MAH;
case SYM_AH_KM:
return 'K';
case SYM_AH_MI:
return 'M';
/*
case SYM_VTX_POWER:
return DJI_SYM_VTX_POWER;
case SYM_AH_NM:
return DJI_SYM_AH_NM;
case SYM_MAH_NM_0:
return DJI_SYM_MAH_NM_0;
case SYM_MAH_NM_1:
return DJI_SYM_MAH_NM_1;
case SYM_MAH_KM_0:
return DJI_SYM_MAH_KM_0;
case SYM_MAH_KM_1:
return DJI_SYM_MAH_KM_1;
case SYM_MILLIOHM:
return DJI_SYM_MILLIOHM;
*/
case SYM_BATT_FULL:
return DJI_SYM_BATT_FULL;
case SYM_BATT_5:
return DJI_SYM_BATT_5;
case SYM_BATT_4:
return DJI_SYM_BATT_4;
case SYM_BATT_3:
return DJI_SYM_BATT_3;
case SYM_BATT_2:
return DJI_SYM_BATT_2;
case SYM_BATT_1:
return DJI_SYM_BATT_1;
case SYM_BATT_EMPTY:
return DJI_SYM_BATT_EMPTY;
case SYM_AMP:
return DJI_SYM_AMP;
/*
case SYM_WH:
return DJI_SYM_WH;
case SYM_WH_KM:
return DJI_SYM_WH_KM;
case SYM_WH_MI:
return DJI_SYM_WH_MI;
case SYM_WH_NM:
return DJI_SYM_WH_NM;
*/
case SYM_WATT:
return DJI_SYM_WATT;
/*
case SYM_MW:
return DJI_SYM_MW;
case SYM_KILOWATT:
return DJI_SYM_KILOWATT;
*/
case SYM_FT:
return DJI_SYM_FT;
case SYM_ALT_FT:
return DJI_SYM_FT;
case SYM_ALT_M:
return DJI_SYM_M;
case SYM_TOTAL:
return DJI_SYM_FLY_H;
/*
case SYM_ALT_KM:
return DJI_SYM_ALT_KM;
case SYM_ALT_KFT:
return DJI_SYM_ALT_KFT;
case SYM_DIST_M:
return DJI_SYM_DIST_M;
case SYM_DIST_KM:
return DJI_SYM_DIST_KM;
case SYM_DIST_FT:
return DJI_SYM_DIST_FT;
case SYM_DIST_MI:
return DJI_SYM_DIST_MI;
case SYM_DIST_NM:
return DJI_SYM_DIST_NM;
*/
case SYM_M:
return DJI_SYM_M;
case SYM_KM:
return 'K';
case SYM_MI:
return 'M';
/*
case SYM_NM:
return DJI_SYM_NM;
*/
case SYM_WIND_HORIZONTAL:
return 'W'; // W for wind
/*
case SYM_WIND_VERTICAL:
return DJI_SYM_WIND_VERTICAL;
case SYM_3D_KT:
return DJI_SYM_3D_KT;
*/
case SYM_AIR:
return 'A'; // A for airspeed
case SYM_3D_KMH:
return DJI_SYM_KPH;
case SYM_3D_MPH:
return DJI_SYM_MPH;
case SYM_RPM:
return DJI_SYM_RPM;
case SYM_FTS:
return DJI_SYM_FTPS;
/*
case SYM_100FTM:
return DJI_SYM_100FTM;
*/
case SYM_MS:
return DJI_SYM_MPS;
case SYM_KMH:
return DJI_SYM_KPH;
case SYM_MPH:
return DJI_SYM_MPH;
/*
case SYM_KT:
return DJI_SYM_KT
case SYM_MAH_MI_0:
return DJI_SYM_MAH_MI_0;
case SYM_MAH_MI_1:
return DJI_SYM_MAH_MI_1;
*/
case SYM_THR:
return DJI_SYM_THR;
case SYM_TEMP_F:
return DJI_SYM_F;
case SYM_TEMP_C:
return DJI_SYM_C;
case SYM_BLANK:
return DJI_SYM_BLANK;
case SYM_ON_H:
return DJI_SYM_ON_H;
case SYM_FLY_H:
return DJI_SYM_FLY_H;
case SYM_ON_M:
return DJI_SYM_ON_M;
case SYM_FLY_M:
return DJI_SYM_FLY_M;
/*
case SYM_GLIDESLOPE:
return DJI_SYM_GLIDESLOPE;
case SYM_WAYPOINT:
return DJI_SYM_WAYPOINT;
case SYM_CLOCK:
return DJI_SYM_CLOCK;
case SYM_ZERO_HALF_TRAILING_DOT:
return DJI_SYM_ZERO_HALF_TRAILING_DOT;
case SYM_ZERO_HALF_LEADING_DOT:
return DJI_SYM_ZERO_HALF_LEADING_DOT;
*/
case SYM_AUTO_THR0:
return 'A';
case SYM_AUTO_THR1:
return DJI_SYM_THR;
case SYM_ROLL_LEFT:
return DJI_SYM_ROLL;
case SYM_ROLL_LEVEL:
return DJI_SYM_ROLL;
case SYM_ROLL_RIGHT:
return DJI_SYM_ROLL;
case SYM_PITCH_UP:
return DJI_SYM_PITCH;
case SYM_PITCH_DOWN:
return DJI_SYM_PITCH;
case SYM_GFORCE:
return 'G';
/*
case SYM_GFORCE_X:
return DJI_SYM_GFORCE_X;
case SYM_GFORCE_Y:
return DJI_SYM_GFORCE_Y;
case SYM_GFORCE_Z:
return DJI_SYM_GFORCE_Z;
*/
case SYM_BARO_TEMP:
return DJI_SYM_TEMPERATURE;
case SYM_IMU_TEMP:
return DJI_SYM_TEMPERATURE;
case SYM_TEMP:
return DJI_SYM_TEMPERATURE;
case SYM_ESC_TEMP:
return DJI_SYM_TEMPERATURE;
/*
case SYM_TEMP_SENSOR_FIRST:
return DJI_SYM_TEMP_SENSOR_FIRST;
case SYM_TEMP_SENSOR_LAST:
return DJI_SYM_TEMP_SENSOR_LAST;
case TEMP_SENSOR_SYM_COUNT:
return DJI_TEMP_SENSOR_SYM_COUNT;
*/
case SYM_HEADING_N:
return DJI_SYM_HEADING_N;
case SYM_HEADING_S:
return DJI_SYM_HEADING_S;
case SYM_HEADING_E:
return DJI_SYM_HEADING_E;
case SYM_HEADING_W:
return DJI_SYM_HEADING_W;
case SYM_HEADING_DIVIDED_LINE:
return DJI_SYM_HEADING_DIVIDED_LINE;
case SYM_HEADING_LINE:
return DJI_SYM_HEADING_LINE;
case SYM_MAX:
return DJI_SYM_MAX;
/*
case SYM_PROFILE:
return DJI_SYM_PROFILE;
*/
case SYM_SWITCH_INDICATOR_LOW:
return DJI_SYM_STICK_OVERLAY_SPRITE_LOW;
case SYM_SWITCH_INDICATOR_MID:
return DJI_SYM_STICK_OVERLAY_SPRITE_MID;
case SYM_SWITCH_INDICATOR_HIGH:
return DJI_SYM_STICK_OVERLAY_SPRITE_HIGH;
/*
case SYM_AH:
return DJI_SYM_AH;
case SYM_GLIDE_DIST:
return DJI_SYM_GLIDE_DIST;
case SYM_GLIDE_MINS:
return DJI_SYM_GLIDE_MINS;
case SYM_AH_V_FT_0:
return DJI_SYM_AH_V_FT_0;
case SYM_AH_V_FT_1:
return DJI_SYM_AH_V_FT_1;
case SYM_AH_V_M_0:
return DJI_SYM_AH_V_M_0;
case SYM_AH_V_M_1:
return DJI_SYM_AH_V_M_1;
case SYM_FLIGHT_MINS_REMAINING:
return DJI_SYM_FLIGHT_MINS_REMAINING;
case SYM_FLIGHT_HOURS_REMAINING:
return DJI_SYM_FLIGHT_HOURS_REMAINING;
case SYM_GROUND_COURSE:
return DJI_SYM_GROUND_COURSE;
case SYM_CROSS_TRACK_ERROR:
return DJI_SYM_CROSS_TRACK_ERROR;
case SYM_LOGO_START:
return DJI_SYM_LOGO_START;
case SYM_LOGO_WIDTH:
return DJI_SYM_LOGO_WIDTH;
case SYM_LOGO_HEIGHT:
return DJI_SYM_LOGO_HEIGHT;
*/
case SYM_AH_LEFT:
return DJI_SYM_AH_LEFT;
case SYM_AH_RIGHT:
return DJI_SYM_AH_RIGHT;
/*
case SYM_AH_DECORATION_COUNT:
return DJI_SYM_AH_DECORATION_COUNT;
*/
case SYM_AH_CH_LEFT:
case SYM_AH_CH_AIRCRAFT1:
return DJI_SYM_CROSSHAIR_LEFT;
case SYM_AH_CH_CENTER:
case SYM_AH_CH_AIRCRAFT2:
return DJI_SYM_CROSSHAIR_CENTRE;
case SYM_AH_CH_RIGHT:
case SYM_AH_CH_AIRCRAFT3:
return DJI_SYM_CROSSHAIR_RIGHT;
case SYM_AH_CH_AIRCRAFT0:
case SYM_AH_CH_AIRCRAFT4:
return DJI_SYM_BLANK;
case SYM_AH_CH_TYPE3:
return DJI_SYM_NONE;
case (SYM_AH_CH_TYPE3+1):
return DJI_SYM_SMALL_CROSSHAIR;
case (SYM_AH_CH_TYPE3+2):
return DJI_SYM_NONE;
case SYM_AH_CH_TYPE4:
return DJI_SYM_HYPHEN;
case (SYM_AH_CH_TYPE4+1):
return DJI_SYM_SMALL_CROSSHAIR;
case (SYM_AH_CH_TYPE4+2):
return DJI_SYM_HYPHEN;
case SYM_AH_CH_TYPE5:
return DJI_SYM_STICK_OVERLAY_HORIZONTAL;
case (SYM_AH_CH_TYPE5+1):
return DJI_SYM_SMALL_CROSSHAIR;
case (SYM_AH_CH_TYPE5+2):
return DJI_SYM_STICK_OVERLAY_HORIZONTAL;
case SYM_AH_CH_TYPE6:
return DJI_SYM_NONE;
case (SYM_AH_CH_TYPE6+1):
return DJI_SYM_STICK_OVERLAY_SPRITE_MID;
case (SYM_AH_CH_TYPE6+2):
return DJI_SYM_NONE;
case SYM_AH_CH_TYPE7:
return DJI_SYM_ARROW_SMALL_LEFT;
case (SYM_AH_CH_TYPE7+1):
return DJI_SYM_SMALL_CROSSHAIR;
case (SYM_AH_CH_TYPE7+2):
return DJI_SYM_ARROW_SMALL_RIGHT;
case SYM_AH_CH_TYPE8:
return DJI_SYM_AH_LEFT;
case (SYM_AH_CH_TYPE8+1):
return DJI_SYM_SMALL_CROSSHAIR;
case (SYM_AH_CH_TYPE8+2):
return DJI_SYM_AH_RIGHT;
case SYM_ARROW_UP:
return DJI_SYM_ARROW_NORTH;
case SYM_ARROW_2:
return DJI_SYM_ARROW_8;
case SYM_ARROW_3:
return DJI_SYM_ARROW_7;
case SYM_ARROW_4:
return DJI_SYM_ARROW_6;
case SYM_ARROW_RIGHT:
return DJI_SYM_ARROW_EAST;
case SYM_ARROW_6:
return DJI_SYM_ARROW_4;
case SYM_ARROW_7:
return DJI_SYM_ARROW_3;
case SYM_ARROW_8:
return DJI_SYM_ARROW_2;
case SYM_ARROW_DOWN:
return DJI_SYM_ARROW_SOUTH;
case SYM_ARROW_10:
return DJI_SYM_ARROW_16;
case SYM_ARROW_11:
return DJI_SYM_ARROW_15;
case SYM_ARROW_12:
return DJI_SYM_ARROW_14;
case SYM_ARROW_LEFT:
return DJI_SYM_ARROW_WEST;
case SYM_ARROW_14:
return DJI_SYM_ARROW_12;
case SYM_ARROW_15:
return DJI_SYM_ARROW_11;
case SYM_ARROW_16:
return DJI_SYM_ARROW_10;
case SYM_AH_H_START:
return DJI_SYM_AH_BAR9_0;
case (SYM_AH_H_START+1):
return DJI_SYM_AH_BAR9_1;
case (SYM_AH_H_START+2):
return DJI_SYM_AH_BAR9_2;
case (SYM_AH_H_START+3):
return DJI_SYM_AH_BAR9_3;
case (SYM_AH_H_START+4):
return DJI_SYM_AH_BAR9_4;
case (SYM_AH_H_START+5):
return DJI_SYM_AH_BAR9_5;
case (SYM_AH_H_START+6):
return DJI_SYM_AH_BAR9_6;
case (SYM_AH_H_START+7):
return DJI_SYM_AH_BAR9_7;
case (SYM_AH_H_START+8):
return DJI_SYM_AH_BAR9_8;
// DJI does not have vertical artificial horizon. replace with middle horizontal one
case SYM_AH_V_START:
case (SYM_AH_V_START+1):
case (SYM_AH_V_START+2):
case (SYM_AH_V_START+3):
case (SYM_AH_V_START+4):
case (SYM_AH_V_START+5):
return DJI_SYM_AH_BAR9_4;
// DJI for ESP_RADAR Symbols
case SYM_HUD_CARDINAL:
return DJI_SYM_ARROW_SOUTH;
case SYM_HUD_CARDINAL + 1:
return DJI_SYM_ARROW_16;
case SYM_HUD_CARDINAL + 2:
return DJI_SYM_ARROW_15;
case SYM_HUD_CARDINAL + 3:
return DJI_SYM_ARROW_WEST;
case SYM_HUD_CARDINAL + 4:
return DJI_SYM_ARROW_12;
case SYM_HUD_CARDINAL + 5:
return DJI_SYM_ARROW_11;
case SYM_HUD_CARDINAL + 6:
return DJI_SYM_ARROW_NORTH;
case SYM_HUD_CARDINAL + 7:
return DJI_SYM_ARROW_7;
case SYM_HUD_CARDINAL + 8:
return DJI_SYM_ARROW_6;
case SYM_HUD_CARDINAL + 9:
return DJI_SYM_ARROW_EAST;
case SYM_HUD_CARDINAL + 10:
return DJI_SYM_ARROW_3;
case SYM_HUD_CARDINAL + 11:
return DJI_SYM_ARROW_2;
case SYM_HUD_SIGNAL_0:
return DJI_SYM_AH_BAR9_1;
case SYM_HUD_SIGNAL_1:
return DJI_SYM_AH_BAR9_3;
case SYM_HUD_SIGNAL_2:
return DJI_SYM_AH_BAR9_4;
case SYM_HUD_SIGNAL_3:
return DJI_SYM_AH_BAR9_5;
case SYM_HUD_SIGNAL_4:
return DJI_SYM_AH_BAR9_7;
case SYM_VARIO_UP_2A:
return DJI_SYM_ARROW_SMALL_UP;
case SYM_VARIO_UP_1A:
return DJI_SYM_ARROW_SMALL_UP;
case SYM_VARIO_DOWN_1A:
return DJI_SYM_ARROW_SMALL_DOWN;
case SYM_VARIO_DOWN_2A:
return DJI_SYM_ARROW_SMALL_DOWN;
case SYM_ALT:
return DJI_SYM_ALTITUDE;
/*
case SYM_HUD_SIGNAL_0:
return DJI_SYM_HUD_SIGNAL_0;
case SYM_HUD_SIGNAL_1:
return DJI_SYM_HUD_SIGNAL_1;
case SYM_HUD_SIGNAL_2:
return DJI_SYM_HUD_SIGNAL_2;
case SYM_HUD_SIGNAL_3:
return DJI_SYM_HUD_SIGNAL_3;
case SYM_HUD_SIGNAL_4:
return DJI_SYM_HUD_SIGNAL_4;
case SYM_HOME_DIST:
return DJI_SYM_HOME_DIST;
case SYM_FLIGHT_DIST_REMAINING:
return DJI_SYM_FLIGHT_DIST_REMAINING;
*/
case SYM_HUD_ARROWS_L1:
return DJI_SYM_ARROW_SMALL_LEFT;
case SYM_HUD_ARROWS_L2:
return DJI_SYM_ARROW_SMALL_LEFT;
case SYM_HUD_ARROWS_L3:
return DJI_SYM_ARROW_SMALL_LEFT;
case SYM_HUD_ARROWS_R1:
return DJI_SYM_ARROW_SMALL_RIGHT;
case SYM_HUD_ARROWS_R2:
return DJI_SYM_ARROW_SMALL_RIGHT;
case SYM_HUD_ARROWS_R3:
return DJI_SYM_ARROW_SMALL_RIGHT;
case SYM_HUD_ARROWS_U1:
return DJI_SYM_ARROW_SMALL_UP;
case SYM_HUD_ARROWS_U2:
return DJI_SYM_ARROW_SMALL_UP;
case SYM_HUD_ARROWS_U3:
return DJI_SYM_ARROW_SMALL_UP;
case SYM_HUD_ARROWS_D1:
return DJI_SYM_ARROW_SMALL_DOWN;
case SYM_HUD_ARROWS_D2:
return DJI_SYM_ARROW_SMALL_DOWN;
case SYM_HUD_ARROWS_D3:
return DJI_SYM_ARROW_SMALL_DOWN;
default:
break;
}
return (osdConfig()->highlight_djis_missing_characters) ? '?' : SYM_BLANK; // Missing/not mapped character
}
#endif
#endif

