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Merge branch 'master' into MrD_Wank-to-Wake-launch-idle

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This commit is contained in:
Darren Lines 2024-01-24 19:33:01 +00:00
commit 76f2bfac54
542 changed files with 13853 additions and 4835 deletions
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23
src/main/navigation/navigation_fw_launch.c
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@ -247,19 +247,12 @@ static void setCurrentState(fixedWingLaunchState_t nextState, timeUs_t currentTi
/* Wing control Helpers */
static bool isThrottleIdleEnabled(void)
{
return currentBatteryProfile->nav.fw.launch_idle_throttle > getThrottleIdleValue();
}
static void applyThrottleIdleLogic(bool forceMixerIdle)
{
if (isThrottleIdleEnabled() && !forceMixerIdle) {
rcCommand[THROTTLE] = currentBatteryProfile->nav.fw.launch_idle_throttle;
}
else {
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE); // If MOTOR_STOP is enabled mixer will keep motor stopped
rcCommand[THROTTLE] = getThrottleIdleValue(); // If MOTOR_STOP is disabled, motors will spin given throttle value
if (forceMixerIdle) {
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE); // If MOTOR_STOP is enabled mixer will keep motor stopped, otherwise motor will run at idle
} else {
rcCommand[THROTTLE] = setDesiredThrottle(currentBatteryProfile->nav.fw.launch_idle_throttle, true);
}
}
@ -344,7 +337,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs
UNUSED(currentTimeUs);
if (!throttleStickIsLow()) {
if (isThrottleIdleEnabled()) {
if (currentBatteryProfile->nav.fw.launch_idle_throttle > getThrottleIdleValue()) {
return FW_LAUNCH_EVENT_SUCCESS;
}
else {
@ -478,7 +471,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_SPINUP(timeUs_
const timeMs_t elapsedTimeMs = currentStateElapsedMs(currentTimeUs);
const uint16_t motorSpinUpMs = navConfig()->fw.launch_motor_spinup_time;
const uint16_t launchThrottle = constrain(currentBatteryProfile->nav.fw.launch_throttle, getThrottleIdleValue(), motorConfig()->maxthrottle);
const uint16_t launchThrottle = setDesiredThrottle(currentBatteryProfile->nav.fw.launch_throttle, false);
if (elapsedTimeMs > motorSpinUpMs) {
rcCommand[THROTTLE] = launchThrottle;
@ -512,7 +505,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IN_PROGRESS(timeUs_t
}
} else {
initialTime = navConfig()->fw.launch_motor_timer + navConfig()->fw.launch_motor_spinup_time;
rcCommand[THROTTLE] = constrain(currentBatteryProfile->nav.fw.launch_throttle, getThrottleIdleValue(), motorConfig()->maxthrottle);
rcCommand[THROTTLE] = setDesiredThrottle(currentBatteryProfile->nav.fw.launch_throttle, false);
}
if (isLaunchMaxAltitudeReached()) {
@ -542,7 +535,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_FINISH(timeUs_t curr
// Make a smooth transition from the launch state to the current state for pitch angle
// Do the same for throttle when manual launch throttle isn't used
if (!navConfig()->fw.launch_manual_throttle) {
const uint16_t launchThrottle = constrain(currentBatteryProfile->nav.fw.launch_throttle, getThrottleIdleValue(), motorConfig()->maxthrottle);
const uint16_t launchThrottle = setDesiredThrottle(currentBatteryProfile->nav.fw.launch_throttle, false);
rcCommand[THROTTLE] = scaleRangef(elapsedTimeMs, 0.0f, endTimeMs, launchThrottle, rcCommand[THROTTLE]);
}
fwLaunch.pitchAngle = scaleRangef(elapsedTimeMs, 0.0f, endTimeMs, navConfig()->fw.launch_climb_angle, rcCommand[PITCH]);