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Code Issues Wiki Activity

Added Fixed Wing TPA Time Constant to adjustments

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This commit is contained in:
Darren Lines 2022-05-10 12:56:52 +01:00
parent fc5c3363dc
commit 58d264880f
5 changed files with 86 additions and 56 deletions
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1
docs/Inflight Adjustments.md
View file

@ -158,6 +158,7 @@ this reason ensure that you define enough ranges to cover the range channel's us
| 54 | TPA | | 54 | TPA |
| 55 | TPA_BREAKPOINT | | 55 | TPA_BREAKPOINT |
| 56 | NAV_FW_CONTROL_SMOOTHNESS | | 56 | NAV_FW_CONTROL_SMOOTHNESS |
| 57 | FW_TPA_TIME_CONSTANT |
## Examples ## Examples

7
src/main/fc/rc_adjustments.c
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@ -289,6 +289,10 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.adjustmentFunction = ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS, .adjustmentFunction = ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS,
.mode = ADJUSTMENT_MODE_STEP, .mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }} .data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_FW_TPA_TIME_CONSTANT,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 5 }}
} }
}; };
@ -597,6 +601,9 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
case ADJUSTMENT_TPA_BREAKPOINT: case ADJUSTMENT_TPA_BREAKPOINT:
applyAdjustmentU16(ADJUSTMENT_TPA_BREAKPOINT, &controlRateConfig->throttle.pa_breakpoint, delta, PWM_RANGE_MIN, PWM_RANGE_MAX); applyAdjustmentU16(ADJUSTMENT_TPA_BREAKPOINT, &controlRateConfig->throttle.pa_breakpoint, delta, PWM_RANGE_MIN, PWM_RANGE_MAX);
break; break;
case ADJUSTMENT_FW_TPA_TIME_CONSTANT:
applyAdjustmentU16(ADJUSTMENT_FW_TPA_TIME_CONSTANT, &controlRateConfig->throttle.fixedWingTauMs, delta, SETTING_FW_TPA_TIME_CONSTANT_MIN, SETTING_FW_TPA_TIME_CONSTANT_MAX);
break;
case ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS: case ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS:
applyAdjustmentU8(ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS, &navConfigMutable()->fw.control_smoothness, delta, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MIN, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MAX); applyAdjustmentU8(ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS, &navConfigMutable()->fw.control_smoothness, delta, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MIN, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MAX);
break; break;