12
src/main/io/displayport_msp_bf_compat.h → src/main/io/displayport_msp_dji_compat.h
View file

@ -22,15 +22,15 @@
#include "platform.h" #include "platform.h"
#if defined(USE_OSD) && defined(USE_MSP_DISPLAYPORT) && !defined(DISABLE_MSP_BF_COMPAT) #if defined(USE_OSD) && defined(USE_MSP_DISPLAYPORT) && !defined(DISABLE_MSP_DJI_COMPAT)
#include "osd.h" #include "osd.h"
uint8_t getBfCharacter(uint8_t ch, uint8_t page); uint8_t getDJICharacter(uint8_t ch, uint8_t page);
#define isBfCompatibleVideoSystem(osdConfigPtr) (osdConfigPtr->video_system == VIDEO_SYSTEM_BFCOMPAT || osdConfigPtr->video_system == VIDEO_SYSTEM_BFCOMPAT_HD) #define isDJICompatibleVideoSystem(osdConfigPtr) (osdConfigPtr->video_system == VIDEO_SYSTEM_DJICOMPAT || osdConfigPtr->video_system == VIDEO_SYSTEM_DJICOMPAT_HD)
#else #else
#define getBfCharacter(x, page) (x) #define getDJICharacter(x, page) (x)
#ifdef OSD_UNIT_TEST #ifdef OSD_UNIT_TEST
#define isBfCompatibleVideoSystem(osdConfigPtr) (true) #define isDJICompatibleVideoSystem(osdConfigPtr) (true)
#else #else
#define isBfCompatibleVideoSystem(osdConfigPtr) (false) #define isDJICompatibleVideoSystem(osdConfigPtr) (false)
#endif #endif
#endif #endif

