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initial build

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This commit is contained in:
breadoven 2021-07-22 09:34:56 +01:00
parent 7e4218124f
commit 7634004007
6 changed files with 32 additions and 10 deletions
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14
docs/Settings.md
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@ -2944,7 +2944,7 @@ Maximum climb/descent rate that UAV is allowed to reach during navigation modes.
### nav_auto_speed
Maximum velocity firmware is allowed in full auto modes (RTH, WP) [cm/s] [Multirotor only]
Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no specific WP speed set. [Multirotor only]
| Default | Min | Max |
| --- | --- | --- |
@ -3444,7 +3444,7 @@ Maximum climb/descent rate firmware is allowed when processing pilot input for A
### nav_manual_speed
Maximum velocity firmware is allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]
Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]
| Default | Min | Max |
| --- | --- | --- |
@ -3462,6 +3462,16 @@ Max allowed altitude (above Home Point) that applies to all NAV modes (including
---
### nav_max_auto_speed
Maximum speed allowed in fully autonomous modes (RTH, WP) [cm/s] [Multirotor only]
| Default | Min | Max |
| --- | --- | --- |
| 1000 | 10 | 2000 |
---
### nav_max_terrain_follow_alt
Max allowed above the ground altitude for terrain following mode

3
src/main/cms/cms_menu_navigation.c
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@ -44,7 +44,8 @@ static const OSD_Entry cmsx_menuNavSettingsEntries[] =
OSD_LABEL_ENTRY("-- BASIC SETTINGS --"),
OSD_SETTING_ENTRY("CONTROL MODE", SETTING_NAV_USER_CONTROL_MODE),
OSD_SETTING_ENTRY("MAX NAV SPEED", SETTING_NAV_AUTO_SPEED),
OSD_SETTING_ENTRY("MC NAV SPEED", SETTING_NAV_AUTO_SPEED),
OSD_SETTING_ENTRY("MC MAX NAV SPEED", SETTING_NAV_MAX_AUTO_SPEED),
OSD_SETTING_ENTRY("MAX CRUISE SPEED", SETTING_NAV_MANUAL_SPEED),
OSD_SETTING_ENTRY("MAX NAV CLIMB RATE", SETTING_NAV_AUTO_CLIMB_RATE),
OSD_SETTING_ENTRY("MAX AH CLIMB RATE", SETTING_NAV_MANUAL_CLIMB_RATE),

3
src/main/fc/fc_msp.c
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@ -2284,8 +2284,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
#ifdef USE_NAV
case MSP_SET_NAV_POSHOLD:
if (dataSize >= 13) {
if (dataSize >= 15) {
navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
navConfigMutable()->general.auto_speed = sbufReadU16(src);
navConfigMutable()->general.max_auto_speed = sbufReadU16(src);
navConfigMutable()->general.max_auto_climb_rate = sbufReadU16(src);
navConfigMutable()->general.max_manual_speed = sbufReadU16(src);

10
src/main/fc/settings.yaml
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@ -2483,8 +2483,14 @@ groups:
field: general.waypoint_safe_distance
max: 65000
- name: nav_auto_speed
description: "Maximum velocity firmware is allowed in full auto modes (RTH, WP) [cm/s] [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
field: general.auto_speed
min: 10
max: 2000
- name: nav_max_auto_speed
description: "Maximum speed allowed in fully autonomous modes (RTH, WP) [cm/s] [Multirotor only]"
default_value: 1000
field: general.max_auto_speed
min: 10
max: 2000
@ -2495,7 +2501,7 @@ groups:
min: 10
max: 2000
- name: nav_manual_speed
description: "Maximum velocity firmware is 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
field: general.max_manual_speed
min: 10

9
src/main/navigation/navigation.c
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@ -96,7 +96,7 @@ STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_rang
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0);
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 13);
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 14);
PG_RESET_TEMPLATE(navConfig_t, navConfig,
.general = {
@ -121,7 +121,8 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.waypoint_radius = SETTING_NAV_WP_RADIUS_DEFAULT, // 2m diameter
.waypoint_safe_distance = SETTING_NAV_WP_SAFE_DISTANCE_DEFAULT, // centimeters - first waypoint should be closer than this
.waypoint_load_on_boot = SETTING_NAV_WP_LOAD_ON_BOOT_DEFAULT, // load waypoints automatically during boot
.max_auto_speed = SETTING_NAV_AUTO_SPEED_DEFAULT, // 3 m/s = 10.8 km/h
.auto_speed = SETTING_NAV_AUTO_SPEED_DEFAULT, // speed in autonomous modes (3 m/s = 10.8 km/h)
.max_auto_speed = SETTING_NAV_MAX_AUTO_SPEED_DEFAULT, // max allowed speed autonomous modes
.max_auto_climb_rate = SETTING_NAV_AUTO_CLIMB_RATE_DEFAULT, // 5 m/s
.max_manual_speed = SETTING_NAV_MANUAL_SPEED_DEFAULT,
.max_manual_climb_rate = SETTING_NAV_MANUAL_CLIMB_RATE_DEFAULT,
@ -3003,7 +3004,7 @@ float getActiveWaypointSpeed(void)
return navConfig()->general.max_manual_speed;
}
else {
uint16_t waypointSpeed = navConfig()->general.max_auto_speed;
uint16_t waypointSpeed = navConfig()->general.auto_speed;
if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP) {
if (posControl.waypointCount > 0 && (posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_WAYPOINT || posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME || posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_LAND)) {
@ -3015,6 +3016,8 @@ float getActiveWaypointSpeed(void)
if (wpSpecificSpeed >= 50.0f && wpSpecificSpeed <= navConfig()->general.max_auto_speed) {
waypointSpeed = wpSpecificSpeed;
} else if (wpSpecificSpeed > navConfig()->general.max_auto_speed) {
waypointSpeed = navConfig()->general.max_auto_speed;
}
}
}

3
src/main/navigation/navigation.h
View file

@ -205,7 +205,8 @@ typedef struct navConfig_s {
uint16_t waypoint_radius; // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
uint16_t waypoint_safe_distance; // Waypoint mission sanity check distance
bool waypoint_load_on_boot; // load waypoints automatically during boot
uint16_t max_auto_speed; // autonomous navigation speed cm/sec
uint16_t auto_speed; // autonomous navigation speed cm/sec
uint16_t max_auto_speed; // maximum allowed autonomous navigation speed cm/sec
uint16_t max_auto_climb_rate; // max vertical speed limitation cm/sec
uint16_t max_manual_speed; // manual velocity control max horizontal speed
uint16_t max_manual_climb_rate; // manual velocity control max vertical speed