113
src/main/fc/rc_adjustments.h
View file

@ -25,63 +25,64 @@
//#define USE_INFLIGHT_PROFILE_ADJUSTMENT - not currently enabled //#define USE_INFLIGHT_PROFILE_ADJUSTMENT - not currently enabled
typedef enum { typedef enum {
ADJUSTMENT_NONE = 0, ADJUSTMENT_NONE = 0,
ADJUSTMENT_RC_RATE = 1, ADJUSTMENT_RC_RATE = 1,
ADJUSTMENT_RC_EXPO = 2, ADJUSTMENT_RC_EXPO = 2,
ADJUSTMENT_THROTTLE_EXPO = 3, ADJUSTMENT_THROTTLE_EXPO = 3,
ADJUSTMENT_PITCH_ROLL_RATE = 4, ADJUSTMENT_PITCH_ROLL_RATE = 4,
ADJUSTMENT_YAW_RATE = 5, ADJUSTMENT_YAW_RATE = 5,
ADJUSTMENT_PITCH_ROLL_P = 6, ADJUSTMENT_PITCH_ROLL_P = 6,
ADJUSTMENT_PITCH_ROLL_I = 7, ADJUSTMENT_PITCH_ROLL_I = 7,
ADJUSTMENT_PITCH_ROLL_D = 8, ADJUSTMENT_PITCH_ROLL_D = 8,
ADJUSTMENT_PITCH_ROLL_FF = 9, ADJUSTMENT_PITCH_ROLL_FF = 9,
ADJUSTMENT_PITCH_P = 10, ADJUSTMENT_PITCH_P = 10,
ADJUSTMENT_PITCH_I = 11, ADJUSTMENT_PITCH_I = 11,
ADJUSTMENT_PITCH_D = 12, ADJUSTMENT_PITCH_D = 12,
ADJUSTMENT_PITCH_FF = 13, ADJUSTMENT_PITCH_FF = 13,
ADJUSTMENT_ROLL_P = 14, ADJUSTMENT_ROLL_P = 14,
ADJUSTMENT_ROLL_I = 15, ADJUSTMENT_ROLL_I = 15,
ADJUSTMENT_ROLL_D = 16, ADJUSTMENT_ROLL_D = 16,
ADJUSTMENT_ROLL_FF = 17, ADJUSTMENT_ROLL_FF = 17,
ADJUSTMENT_YAW_P = 18, ADJUSTMENT_YAW_P = 18,
ADJUSTMENT_YAW_I = 19, ADJUSTMENT_YAW_I = 19,
ADJUSTMENT_YAW_D = 20, ADJUSTMENT_YAW_D = 20,
ADJUSTMENT_YAW_FF = 21, ADJUSTMENT_YAW_FF = 21,
ADJUSTMENT_RATE_PROFILE = 22, // Unused, placeholder for compatibility ADJUSTMENT_RATE_PROFILE = 22, // Unused, placeholder for compatibility
ADJUSTMENT_PITCH_RATE = 23, ADJUSTMENT_PITCH_RATE = 23,
ADJUSTMENT_ROLL_RATE = 24, ADJUSTMENT_ROLL_RATE = 24,
ADJUSTMENT_RC_YAW_EXPO = 25, ADJUSTMENT_RC_YAW_EXPO = 25,
ADJUSTMENT_MANUAL_RC_EXPO = 26, ADJUSTMENT_MANUAL_RC_EXPO = 26,
ADJUSTMENT_MANUAL_RC_YAW_EXPO = 27, ADJUSTMENT_MANUAL_RC_YAW_EXPO = 27,
ADJUSTMENT_MANUAL_PITCH_ROLL_RATE = 28, ADJUSTMENT_MANUAL_PITCH_ROLL_RATE = 28,
ADJUSTMENT_MANUAL_ROLL_RATE = 29, ADJUSTMENT_MANUAL_ROLL_RATE = 29,
ADJUSTMENT_MANUAL_PITCH_RATE = 30, ADJUSTMENT_MANUAL_PITCH_RATE = 30,
ADJUSTMENT_MANUAL_YAW_RATE = 31, ADJUSTMENT_MANUAL_YAW_RATE = 31,
ADJUSTMENT_NAV_FW_CRUISE_THR = 32, ADJUSTMENT_NAV_FW_CRUISE_THR = 32,
ADJUSTMENT_NAV_FW_PITCH2THR = 33, ADJUSTMENT_NAV_FW_PITCH2THR = 33,
ADJUSTMENT_ROLL_BOARD_ALIGNMENT = 34, ADJUSTMENT_ROLL_BOARD_ALIGNMENT = 34,
ADJUSTMENT_PITCH_BOARD_ALIGNMENT = 35, ADJUSTMENT_PITCH_BOARD_ALIGNMENT = 35,
ADJUSTMENT_LEVEL_P = 36, ADJUSTMENT_LEVEL_P = 36,
ADJUSTMENT_LEVEL_I = 37, ADJUSTMENT_LEVEL_I = 37,
ADJUSTMENT_LEVEL_D = 38, ADJUSTMENT_LEVEL_D = 38,
ADJUSTMENT_POS_XY_P = 39, ADJUSTMENT_POS_XY_P = 39,
ADJUSTMENT_POS_XY_I = 40, ADJUSTMENT_POS_XY_I = 40,
ADJUSTMENT_POS_XY_D = 41, ADJUSTMENT_POS_XY_D = 41,
ADJUSTMENT_POS_Z_P = 42, ADJUSTMENT_POS_Z_P = 42,
ADJUSTMENT_POS_Z_I = 43, ADJUSTMENT_POS_Z_I = 43,
ADJUSTMENT_POS_Z_D = 44, ADJUSTMENT_POS_Z_D = 44,
ADJUSTMENT_HEADING_P = 45, ADJUSTMENT_HEADING_P = 45,
ADJUSTMENT_VEL_XY_P = 46, ADJUSTMENT_VEL_XY_P = 46,
ADJUSTMENT_VEL_XY_I = 47, ADJUSTMENT_VEL_XY_I = 47,
ADJUSTMENT_VEL_XY_D = 48, ADJUSTMENT_VEL_XY_D = 48,
ADJUSTMENT_VEL_Z_P = 49, ADJUSTMENT_VEL_Z_P = 49,
ADJUSTMENT_VEL_Z_I = 50, ADJUSTMENT_VEL_Z_I = 50,
ADJUSTMENT_VEL_Z_D = 51, ADJUSTMENT_VEL_Z_D = 51,
ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE = 52, ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE = 52,
ADJUSTMENT_VTX_POWER_LEVEL = 53, ADJUSTMENT_VTX_POWER_LEVEL = 53,
ADJUSTMENT_TPA = 54, ADJUSTMENT_TPA = 54,
ADJUSTMENT_TPA_BREAKPOINT = 55, ADJUSTMENT_TPA_BREAKPOINT = 55,
ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS = 56, ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS = 56,
ADJUSTMENT_FW_TPA_TIME_CONSTANT = 57,
ADJUSTMENT_FUNCTION_COUNT // must be last ADJUSTMENT_FUNCTION_COUNT // must be last
} adjustmentFunction_e; } adjustmentFunction_e;