70
src/main/io/displayport_msp_osd.c
View file

@ -51,7 +51,7 @@
#include "msp/msp_serial.h" #include "msp/msp_serial.h"
#include "displayport_msp_osd.h" #include "displayport_msp_osd.h"
#include "displayport_msp_bf_compat.h" #include "displayport_msp_dji_compat.h"
#define FONT_VERSION 3 #define FONT_VERSION 3
@ -59,7 +59,7 @@ typedef enum { // defines are from hdzero code
SD_3016, SD_3016,
HD_5018, HD_5018,
HD_3016, // Special HDZERO mode that just sends the centre 30x16 of the 50x18 canvas to the VRX HD_3016, // Special HDZERO mode that just sends the centre 30x16 of the 50x18 canvas to the VRX
HD_6022, // added to support DJI wtfos 60x22 grid HD_6022, // added to support DJI wtfos 60x22 grid
HD_5320 // added to support Avatar and BetaflightHD HD_5320 // added to support Avatar and BetaflightHD
} resolutionType_e; } resolutionType_e;
@ -97,12 +97,11 @@ static timeMs_t sendSubFrameMs = 0;
// set screen size // set screen size
#define SCREENSIZE (ROWS*COLS) #define SCREENSIZE (ROWS*COLS)
static uint8_t currentOsdMode; // HDZero screen mode can change across layouts static uint8_t currentOsdMode; // HDZero screen mode can change across layouts
static uint8_t screen[SCREENSIZE]; static uint8_t screen[SCREENSIZE];
static BITARRAY_DECLARE(fontPage, SCREENSIZE); // font page for each character on the screen static uint8_t attrs[SCREENSIZE]; // font page, blink and other attributes
static BITARRAY_DECLARE(dirty, SCREENSIZE); // change status for each character on the screen static BITARRAY_DECLARE(dirty, SCREENSIZE); // change status for each character on the screen
static BITARRAY_DECLARE(blinkChar, SCREENSIZE); // Does the character blink?
static bool screenCleared; static bool screenCleared;
static uint8_t screenRows, screenCols; static uint8_t screenRows, screenCols;
static videoSystem_e osdVideoSystem; static videoSystem_e osdVideoSystem;
@ -158,6 +157,22 @@ static uint8_t determineHDZeroOsdMode(void)
return HD_3016; return HD_3016;
} }
uint8_t setAttrPage(uint8_t origAttr, uint8_t page)
{
return (origAttr & ~DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK) | (page & DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK);
}
uint8_t setAttrBlink(uint8_t origAttr, uint8_t blink)
{
return (origAttr & ~DISPLAYPORT_MSP_ATTR_BLINK_MASK) | ((blink << DISPLAYPORT_MSP_ATTR_BLINK) & DISPLAYPORT_MSP_ATTR_BLINK_MASK);
}
uint8_t setAttrVersion(uint8_t origAttr, uint8_t version)
{
return (origAttr & ~DISPLAYPORT_MSP_ATTR_VERSION_MASK) | ((version << DISPLAYPORT_MSP_ATTR_VERSION) & DISPLAYPORT_MSP_ATTR_VERSION_MASK);
}
static int setDisplayMode(displayPort_t *displayPort) static int setDisplayMode(displayPort_t *displayPort)
{ {
if (osdVideoSystem == VIDEO_SYSTEM_HDZERO) { if (osdVideoSystem == VIDEO_SYSTEM_HDZERO) {
@ -171,9 +186,8 @@ static int setDisplayMode(displayPort_t *displayPort)
static void init(void) static void init(void)
{ {
memset(screen, SYM_BLANK, sizeof(screen)); memset(screen, SYM_BLANK, sizeof(screen));
BITARRAY_CLR_ALL(fontPage); memset(attrs, 0, sizeof(attrs));
BITARRAY_CLR_ALL(dirty); BITARRAY_CLR_ALL(dirty);
BITARRAY_CLR_ALL(blinkChar);
} }
static int clearScreen(displayPort_t *displayPort) static int clearScreen(displayPort_t *displayPort)
@ -204,9 +218,8 @@ static bool readChar(displayPort_t *displayPort, uint8_t col, uint8_t row, uint1
} }
*c = screen[pos]; *c = screen[pos];
if (bitArrayGet(fontPage, pos)) { uint8_t page = getAttrPage(attrs[pos]);
*c |= 0x100; *c |= page << 8;
}
if (attr) { if (attr) {
*attr = TEXT_ATTRIBUTES_NONE; *attr = TEXT_ATTRIBUTES_NONE;
@ -219,11 +232,12 @@ static int setChar(const uint16_t pos, const uint16_t c, textAttributes_t attr)
{ {
if (pos < SCREENSIZE) { if (pos < SCREENSIZE) {
uint8_t ch = c & 0xFF; uint8_t ch = c & 0xFF;
bool page = (c >> 8); uint8_t page = (c >> 8) & DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK;
if (screen[pos] != ch || bitArrayGet(fontPage, pos) != page) { if (screen[pos] != ch || getAttrPage(attrs[pos]) != page) {
screen[pos] = ch; screen[pos] = ch;
(page) ? bitArraySet(fontPage, pos) : bitArrayClr(fontPage, pos); attrs[pos] = setAttrPage(attrs[pos], page);
(TEXT_ATTRIBUTES_HAVE_BLINK(attr)) ? bitArraySet(blinkChar, pos) : bitArrayClr(blinkChar, pos); uint8_t blink = (TEXT_ATTRIBUTES_HAVE_BLINK(attr)) ? 1 : 0;
attrs[pos] = setAttrBlink(attrs[pos], blink);
bitArraySet(dirty, pos); bitArraySet(dirty, pos);
} }
} }
@ -287,21 +301,21 @@ static int drawScreen(displayPort_t *displayPort) // 250Hz
uint8_t col = pos % COLS; uint8_t col = pos % COLS;
uint8_t attributes = 0; uint8_t attributes = 0;
int endOfLine = row * COLS + screenCols; int endOfLine = row * COLS + screenCols;
bool page = bitArrayGet(fontPage, pos); uint8_t page = getAttrPage(attrs[pos]);
bool blink = bitArrayGet(blinkChar, pos); uint8_t blink = getAttrBlink(attrs[pos]);
uint8_t len = 4; uint8_t len = 4;
do { do {
bitArrayClr(dirty, pos); bitArrayClr(dirty, pos);
subcmd[len] = isBfCompatibleVideoSystem(osdConfig()) ? getBfCharacter(screen[pos++], page): screen[pos++]; subcmd[len] = isDJICompatibleVideoSystem(osdConfig()) ? getDJICharacter(screen[pos++], page): screen[pos++];
len++; len++;
if (bitArrayGet(dirty, pos)) { if (bitArrayGet(dirty, pos)) {
next = pos; next = pos;
} }
} while (next == pos && next < endOfLine && bitArrayGet(fontPage, next) == page && bitArrayGet(blinkChar, next) == blink); } while (next == pos && next < endOfLine && getAttrPage(attrs[next]) == page && getAttrBlink(attrs[next]) == blink);
if (!isBfCompatibleVideoSystem(osdConfig())) { if (!isDJICompatibleVideoSystem(osdConfig())) {
attributes |= (page << DISPLAYPORT_MSP_ATTR_FONTPAGE); attributes |= (page << DISPLAYPORT_MSP_ATTR_FONTPAGE);
} }
@ -354,7 +368,7 @@ static uint32_t txBytesFree(const displayPort_t *displayPort)
static bool getFontMetadata(displayFontMetadata_t *metadata, const displayPort_t *displayPort) static bool getFontMetadata(displayFontMetadata_t *metadata, const displayPort_t *displayPort)
{ {
UNUSED(displayPort); UNUSED(displayPort);
metadata->charCount = 512; metadata->charCount = 1024;
metadata->version = FONT_VERSION; metadata->version = FONT_VERSION;
return true; return true;
} }
@ -451,7 +465,7 @@ displayPort_t* mspOsdDisplayPortInit(const videoSystem_e videoSystem)
if (mspOsdSerialInit()) { if (mspOsdSerialInit()) {
switch(videoSystem) { switch(videoSystem) {
case VIDEO_SYSTEM_AUTO: case VIDEO_SYSTEM_AUTO:
case VIDEO_SYSTEM_BFCOMPAT: case VIDEO_SYSTEM_DJICOMPAT:
case VIDEO_SYSTEM_PAL: case VIDEO_SYSTEM_PAL:
currentOsdMode = SD_3016; currentOsdMode = SD_3016;
screenRows = PAL_ROWS; screenRows = PAL_ROWS;
@ -472,7 +486,7 @@ displayPort_t* mspOsdDisplayPortInit(const videoSystem_e videoSystem)
screenRows = DJI_ROWS; screenRows = DJI_ROWS;
screenCols = DJI_COLS; screenCols = DJI_COLS;
break; break;
case VIDEO_SYSTEM_BFCOMPAT_HD: case VIDEO_SYSTEM_DJICOMPAT_HD:
case VIDEO_SYSTEM_AVATAR: case VIDEO_SYSTEM_AVATAR:
currentOsdMode = HD_5320; currentOsdMode = HD_5320;
screenRows = AVATAR_ROWS; screenRows = AVATAR_ROWS;
@ -486,10 +500,10 @@ displayPort_t* mspOsdDisplayPortInit(const videoSystem_e videoSystem)
init(); init();
displayInit(&mspOsdDisplayPort, &mspOsdVTable); displayInit(&mspOsdDisplayPort, &mspOsdVTable);
if (osdVideoSystem == VIDEO_SYSTEM_BFCOMPAT) { if (osdVideoSystem == VIDEO_SYSTEM_DJICOMPAT) {
mspOsdDisplayPort.displayPortType = "MSP DisplayPort: BetaFlight Compatability mode"; mspOsdDisplayPort.displayPortType = "MSP DisplayPort: DJI Compatability mode";
} else if (osdVideoSystem == VIDEO_SYSTEM_BFCOMPAT_HD) { } else if (osdVideoSystem == VIDEO_SYSTEM_DJICOMPAT_HD) {
mspOsdDisplayPort.displayPortType = "MSP DisplayPort: BetaFlight Compatability mode (HD)"; mspOsdDisplayPort.displayPortType = "MSP DisplayPort: DJI Compatability mode (HD)";
} else { } else {
mspOsdDisplayPort.displayPortType = "MSP DisplayPort"; mspOsdDisplayPort.displayPortType = "MSP DisplayPort";
} }
@ -525,7 +539,7 @@ void mspOsdSerialProcess(mspProcessCommandFnPtr mspProcessCommandFn)
} }
} }
mspPort_t *getMspOsdPort() mspPort_t *getMspOsdPort(void)
{ {
if (mspPort.port) { if (mspPort.port) {
return &mspPort; return &mspPort;

20
src/main/io/displayport_msp_osd.h
View file

@ -27,13 +27,25 @@
#include "drivers/osd.h" #include "drivers/osd.h"
#include "msp/msp_serial.h" #include "msp/msp_serial.h"
// MSP displayport V2 attribute byte bit functions
#define DISPLAYPORT_MSP_ATTR_FONTPAGE 0 // Select bank of 256 characters as per displayPortSeverity_e
#define DISPLAYPORT_MSP_ATTR_BLINK 6 // Device local blink
#define DISPLAYPORT_MSP_ATTR_VERSION 7 // Format indicator; must be zero for V2 (and V1)
#define DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK 0x3
#define DISPLAYPORT_MSP_ATTR_BLINK_MASK (1 << DISPLAYPORT_MSP_ATTR_BLINK)
#define DISPLAYPORT_MSP_ATTR_VERSION_MASK (1 << DISPLAYPORT_MSP_ATTR_VERSION)
typedef struct displayPort_s displayPort_t; typedef struct displayPort_s displayPort_t;
displayPort_t *mspOsdDisplayPortInit(const videoSystem_e videoSystem); displayPort_t *mspOsdDisplayPortInit(const videoSystem_e videoSystem);
void mspOsdSerialProcess(mspProcessCommandFnPtr mspProcessCommandFn); void mspOsdSerialProcess(mspProcessCommandFnPtr mspProcessCommandFn);
mspPort_t *getMspOsdPort(void); mspPort_t *getMspOsdPort(void);
// MSP displayport V2 attribute byte bit functions #define getAttrPage(attr) (attr & DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK)
#define DISPLAYPORT_MSP_ATTR_FONTPAGE 0 // Select bank of 256 characters as per displayPortSeverity_e #define getAttrBlink(attr) ((attr & DISPLAYPORT_MSP_ATTR_BLINK_MASK) >> DISPLAYPORT_MSP_ATTR_BLINK)
#define DISPLAYPORT_MSP_ATTR_BLINK 6 // Device local blink #define getAttrVersion(attr) ((attr & DISPLAYPORT_MSP_ATTR_VERSION_MASK) >> DISPLAYPORT_MSP_ATTR_VERSION)
#define DISPLAYPORT_MSP_ATTR_VERSION 7 // Format indicator; must be zero for V2 (and V1)
uint8_t setAttrPage(uint8_t origAttr, uint8_t page);
uint8_t setAttrBlink(uint8_t origAttr, uint8_t page);
uint8_t setAttrVersion(uint8_t origAttr, uint8_t page);

161
src/main/io/dji_osd_symbols.h Normal file
View file

@ -0,0 +1,161 @@
/* @file max7456_symbols.h
* @brief max7456 symbols for the mwosd font set
*
* @author Nathan Tsoi nathan@vertile.com
*
* Copyright (C) 2016 Nathan Tsoi
*
* This program 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.
*
* This program 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
//Misc
#define DJI_SYM_NONE 0x00
#define DJI_SYM_END_OF_FONT 0xFF
#define DJI_SYM_BLANK 0x20
#define DJI_SYM_HYPHEN 0x2D
#define DJI_SYM_BBLOG 0x10
#define DJI_SYM_HOMEFLAG 0x11
#define DJI_SYM_RPM 0x12
#define DJI_SYM_ROLL 0x14
#define DJI_SYM_PITCH 0x15
#define DJI_SYM_TEMPERATURE 0x7A
#define DJI_SYM_MAX 0x24
// GPS and navigation
#define DJI_SYM_LAT 0x89
#define DJI_SYM_LON 0x98
#define DJI_SYM_ALTITUDE 0x7F
#define DJI_SYM_OVER_HOME 0x05
// RSSI
#define DJI_SYM_RSSI 0x01
// Throttle Position (%)
#define DJI_SYM_THR 0x04
// Unit Icons (Metric)
#define DJI_SYM_M 0x0C
#define DJI_SYM_C 0x0E
// Unit Icons (Imperial)
#define DJI_SYM_F 0x0D
#define DJI_SYM_FT 0x0F
// Heading Graphics
#define DJI_SYM_HEADING_N 0x18
#define DJI_SYM_HEADING_S 0x19
#define DJI_SYM_HEADING_E 0x1A
#define DJI_SYM_HEADING_W 0x1B
#define DJI_SYM_HEADING_DIVIDED_LINE 0x1C
#define DJI_SYM_HEADING_LINE 0x1D
// AH Center screen Graphics
#define DJI_SYM_CROSSHAIR_LEFT 0x72
#define DJI_SYM_CROSSHAIR_CENTRE 0x73
#define DJI_SYM_CROSSHAIR_RIGHT 0x74
#define DJI_SYM_AH_RIGHT 0x02
#define DJI_SYM_AH_LEFT 0x03
#define DJI_SYM_AH_DECORATION 0x13
#define DJI_SYM_SMALL_CROSSHAIR 0x7E
// Satellite Graphics
#define DJI_SYM_SAT_L 0x1E
#define DJI_SYM_SAT_R 0x1F
// Direction arrows
#define DJI_SYM_ARROW_SOUTH 0x60
#define DJI_SYM_ARROW_2 0x61
#define DJI_SYM_ARROW_3 0x62
#define DJI_SYM_ARROW_4 0x63
#define DJI_SYM_ARROW_EAST 0x64
#define DJI_SYM_ARROW_6 0x65
#define DJI_SYM_ARROW_7 0x66
#define DJI_SYM_ARROW_8 0x67
#define DJI_SYM_ARROW_NORTH 0x68
#define DJI_SYM_ARROW_10 0x69
#define DJI_SYM_ARROW_11 0x6A
#define DJI_SYM_ARROW_12 0x6B
#define DJI_SYM_ARROW_WEST 0x6C
#define DJI_SYM_ARROW_14 0x6D
#define DJI_SYM_ARROW_15 0x6E
#define DJI_SYM_ARROW_16 0x6F
#define DJI_SYM_ARROW_SMALL_UP 0x75
#define DJI_SYM_ARROW_SMALL_DOWN 0x76
#define DJI_SYM_ARROW_SMALL_RIGHT 0x77
#define DJI_SYM_ARROW_SMALL_LEFT 0x78
// AH Bars
#define DJI_SYM_AH_BAR9_0 0x80
#define DJI_SYM_AH_BAR9_1 0x81
#define DJI_SYM_AH_BAR9_2 0x82
#define DJI_SYM_AH_BAR9_3 0x83
#define DJI_SYM_AH_BAR9_4 0x84
#define DJI_SYM_AH_BAR9_5 0x85
#define DJI_SYM_AH_BAR9_6 0x86
#define DJI_SYM_AH_BAR9_7 0x87
#define DJI_SYM_AH_BAR9_8 0x88
// Progress bar
#define DJI_SYM_PB_START 0x8A
#define DJI_SYM_PB_FULL 0x8B
#define DJI_SYM_PB_HALF 0x8C
#define DJI_SYM_PB_EMPTY 0x8D
#define DJI_SYM_PB_END 0x8E
#define DJI_SYM_PB_CLOSE 0x8F
// Batt evolution
#define DJI_SYM_BATT_FULL 0x90
#define DJI_SYM_BATT_5 0x91
#define DJI_SYM_BATT_4 0x92
#define DJI_SYM_BATT_3 0x93
#define DJI_SYM_BATT_2 0x94
#define DJI_SYM_BATT_1 0x95
#define DJI_SYM_BATT_EMPTY 0x96
// Batt Icons
#define DJI_SYM_MAIN_BATT 0x97
// Voltage and amperage
#define DJI_SYM_VOLT 0x06
#define DJI_SYM_AMP 0x9A
#define DJI_SYM_MAH 0x07
#define DJI_SYM_WATT 0x57 // 0x57 is 'W'
// Time
#define DJI_SYM_ON_H 0x70
#define DJI_SYM_FLY_H 0x71
#define DJI_SYM_ON_M 0x9B
#define DJI_SYM_FLY_M 0x9C
// Speed
#define DJI_SYM_KPH 0x9E
#define DJI_SYM_MPH 0x9D
#define DJI_SYM_MPS 0x9F
#define DJI_SYM_FTPS 0x99
// Stick overlays
#define DJI_SYM_STICK_OVERLAY_SPRITE_HIGH 0x08
#define DJI_SYM_STICK_OVERLAY_SPRITE_MID 0x09
#define DJI_SYM_STICK_OVERLAY_SPRITE_LOW 0x0A
#define DJI_SYM_STICK_OVERLAY_CENTER 0x0B
#define DJI_SYM_STICK_OVERLAY_VERTICAL 0x16
#define DJI_SYM_STICK_OVERLAY_HORIZONTAL 0x17
// GPS degree/minute/second symbols
#define DJI_SYM_GPS_DEGREE DJI_SYM_STICK_OVERLAY_SPRITE_HIGH // kind of looks like the degree symbol
#define DJI_SYM_GPS_MINUTE 0x27 // '
#define DJI_SYM_GPS_SECOND 0x22 // "