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

@ -3017,6 +3017,26 @@ static bool osdDrawSingleElement(uint8_t item)
return true; return true;
} }
case OSD_TPA_TIME_CONSTANT:
{
/* char buff[7];
textAttributes_t attr;
if (isAdjustmentFunctionSelected(ADJUSTMENT_FW_TPA_TIME_CONSTANT)) {
displayWrite(osdDisplayPort, elemPosX, elemPosY, "TC OK");
} else {
displayWrite(osdDisplayPort, elemPosX, elemPosY, "TPA TC");
}
attr = TEXT_ATTRIBUTES_NONE;
tfp_sprintf(buff, "%4d", currentControlRateProfile->throttle.fixedWingTauMs);
if (isAdjustmentFunctionSelected(ADJUSTMENT_FW_TPA_TIME_CONSTANT)) {
TEXT_ATTRIBUTES_ADD_BLINK(attr);
}
displayWriteWithAttr(osdDisplayPort, elemPosX + 7, elemPosY, buff, attr);*/
osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "TPA TC", 0, currentControlRateProfile->throttle.fixedWingTauMs, 4, 0, ADJUSTMENT_FW_TPA_TIME_CONSTANT);
return true;
}
case OSD_NAV_FW_CONTROL_SMOOTHNESS: case OSD_NAV_FW_CONTROL_SMOOTHNESS:
osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "CTL S", 0, navConfig()->fw.control_smoothness, 1, 0, ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS); osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "CTL S", 0, navConfig()->fw.control_smoothness, 1, 0, ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS);

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

@ -257,6 +257,7 @@ typedef enum {
OSD_SWITCH_INDICATOR_1, OSD_SWITCH_INDICATOR_1,
OSD_SWITCH_INDICATOR_2, OSD_SWITCH_INDICATOR_2,
OSD_SWITCH_INDICATOR_3, OSD_SWITCH_INDICATOR_3,
OSD_TPA_TIME_CONSTANT,
OSD_ITEM_COUNT // MUST BE LAST OSD_ITEM_COUNT // MUST BE LAST
} osd_items_e; } osd_items_e;