443
src/main/io/gimbal_serial.c Normal file
View file

@ -0,0 +1,443 @@
/*
* This file is part of INAV.
*
* 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 INAV. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#include <string.h>
#include "platform.h"
#ifdef USE_SERIAL_GIMBAL
#include <common/crc.h>
#include <common/utils.h>
#include <common/maths.h>
#include <build/debug.h>
#include <drivers/gimbal_common.h>
#include <drivers/headtracker_common.h>
#include <drivers/serial.h>
#include <drivers/time.h>
#include <io/gimbal_serial.h>
#include <io/serial.h>
#include <rx/rx.h>
#include <fc/rc_modes.h>
#include <config/parameter_group_ids.h>
#include "settings_generated.h"
PG_REGISTER_WITH_RESET_TEMPLATE(gimbalSerialConfig_t, gimbalSerialConfig, PG_GIMBAL_SERIAL_CONFIG, 0);
PG_RESET_TEMPLATE(gimbalSerialConfig_t, gimbalSerialConfig,
.singleUart = SETTING_GIMBAL_SERIAL_SINGLE_UART_DEFAULT
);
STATIC_ASSERT(sizeof(gimbalHtkAttitudePkt_t) == 10, gimbalHtkAttitudePkt_t_size_not_10);
#define GIMBAL_SERIAL_BUFFER_SIZE 512
#ifndef GIMBAL_UNIT_TEST
static volatile uint8_t txBuffer[GIMBAL_SERIAL_BUFFER_SIZE];
#if defined(USE_HEADTRACKER) && defined(USE_HEADTRACKER_SERIAL)
static gimbalSerialHtrkState_t headTrackerState = {
.payloadSize = 0,
.attitude = {},
.state = WAITING_HDR1,
};
#endif
#endif
static serialPort_t *headTrackerPort = NULL;
static serialPort_t *gimbalPort = NULL;
gimbalVTable_t gimbalSerialVTable = {
.process = gimbalSerialProcess,
.getDeviceType = gimbalSerialGetDeviceType,
.isReady = gimbalSerialIsReady,
.hasHeadTracker = gimbalSerialHasHeadTracker,
};
static gimbalDevice_t serialGimbalDevice = {
.vTable = &gimbalSerialVTable,
.currentPanPWM = PWM_RANGE_MIDDLE
};
#if (defined(USE_HEADTRACKER) && defined(USE_HEADTRACKER_SERIAL))
static headTrackerVTable_t headTrackerVTable = {
.process = headtrackerSerialProcess,
.getDeviceType = headtrackerSerialGetDeviceType,
};
headTrackerDevice_t headTrackerDevice = {
.vTable = &headTrackerVTable,
.pan = 0,
.tilt = 0,
.roll = 0,
.expires = 0
};
#endif
gimbalDevType_e gimbalSerialGetDeviceType(const gimbalDevice_t *gimbalDevice)
{
UNUSED(gimbalDevice);
return GIMBAL_DEV_SERIAL;
}
bool gimbalSerialIsReady(const gimbalDevice_t *gimbalDevice)
{
return gimbalPort != NULL && gimbalDevice->vTable != NULL;
}
bool gimbalSerialHasHeadTracker(const gimbalDevice_t *gimbalDevice)
{
UNUSED(gimbalDevice);
return headTrackerPort || (gimbalSerialConfig()->singleUart && gimbalPort);
}
bool gimbalSerialInit(void)
{
if (gimbalSerialDetect()) {
SD(fprintf(stderr, "Setting gimbal device\n"));
gimbalCommonSetDevice(&serialGimbalDevice);
return true;
}
return false;
}
#ifdef GIMBAL_UNIT_TEST
bool gimbalSerialDetect(void)
{
return false;
}
#else
bool gimbalSerialDetect(void)
{
SD(fprintf(stderr, "[GIMBAL]: serial Detect...\n"));
serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_GIMBAL);
bool singleUart = gimbalSerialConfig()->singleUart;
if (portConfig) {
SD(fprintf(stderr, "[GIMBAL]: found port...\n"));
#if defined(USE_HEADTRACKER) && defined(USE_HEADTRACKER_SERIAL)
gimbalPort = openSerialPort(portConfig->identifier, FUNCTION_GIMBAL, singleUart ? gimbalSerialHeadTrackerReceive : NULL, singleUart ? &headTrackerState : NULL,
baudRates[portConfig->peripheral_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED);
#else
UNUSED(singleUart);
gimbalPort = openSerialPort(portConfig->identifier, FUNCTION_GIMBAL, NULL, NULL,
baudRates[portConfig->peripheral_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED);
#endif
if (gimbalPort) {
SD(fprintf(stderr, "[GIMBAL]: port open!\n"));
gimbalPort->txBuffer = txBuffer;
gimbalPort->txBufferSize = GIMBAL_SERIAL_BUFFER_SIZE;
gimbalPort->txBufferTail = 0;
gimbalPort->txBufferHead = 0;
} else {
SD(fprintf(stderr, "[GIMBAL]: port NOT open!\n"));
return false;
}
}
SD(fprintf(stderr, "[GIMBAL]: gimbalPort: %p\n", gimbalPort));
return gimbalPort;
}
#endif
#ifdef GIMBAL_UNIT_TEST
void gimbalSerialProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTime)
{
UNUSED(gimbalDevice);
UNUSED(currentTime);
}
#else
void gimbalSerialProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTime)
{
UNUSED(currentTime);
if (!gimbalSerialIsReady(gimbalDevice)) {
SD(fprintf(stderr, "[GIMBAL] gimbal not ready...\n"));
return;
}
gimbalHtkAttitudePkt_t attitude = {
.sync = {HTKATTITUDE_SYNC0, HTKATTITUDE_SYNC1},
.mode = GIMBAL_MODE_DEFAULT,
.pan = 0,
.tilt = 0,
.roll = 0
};
const gimbalConfig_t *cfg = gimbalConfig();
int panPWM = PWM_RANGE_MIDDLE + cfg->panTrim;
int tiltPWM = PWM_RANGE_MIDDLE + cfg->tiltTrim;
int rollPWM = PWM_RANGE_MIDDLE + cfg->rollTrim;
if (IS_RC_MODE_ACTIVE(BOXGIMBALTLOCK)) {
attitude.mode |= GIMBAL_MODE_TILT_LOCK;
}
if (IS_RC_MODE_ACTIVE(BOXGIMBALRLOCK)) {
attitude.mode |= GIMBAL_MODE_ROLL_LOCK;
}
// Follow center overrides all
if (IS_RC_MODE_ACTIVE(BOXGIMBALCENTER) || IS_RC_MODE_ACTIVE(BOXGIMBALHTRK)) {
attitude.mode = GIMBAL_MODE_FOLLOW;
}
if (rxAreFlightChannelsValid() && !IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)) {
if (cfg->panChannel > 0) {
panPWM = rxGetChannelValue(cfg->panChannel - 1) + cfg->panTrim;
panPWM = constrain(panPWM, PWM_RANGE_MIN, PWM_RANGE_MAX);
}
if (cfg->tiltChannel > 0) {
tiltPWM = rxGetChannelValue(cfg->tiltChannel - 1) + cfg->tiltTrim;
tiltPWM = constrain(tiltPWM, PWM_RANGE_MIN, PWM_RANGE_MAX);
}
if (cfg->rollChannel > 0) {
rollPWM = rxGetChannelValue(cfg->rollChannel - 1) + cfg->rollTrim;
rollPWM = constrain(rollPWM, PWM_RANGE_MIN, PWM_RANGE_MAX);
}
}
#ifdef USE_HEADTRACKER
if(IS_RC_MODE_ACTIVE(BOXGIMBALHTRK)) {
headTrackerDevice_t *dev = headTrackerCommonDevice();
if (gimbalCommonHtrkIsEnabled() && dev && headTrackerCommonIsValid(dev)) {
attitude.pan = headTrackerCommonGetPan(dev);
attitude.tilt = headTrackerCommonGetTilt(dev);
attitude.roll = headTrackerCommonGetRoll(dev);
DEBUG_SET(DEBUG_HEADTRACKING, 4, 1);
} else {
attitude.pan = constrain(gimbal_scale12(PWM_RANGE_MIN, PWM_RANGE_MAX, PWM_RANGE_MIDDLE + cfg->panTrim), HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
attitude.tilt = constrain(gimbal_scale12(PWM_RANGE_MIN, PWM_RANGE_MAX, PWM_RANGE_MIDDLE + cfg->tiltTrim), HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
attitude.roll = constrain(gimbal_scale12(PWM_RANGE_MIN, PWM_RANGE_MAX, PWM_RANGE_MIDDLE + cfg->rollTrim), HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
DEBUG_SET(DEBUG_HEADTRACKING, 4, -1);
}
} else {
#else
{
#endif
DEBUG_SET(DEBUG_HEADTRACKING, 4, 0);
// Radio endpoints may need to be adjusted, as it seems ot go a bit
// bananas at the extremes
attitude.pan = gimbal_scale12(PWM_RANGE_MIN, PWM_RANGE_MAX, panPWM);
attitude.tilt = gimbal_scale12(PWM_RANGE_MIN, PWM_RANGE_MAX, tiltPWM);
attitude.roll = gimbal_scale12(PWM_RANGE_MIN, PWM_RANGE_MAX, rollPWM);
}
DEBUG_SET(DEBUG_HEADTRACKING, 5, attitude.pan);
DEBUG_SET(DEBUG_HEADTRACKING, 6, attitude.tilt);
DEBUG_SET(DEBUG_HEADTRACKING, 7, attitude.roll);
attitude.sensibility = cfg->sensitivity;
uint16_t crc16 = 0;
uint8_t *b = (uint8_t *)&attitude;
for (uint8_t i = 0; i < sizeof(gimbalHtkAttitudePkt_t) - 2; i++) {
crc16 = crc16_ccitt(crc16, *(b + i));
}
attitude.crch = (crc16 >> 8) & 0xFF;
attitude.crcl = crc16 & 0xFF;
serialGimbalDevice.currentPanPWM = gimbal2pwm(attitude.pan);
serialBeginWrite(gimbalPort);
serialWriteBuf(gimbalPort, (uint8_t *)&attitude, sizeof(gimbalHtkAttitudePkt_t));
serialEndWrite(gimbalPort);
}
#endif
int16_t gimbal2pwm(int16_t value)
{
int16_t ret = 0;
ret = scaleRange(value, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX, PWM_RANGE_MIN, PWM_RANGE_MAX);
return ret;
}
int16_t gimbal_scale12(int16_t inputMin, int16_t inputMax, int16_t value)
{
int16_t ret = 0;
ret = scaleRange(value, inputMin, inputMax, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
return ret;
}
#ifndef GIMBAL_UNIT_TEST
#if (defined(USE_HEADTRACKER) && defined(USE_HEADTRACKER_SERIAL))
static void resetState(gimbalSerialHtrkState_t *state)
{
state->state = WAITING_HDR1;
state->payloadSize = 0;
}
static bool checkCrc(gimbalHtkAttitudePkt_t *attitude)
{
uint8_t *attitudePkt = (uint8_t *)attitude;
uint16_t crc = 0;
for(uint8_t i = 0; i < sizeof(gimbalHtkAttitudePkt_t) - 2; ++i) {
crc = crc16_ccitt(crc, attitudePkt[i]);
}
return (attitude->crch == ((crc >> 8) & 0xFF)) &&
(attitude->crcl == (crc & 0xFF));
}
void gimbalSerialHeadTrackerReceive(uint16_t c, void *data)
{
static int charCount = 0;
static int pktCount = 0;
static int errorCount = 0;
gimbalSerialHtrkState_t *state = (gimbalSerialHtrkState_t *)data;
uint8_t *payload = (uint8_t *)&(state->attitude);
payload += 2;
DEBUG_SET(DEBUG_HEADTRACKING, 0, charCount++);
DEBUG_SET(DEBUG_HEADTRACKING, 1, state->state);
switch(state->state) {
case WAITING_HDR1:
if(c == HTKATTITUDE_SYNC0) {
state->attitude.sync[0] = c;
state->state = WAITING_HDR2;
}
break;
case WAITING_HDR2:
if(c == HTKATTITUDE_SYNC1) {
state->attitude.sync[1] = c;
state->state = WAITING_PAYLOAD;
} else {
resetState(state);
}
break;
case WAITING_PAYLOAD:
payload[state->payloadSize++] = c;
if(state->payloadSize == HEADTRACKER_PAYLOAD_SIZE)
{
state->state = WAITING_CRCH;
}
break;
case WAITING_CRCH:
state->attitude.crch = c;
state->state = WAITING_CRCL;
break;
case WAITING_CRCL:
state->attitude.crcl = c;
if(checkCrc(&(state->attitude))) {
headTrackerDevice.expires = micros() + MAX_HEADTRACKER_DATA_AGE_US;
headTrackerDevice.pan = constrain(state->attitude.pan, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
headTrackerDevice.tilt = constrain(state->attitude.tilt, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
headTrackerDevice.roll = constrain(state->attitude.roll, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
DEBUG_SET(DEBUG_HEADTRACKING, 2, pktCount++);
} else {
DEBUG_SET(DEBUG_HEADTRACKING, 3, errorCount++);
}
resetState(state);
break;
}
}
bool gimbalSerialHeadTrackerDetect(void)
{
bool singleUart = gimbalSerialConfig()->singleUart;
SD(fprintf(stderr, "[GIMBAL_HTRK]: headtracker Detect...\n"));
serialPortConfig_t *portConfig = singleUart ? NULL : findSerialPortConfig(FUNCTION_GIMBAL_HEADTRACKER);
if (portConfig) {
SD(fprintf(stderr, "[GIMBAL_HTRK]: found port...\n"));
headTrackerPort = openSerialPort(portConfig->identifier, FUNCTION_GIMBAL_HEADTRACKER, gimbalSerialHeadTrackerReceive, &headTrackerState,
baudRates[portConfig->peripheral_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED);
if (headTrackerPort) {
SD(fprintf(stderr, "[GIMBAL_HTRK]: port open!\n"));
headTrackerPort->txBuffer = txBuffer;
headTrackerPort->txBufferSize = GIMBAL_SERIAL_BUFFER_SIZE;
headTrackerPort->txBufferTail = 0;
headTrackerPort->txBufferHead = 0;
} else {
SD(fprintf(stderr, "[GIMBAL_HTRK]: port NOT open!\n"));
return false;
}
}
SD(fprintf(stderr, "[GIMBAL]: gimbalPort: %p headTrackerPort: %p\n", gimbalPort, headTrackerPort));
return (singleUart && gimbalPort) || headTrackerPort;
}
bool gimbalSerialHeadTrackerInit(void)
{
if(headTrackerConfig()->devType == HEADTRACKER_SERIAL) {
if (gimbalSerialHeadTrackerDetect()) {
SD(fprintf(stderr, "Setting gimbal device\n"));
headTrackerCommonSetDevice(&headTrackerDevice);
return true;
}
}
return false;
}
void headtrackerSerialProcess(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs)
{
UNUSED(headTrackerDevice);
UNUSED(currentTimeUs);
return;
}
headTrackerDevType_e headtrackerSerialGetDeviceType(const headTrackerDevice_t *headTrackerDevice)
{
UNUSED(headTrackerDevice);
return HEADTRACKER_SERIAL;
}
#else
void gimbalSerialHeadTrackerReceive(uint16_t c, void *data)
{
UNUSED(c);
UNUSED(data);
}
#endif
#endif
#endif

102
src/main/io/gimbal_serial.h Normal file
View file

@ -0,0 +1,102 @@
/*
* This file is part of INAV.
*
* 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 INAV. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
#include "platform.h"
#include "common/time.h"
#include "drivers/gimbal_common.h"
#include "drivers/headtracker_common.h"
#ifdef __cplusplus
extern "C" {
#endif
#ifdef USE_SERIAL_GIMBAL
#define HTKATTITUDE_SYNC0 0xA5
#define HTKATTITUDE_SYNC1 0x5A
typedef struct gimbalHtkAttitudePkt_s
{
uint8_t sync[2]; //data synchronization 0xA5, 0x5A
uint8_t mode:3; //Gimbal Mode [0~7] [Only 0 1 2 modes are supported for the time being]
int16_t sensibility:5; // Stabilization sensibility [-16~15]
uint8_t reserved:4; //hold on to one's reserve
int32_t roll:12; //Roll angle [-2048~2047] => [-180~180]
int32_t tilt:12; //Pich angle [-2048~2047] => [-180~180]
int32_t pan:12; //Yaw angle [-2048~2047] => [-180~180]
uint8_t crch; //Data validation H
uint8_t crcl; //Data validation L
} __attribute__((packed)) gimbalHtkAttitudePkt_t;
#define HEADTRACKER_PAYLOAD_SIZE (sizeof(gimbalHtkAttitudePkt_t) - 4)
typedef enum {
WAITING_HDR1,
WAITING_HDR2,
WAITING_PAYLOAD,
WAITING_CRCH,
WAITING_CRCL,
} gimbalHeadtrackerState_e;
typedef struct gimbalSerialHtrkState_s {
uint8_t payloadSize;
gimbalHeadtrackerState_e state;
gimbalHtkAttitudePkt_t attitude;
} gimbalSerialHtrkState_t;
typedef struct gimbalSerialConfig_s {
bool singleUart;
} gimbalSerialConfig_t;
PG_DECLARE(gimbalSerialConfig_t, gimbalSerialConfig);
int16_t gimbal_scale12(int16_t inputMin, int16_t inputMax, int16_t value);
int16_t gimbal2pwm(int16_t value);
bool gimbalSerialInit(void);
bool gimbalSerialDetect(void);
void gimbalSerialProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTime);
bool gimbalSerialIsReady(const gimbalDevice_t *gimbalDevice);
gimbalDevType_e gimbalSerialGetDeviceType(const gimbalDevice_t *gimbalDevice);
bool gimbalSerialHasHeadTracker(const gimbalDevice_t *gimbalDevice);
void gimbalSerialHeadTrackerReceive(uint16_t c, void *data);
#if (defined(USE_HEADTRACKER) && defined(USE_HEADTRACKER_SERIAL))
bool gimbalSerialHeadTrackerInit(void);
bool gimbalSerialHeadTrackerDetect(void);
void headtrackerSerialProcess(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs);
headTrackerDevType_e headtrackerSerialGetDeviceType(const headTrackerDevice_t *headTrackerDevice);
bool headTrackerSerialIsReady(const headTrackerDevice_t *headTrackerDevice);
bool headTrackerSerialIsValid(const headTrackerDevice_t *headTrackerDevice);
int headTrackerSerialGetPanPWM(const headTrackerDevice_t *headTrackerDevice);
int headTrackerSerialGetTiltPWM(const headTrackerDevice_t *headTrackerDevice);
int headTrackerSerialGetRollPWM(const headTrackerDevice_t *headTrackerDevice);
#endif
#endif
#ifdef __cplusplus
}
#endif

37
src/main/io/gps_ublox.c
View file

@ -1065,25 +1065,26 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
gpsState.hwVersion = UBX_HW_VERSION_UNKNOWN; gpsState.hwVersion = UBX_HW_VERSION_UNKNOWN;
gpsState.autoConfigStep = 0; gpsState.autoConfigStep = 0;
do {
pollVersion();
gpsState.autoConfigStep++;
ptWaitTimeout((gpsState.hwVersion != UBX_HW_VERSION_UNKNOWN), GPS_CFG_CMD_TIMEOUT_MS);
} while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == UBX_HW_VERSION_UNKNOWN);
gpsState.autoConfigStep = 0;
ubx_capabilities.supported = ubx_capabilities.enabledGnss = ubx_capabilities.defaultGnss = 0;
// M7 and earlier will never get pass this step, so skip it (#9440).
// UBLOX documents that this is M8N and later
if (gpsState.hwVersion > UBX_HW_VERSION_UBLOX7) {
do {
pollGnssCapabilities();
gpsState.autoConfigStep++;
ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS);
} while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0);
}
// Configure GPS module if enabled // Configure GPS module if enabled
if (gpsState.gpsConfig->autoConfig) { if (gpsState.gpsConfig->autoConfig) {
do {
pollVersion();
gpsState.autoConfigStep++;
ptWaitTimeout((gpsState.hwVersion != UBX_HW_VERSION_UNKNOWN), GPS_CFG_CMD_TIMEOUT_MS);
} while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == UBX_HW_VERSION_UNKNOWN);
gpsState.autoConfigStep = 0;
ubx_capabilities.supported = ubx_capabilities.enabledGnss = ubx_capabilities.defaultGnss = 0;
// M7 and earlier will never get pass this step, so skip it (#9440).
// UBLOX documents that this is M8N and later
if (gpsState.hwVersion > UBX_HW_VERSION_UBLOX7) {
do {
pollGnssCapabilities();
gpsState.autoConfigStep++;
ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS);
} while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0);
}
// Configure GPS // Configure GPS
ptSpawn(gpsConfigure); ptSpawn(gpsConfigure);
} }
@ -1096,7 +1097,7 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
ptSemaphoreWait(semNewDataReady); ptSemaphoreWait(semNewDataReady);
gpsProcessNewSolutionData(false); gpsProcessNewSolutionData(false);
if ((gpsState.gpsConfig->provider == GPS_UBLOX || gpsState.gpsConfig->provider == GPS_UBLOX7PLUS)) { if ((gpsState.gpsConfig->autoConfig) && (gpsState.gpsConfig->provider == GPS_UBLOX || gpsState.gpsConfig->provider == GPS_UBLOX7PLUS)) {
if ((millis() - gpsState.lastCapaPoolMs) > GPS_CAPA_INTERVAL) { if ((millis() - gpsState.lastCapaPoolMs) > GPS_CAPA_INTERVAL) {
gpsState.lastCapaPoolMs = millis(); gpsState.lastCapaPoolMs = millis();

77
src/main/io/headtracker_msp.c Normal file
View file

@ -0,0 +1,77 @@
/*
* This file is part of INAV.
*
* 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 INAV. If not, see <http://www.gnu.org/licenses/>.
*/
#include <platform.h>
#include <stdio.h>
#if (defined(USE_HEADTRACKER_MSP) && defined(USE_HEADTRACKER))
#include "build/debug.h"
#include "common/utils.h"
#include "common/time.h"
#include "common/maths.h"
#include "drivers/headtracker_common.h"
#include "io/headtracker_msp.h"
static headTrackerVTable_t headTrackerMspVTable = {
.process = NULL,
.getDeviceType = heatTrackerMspGetDeviceType,
.isReady = NULL,
.isValid = NULL,
};
static headTrackerDevice_t headTrackerMspDevice = {
.vTable = &headTrackerMspVTable,
.pan = 0,
.tilt = 0,
.roll = 0,
.expires = 0,
};
void mspHeadTrackerInit(void)
{
if(headTrackerConfig()->devType == HEADTRACKER_MSP) {
headTrackerCommonSetDevice(&headTrackerMspDevice);
}
}
void mspHeadTrackerReceiverNewData(uint8_t *data, int dataSize)
{
if(dataSize != sizeof(headtrackerMspMessage_t)) {
SD(fprintf(stderr, "[headTracker]: invalid data size %d\n", dataSize));
return;
}
headtrackerMspMessage_t *status = (headtrackerMspMessage_t *)data;
headTrackerMspDevice.pan = constrain(status->pan, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
headTrackerMspDevice.tilt = constrain(status->tilt, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
headTrackerMspDevice.roll = constrain(status->roll, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
headTrackerMspDevice.expires = micros() + MAX_HEADTRACKER_DATA_AGE_US;
UNUSED(status);
}
headTrackerDevType_e heatTrackerMspGetDeviceType(const headTrackerDevice_t *headTrackerDevice) {
UNUSED(headTrackerDevice);
return HEADTRACKER_MSP;
}
#endif

44
src/main/io/headtracker_msp.h Normal file
View file

@ -0,0 +1,44 @@
/*
* This file is part of INAV.
*
* 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 INAV. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <platform.h>
#if (defined(USE_HEADTRACKER_MSP) && defined(USE_HEADTRACKER))
#include <stdint.h>
#include <unistd.h>
#include "drivers/headtracker_common.h"
typedef struct headtrackerMspMessage_s {
uint8_t version; // 0
int16_t pan; // -2048~2047. Scale is min/max angle for gimbal
int16_t tilt; // -2048~2047. Scale is min/max angle for gimbal
int16_t roll; // -2048~2047. Scale is min/max angle for gimbal
int16_t sensitivity; // -16~15. Scale is min/max angle for gimbal
} __attribute__((packed)) headtrackerMspMessage_t;
void mspHeadTrackerInit(void);
void mspHeadTrackerReceiverNewData(uint8_t *data, int dataSize);
headTrackerDevType_e heatTrackerMspGetDeviceType(const headTrackerDevice_t *headTrackerDevice);
#endif

652
src/main/io/osd.c
View file

File diff suppressed because it is too large Load diff

11
src/main/io/osd.h
View file

@ -283,9 +283,10 @@ typedef enum {
OSD_CUSTOM_ELEMENT_1, OSD_CUSTOM_ELEMENT_1,
OSD_CUSTOM_ELEMENT_2, OSD_CUSTOM_ELEMENT_2,
OSD_CUSTOM_ELEMENT_3, OSD_CUSTOM_ELEMENT_3,
OSD_ADSB_WARNING, OSD_ADSB_WARNING, //150
OSD_ADSB_INFO, OSD_ADSB_INFO,
OSD_BLACKBOX, OSD_BLACKBOX,
OSD_FORMATION_FLIGHT, //153
OSD_ITEM_COUNT // MUST BE LAST OSD_ITEM_COUNT // MUST BE LAST
} osd_items_e; } osd_items_e;
@ -457,11 +458,15 @@ typedef struct osdConfig_s {
bool use_pilot_logo; // If enabled, the pilot logo (last 40 characters of page 2 font) will be used with the INAV logo. bool use_pilot_logo; // If enabled, the pilot logo (last 40 characters of page 2 font) will be used with the INAV logo.
uint8_t inav_to_pilot_logo_spacing; // The space between the INAV and pilot logos, if pilot logo is used. This number may be adjusted so that it fits the odd/even col width. uint8_t inav_to_pilot_logo_spacing; // The space between the INAV and pilot logos, if pilot logo is used. This number may be adjusted so that it fits the odd/even col width.
uint16_t arm_screen_display_time; // Length of time the arm screen is displayed uint16_t arm_screen_display_time; // Length of time the arm screen is displayed
#ifdef USE_ADSB #ifndef DISABLE_MSP_DJI_COMPAT
bool highlight_djis_missing_characters; // If enabled, show question marks where there is no character in DJI's font to represent an OSD element symbol
#endif
#ifdef USE_ADSB
uint16_t adsb_distance_warning; // in metres uint16_t adsb_distance_warning; // in metres
uint16_t adsb_distance_alert; // in metres uint16_t adsb_distance_alert; // in metres
uint16_t adsb_ignore_plane_above_me_limit; // in metres uint16_t adsb_ignore_plane_above_me_limit; // in metres
#endif #endif
uint8_t radar_peers_display_time; // in seconds
} osdConfig_t; } osdConfig_t;
PG_DECLARE(osdConfig_t, osdConfig); PG_DECLARE(osdConfig_t, osdConfig);

8
src/main/io/osd_grid.c
View file

@ -315,16 +315,16 @@ void osdGridDrawSidebars(displayPort_t *display)
// Arrows // Arrows
if (osdConfig()->sidebar_scroll_arrows) { if (osdConfig()->sidebar_scroll_arrows) {
displayWriteChar(display, elemPosX - hudwidth, elemPosY - hudheight - 1, displayWriteChar(display, elemPosX - hudwidth, elemPosY - hudheight - 1,
left.arrow == OSD_SIDEBAR_ARROW_UP ? SYM_AH_DIRECTION_UP : SYM_BLANK); left.arrow == OSD_SIDEBAR_ARROW_UP ? SYM_AH_DECORATION_UP : SYM_BLANK);
displayWriteChar(display, elemPosX + hudwidth, elemPosY - hudheight - 1, displayWriteChar(display, elemPosX + hudwidth, elemPosY - hudheight - 1,
right.arrow == OSD_SIDEBAR_ARROW_UP ? SYM_AH_DIRECTION_UP : SYM_BLANK); right.arrow == OSD_SIDEBAR_ARROW_UP ? SYM_AH_DECORATION_UP : SYM_BLANK);
displayWriteChar(display, elemPosX - hudwidth, elemPosY + hudheight + 1, displayWriteChar(display, elemPosX - hudwidth, elemPosY + hudheight + 1,
left.arrow == OSD_SIDEBAR_ARROW_DOWN ? SYM_AH_DIRECTION_DOWN : SYM_BLANK); left.arrow == OSD_SIDEBAR_ARROW_DOWN ? SYM_AH_DECORATION_DOWN : SYM_BLANK);
displayWriteChar(display, elemPosX + hudwidth, elemPosY + hudheight + 1, displayWriteChar(display, elemPosX + hudwidth, elemPosY + hudheight + 1,
right.arrow == OSD_SIDEBAR_ARROW_DOWN ? SYM_AH_DIRECTION_DOWN : SYM_BLANK); right.arrow == OSD_SIDEBAR_ARROW_DOWN ? SYM_AH_DECORATION_DOWN : SYM_BLANK);
} }
// Draw AH sides // Draw AH sides

8
src/main/io/osd_hud.c
View file

@ -122,8 +122,8 @@ int8_t radarGetNearestPOI(void)
*/ */
void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitude, uint8_t poiType, uint16_t poiSymbol, int16_t poiP1, int16_t poiP2) void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitude, uint8_t poiType, uint16_t poiSymbol, int16_t poiP1, int16_t poiP2)
{ {
int poi_x; int poi_x = -1;
int poi_y; int poi_y = -1;
uint8_t center_x; uint8_t center_x;
uint8_t center_y; uint8_t center_y;
bool poi_is_oos = 0; bool poi_is_oos = 0;
@ -207,7 +207,7 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu
if (poiType == 1) { // POI from the ESP radar if (poiType == 1) { // POI from the ESP radar
error_x = hudWrap360(poiP1 - DECIDEGREES_TO_DEGREES(osdGetHeading())); error_x = hudWrap360(poiP1 - DECIDEGREES_TO_DEGREES(osdGetHeading()));
osdHudWrite(poi_x - 1, poi_y, SYM_DIRECTION + ((error_x + 22) / 45) % 8, 1); osdHudWrite(poi_x - 1, poi_y, SYM_DECORATION + ((error_x + 22) / 45) % 8, 1);
osdHudWrite(poi_x + 1, poi_y, SYM_HUD_SIGNAL_0 + poiP2, 1); osdHudWrite(poi_x + 1, poi_y, SYM_HUD_SIGNAL_0 + poiP2, 1);
} }
else if (poiType == 2) { // Waypoint, else if (poiType == 2) { // Waypoint,
@ -248,7 +248,7 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu
tfp_sprintf(buff, "%3d", altc); tfp_sprintf(buff, "%3d", altc);
} }
buff[0] = (poiAltitude >= 0) ? SYM_AH_DIRECTION_UP : SYM_AH_DIRECTION_DOWN; buff[0] = (poiAltitude >= 0) ? SYM_AH_DECORATION_UP : SYM_AH_DECORATION_DOWN;
} else { // Display the distance by default } else { // Display the distance by default
switch ((osd_unit_e)osdConfig()->units) { switch ((osd_unit_e)osdConfig()->units) {
case OSD_UNIT_UK: case OSD_UNIT_UK:

4
src/main/io/osd_utils.c
View file

@ -20,7 +20,7 @@
#include "common/maths.h" #include "common/maths.h"
#include "common/typeconversion.h" #include "common/typeconversion.h"
#include "drivers/osd_symbols.h" #include "drivers/osd_symbols.h"
#include "io/displayport_msp_bf_compat.h" #include "io/displayport_msp_dji_compat.h"
#if defined(USE_OSD) || defined(OSD_UNIT_TEST) #if defined(USE_OSD) || defined(OSD_UNIT_TEST)
@ -45,7 +45,7 @@ bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int ma
int decimals = maxDecimals; int decimals = maxDecimals;
bool negative = false; bool negative = false;
bool scaled = false; bool scaled = false;
bool explicitDecimal = isBfCompatibleVideoSystem(osdConfig()); bool explicitDecimal = isDJICompatibleVideoSystem(osdConfig());
buff[length] = '\0'; buff[length] = '\0';

2
src/main/io/rangefinder.h
View file

@ -31,6 +31,8 @@
extern virtualRangefinderVTable_t rangefinderMSPVtable; extern virtualRangefinderVTable_t rangefinderMSPVtable;
extern virtualRangefinderVTable_t rangefinderBenewakeVtable; extern virtualRangefinderVTable_t rangefinderBenewakeVtable;
extern virtualRangefinderVTable_t rangefinderUSD1Vtable;
extern virtualRangefinderVTable_t rangefinderNanoradarVtable; //NRA15/NRA24
extern virtualRangefinderVTable_t rangefinderFakeVtable; extern virtualRangefinderVTable_t rangefinderFakeVtable;
void mspRangefinderReceiveNewData(uint8_t * bufferPtr); void mspRangefinderReceiveNewData(uint8_t * bufferPtr);

167
src/main/io/rangefinder_nanoradar.c Normal file
View file

@ -0,0 +1,167 @@
/*
* 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 <ctype.h>
#include "platform.h"
#include "io/serial.h"
#include "drivers/time.h"
#if defined(USE_RANGEFINDER_NANORADAR)
#include "drivers/rangefinder/rangefinder_virtual.h"
#define NANORADAR_HDR 0xAA // Header Byte
#define NANORADAR_END 0x55
#define NANORADAR_COMMAND_TARGET_INFO 0x70C
typedef struct __attribute__((packed)) {
uint8_t header0;
uint8_t header1;
uint8_t commandH;
uint8_t commandL;
uint8_t index; // Target ID
uint8_t rcs; // The section of radar reflection
uint8_t rangeH; // Target distance high 8 bi
uint8_t rangeL; // Target distance low 8 bit
uint8_t rsvd1;
uint8_t info; // VrelH Rsvd1 RollCount
uint8_t vrelL;
uint8_t SNR; // Signal-Noise Ratio
uint8_t end0;
uint8_t end1;
} nanoradarPacket_t;
#define NANORADAR_PACKET_SIZE sizeof(nanoradarPacket_t)
#define NANORADAR_TIMEOUT_MS 2000 // 2s
static bool hasNewData = false;
static bool hasEverData = false;
static serialPort_t * serialPort = NULL;
static serialPortConfig_t * portConfig;
static uint8_t buffer[NANORADAR_PACKET_SIZE];
static unsigned bufferPtr;
static int32_t sensorData = RANGEFINDER_NO_NEW_DATA;
static timeMs_t lastProtocolActivityMs;
static bool nanoradarRangefinderDetect(void)
{
portConfig = findSerialPortConfig(FUNCTION_RANGEFINDER);
if (!portConfig) {
return false;
}
return true;
}
static void nanoradarRangefinderInit(void)
{
if (!portConfig) {
return;
}
serialPort = openSerialPort(portConfig->identifier, FUNCTION_RANGEFINDER, NULL, NULL, 115200, MODE_RXTX, SERIAL_NOT_INVERTED);
if (!serialPort) {
return;
}
lastProtocolActivityMs = 0;
}
static void nanoradarRangefinderUpdate(void)
{
nanoradarPacket_t *nanoradarPacket = (nanoradarPacket_t *)buffer;
while (serialRxBytesWaiting(serialPort) > 0) {
uint8_t c = serialRead(serialPort);
if (bufferPtr < NANORADAR_PACKET_SIZE) {
buffer[bufferPtr++] = c;
}
if ((bufferPtr == 1) && (nanoradarPacket->header0 != NANORADAR_HDR)) {
bufferPtr = 0;
continue;
}
if ((bufferPtr == 2) && (nanoradarPacket->header1 != NANORADAR_HDR)) {
bufferPtr = 0;
continue;
}
//only target info packet we are interested
if (bufferPtr == 4) {
uint16_t command = nanoradarPacket->commandH + (nanoradarPacket->commandL * 0x100);
if (command != NANORADAR_COMMAND_TARGET_INFO) {
bufferPtr = 0;
continue;
}
}
// Check for complete packet
if (bufferPtr == NANORADAR_PACKET_SIZE) {
if (nanoradarPacket->end0 == NANORADAR_END && nanoradarPacket->end1 == NANORADAR_END) {
// Valid packet
hasNewData = true;
hasEverData = true;
lastProtocolActivityMs = millis();
sensorData = ((nanoradarPacket->rangeH * 0x100) + nanoradarPacket->rangeL);
}
// Prepare for new packet
bufferPtr = 0;
}
}
}
static int32_t nanoradarRangefinderGetDistance(void)
{
int32_t altitude = (sensorData > 0) ? (sensorData) : RANGEFINDER_OUT_OF_RANGE;
if (hasNewData) {
hasNewData = false;
return altitude;
}
else {
//keep last value for timeout, because radar sends data only if change
if ((millis() - lastProtocolActivityMs) < NANORADAR_TIMEOUT_MS) {
return altitude;
}
return hasEverData ? RANGEFINDER_OUT_OF_RANGE : RANGEFINDER_NO_NEW_DATA;
}
}
virtualRangefinderVTable_t rangefinderNanoradarVtable = {
.detect = nanoradarRangefinderDetect,
.init = nanoradarRangefinderInit,
.update = nanoradarRangefinderUpdate,
.read = nanoradarRangefinderGetDistance
};
#endif

136
src/main/io/rangefinder_usd1_v0.c Normal file
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/*
* 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 <ctype.h>
#include "platform.h"
#include "io/serial.h"
#include "drivers/time.h"
#if defined(USE_RANGEFINDER_USD1_V0)
#include "drivers/rangefinder/rangefinder_virtual.h"
#define USD1_HDR_V0 72 // Header Byte for beta V0 of USD1_Serial (0x48)
#define USD1_PACKET_SIZE 3
#define USD1_KEEP_DATA_TIMEOUT 2000 // 2s
static serialPort_t * serialPort = NULL;
static serialPortConfig_t * portConfig;
static bool hasNewData = false;
static bool hasEverData = false;
static uint8_t lineBuf[USD1_PACKET_SIZE];
static int32_t sensorData = RANGEFINDER_NO_NEW_DATA;
static timeMs_t lastProtocolActivityMs;
static bool usd1RangefinderDetect(void)
{
portConfig = findSerialPortConfig(FUNCTION_RANGEFINDER);
if (!portConfig) {
return false;
}
return true;
}
static void usd1RangefinderInit(void)
{
if (!portConfig) {
return;
}
serialPort = openSerialPort(portConfig->identifier, FUNCTION_RANGEFINDER, NULL, NULL, 115200, MODE_RXTX, SERIAL_NOT_INVERTED);
if (!serialPort) {
return;
}
lastProtocolActivityMs = 0;
}
static void usd1RangefinderUpdate(void)
{
float sum = 0;
uint16_t count = 0;
uint8_t index = 0;
while (serialRxBytesWaiting(serialPort) > 0) {
uint8_t c = serialRead(serialPort);
if (c == USD1_HDR_V0 && index == 0) {
lineBuf[index] = c;
index = 1;
continue;
}
if (index > 0) {
lineBuf[index] = c;
index++;
if (index == 3) {
index = 0;
sum += (float)((lineBuf[2]&0x7F) * 128 + (lineBuf[1]&0x7F));
count++;
}
}
}
if (count == 0) {
return;
}
hasNewData = true;
hasEverData = true;
lastProtocolActivityMs = millis();
sensorData = (int32_t)(2.5f * sum / (float)count);
}
static int32_t usd1RangefinderGetDistance(void)
{
int32_t altitude = (sensorData > 0) ? (sensorData) : RANGEFINDER_OUT_OF_RANGE;
if (hasNewData) {
hasNewData = false;
return altitude;
}
else {
//keep last value for timeout, because radar sends data only if change
if ((millis() - lastProtocolActivityMs) < USD1_KEEP_DATA_TIMEOUT) {
return altitude;
}
return hasEverData ? RANGEFINDER_OUT_OF_RANGE : RANGEFINDER_NO_NEW_DATA;
}
}
virtualRangefinderVTable_t rangefinderUSD1Vtable = {
.detect = usd1RangefinderDetect,
.init = usd1RangefinderInit,
.update = usd1RangefinderUpdate,
.read = usd1RangefinderGetDistance
};
#endif

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