mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-25 17:25:18 +03:00
Added controlrateConfig parameter group
This commit is contained in:
Martin Budden
parent
20a4913bb0
commit
9b2750526c
20 changed files with 200 additions and 132 deletions
7
Makefile
7
Makefile
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@ -471,7 +471,6 @@ COMMON_SRC = \
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build/assert.c \
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$(TARGET_DIR_SRC) \
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main.c \
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fc/mw.c \
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common/encoding.c \
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common/filter.c \
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common/maths.c \
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@ -482,8 +481,6 @@ COMMON_SRC = \
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config/config_eeprom.c \
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config/config_streamer.c \
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config/parameter_group.c \
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fc/config.c \
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fc/runtime_config.c \
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drivers/logging.c \
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drivers/adc.c \
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drivers/buf_writer.c \
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@ -516,12 +513,16 @@ COMMON_SRC = \
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flight/mixer.c \
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flight/servos.c \
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flight/pid.c \
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fc/config.c \
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fc/controlrate_profile.c \
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fc/fc_init.c \
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fc/fc_tasks.c \
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fc/fc_hardfaults.c \
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fc/fc_msp.c \
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fc/mw.c \
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fc/rc_controls.c \
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fc/rc_curves.c \
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fc/runtime_config.c \
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fc/serial_cli.c \
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io/beeper.c \
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io/serial.c \
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@ -53,6 +53,7 @@
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#include "sensors/battery.h"
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#include "fc/config.h"
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#include "fc/controlrate_profile.h"
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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@ -36,15 +36,18 @@
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#include "cms/cms_menu_imu.h"
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#include "common/axis.h"
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#include "io/gimbal.h"
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#include "flight/pid.h"
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#include "flight/mixer.h"
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#include "flight/servos.h"
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#include "fc/config.h"
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#include "fc/controlrate_profile.h"
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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#include "io/gimbal.h"
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#include "sensors/gyro.h"
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#include "config/config_profile.h"
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@ -295,7 +298,7 @@ static uint16_t cmsx_rateYaw;
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static long cmsx_RateProfileRead(void)
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{
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memcpy(&rateProfile, &masterConfig.controlRateProfiles[rateProfileIndex], sizeof(controlRateConfig_t));
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memcpy(&rateProfile, controlRateProfiles(rateProfileIndex), sizeof(controlRateConfig_t));
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cmsx_rateRoll = DEKADEGREES_TO_DEGREES(rateProfile.rates[FD_ROLL]);
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cmsx_ratePitch = DEKADEGREES_TO_DEGREES(rateProfile.rates[FD_PITCH]);
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@ -312,7 +315,7 @@ static long cmsx_RateProfileWriteback(const OSD_Entry *self)
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rateProfile.rates[FD_PITCH] = DEGREES_TO_DEKADEGREES(cmsx_ratePitch);
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rateProfile.rates[FD_YAW] = DEGREES_TO_DEKADEGREES(cmsx_rateYaw);
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memcpy(&masterConfig.controlRateProfiles[rateProfileIndex], &rateProfile, sizeof(controlRateConfig_t));
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memcpy((controlRateConfig_t *)controlRateProfiles(rateProfileIndex), &rateProfile, sizeof(controlRateConfig_t));
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return 0;
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}
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@ -329,6 +332,8 @@ static OSD_Entry cmsx_menuRateProfileEntries[] =
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{
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{ "-- RATE --", OME_Label, NULL, rateProfileIndexString, 0 },
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//!!TODO - fix up CMS menu entries to use parameter groups
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/*
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#if 0
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{ "RC RATE", OME_FLOAT, NULL, &(OSD_FLOAT_t){ &rateProfile.rcRate8, 0, 255, 1, 10 }, 0 },
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{ "RC YAW RATE", OME_FLOAT, NULL, &(OSD_FLOAT_t){ &rateProfile.rcYawRate8, 0, 255, 1, 10 }, 0 },
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@ -346,7 +351,7 @@ static OSD_Entry cmsx_menuRateProfileEntries[] =
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{ "THRPID ATT", OME_UINT8, NULL, &(OSD_UINT8_t){ &rateProfile.dynThrPID, 0, 100, 1 }, 0 },
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{ "TPA BRKPT", OME_UINT16, NULL, &(OSD_UINT16_t){ &rateProfile.tpa_breakpoint, 1000, 2000, 10}, 0 },
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*/
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{ "BACK", OME_Back, NULL, NULL, 0 },
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{ NULL, OME_END, NULL, NULL, 0 }
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};
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@ -145,7 +145,6 @@ typedef struct master_s {
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profile_t profile[MAX_PROFILE_COUNT];
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uint8_t current_profile_index;
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controlRateConfig_t controlRateProfiles[MAX_CONTROL_RATE_PROFILE_COUNT];
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uint32_t beeper_off_flags;
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uint32_t preferred_beeper_off_flags;
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@ -162,6 +161,5 @@ typedef struct master_s {
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extern master_t masterConfig;
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extern profile_t *currentProfile;
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extern controlRateConfig_t *currentControlRateProfile;
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void createDefaultConfig(master_t *config);
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@ -17,6 +17,8 @@
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#pragma once
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#include <string.h>
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#ifndef __UNIQL
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# define __UNIQL_CONCAT2(x,y) x ## y
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# define __UNIQL_CONCAT(x,y) __UNIQL_CONCAT2(x,y)
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@ -27,7 +27,7 @@
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//#define PG_SENSOR_TRIMS 9 -- NOT USED in iNav
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#define PG_GYRO_CONFIG 10
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#define PG_BATTERY_CONFIG 11
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//#define PG_CONTROL_RATE_PROFILES 12
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#define PG_CONTROL_RATE_PROFILES 12
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//#define PG_SERIAL_CONFIG 13
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//#define PG_PID_PROFILE 14
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//#define PG_GTUNE_CONFIG 15
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@ -45,8 +45,6 @@
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#include "io/beeper.h"
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#include "io/serial.h"
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#include "io/gimbal.h"
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#include "fc/rc_controls.h"
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#include "fc/rc_curves.h"
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#include "io/ledstrip.h"
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#include "io/gps.h"
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#include "io/osd.h"
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@ -64,6 +62,9 @@
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#include "flight/navigation_rewrite.h"
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#include "fc/config.h"
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#include "fc/controlrate_profile.h"
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#include "fc/rc_controls.h"
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#include "fc/rc_curves.h"
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#include "fc/runtime_config.h"
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#include "config/config_eeprom.h"
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@ -84,9 +85,6 @@
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master_t masterConfig; // master config struct with data independent from profiles
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profile_t *currentProfile;
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static uint8_t currentControlRateProfileIndex = 0;
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controlRateConfig_t *currentControlRateProfile;
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void resetPidProfile(pidProfile_t *pidProfile)
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{
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pidProfile->P8[ROLL] = 40;
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@ -280,24 +278,6 @@ void resetSerialConfig(serialConfig_t *serialConfig)
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serialConfig->reboot_character = 'R';
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}
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static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
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{
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controlRateConfig->rcExpo8 = 70;
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controlRateConfig->thrMid8 = 50;
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controlRateConfig->thrExpo8 = 0;
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controlRateConfig->dynThrPID = 0;
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controlRateConfig->rcYawExpo8 = 20;
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controlRateConfig->tpa_breakpoint = 1500;
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for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
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if (axis == FD_YAW) {
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controlRateConfig->rates[axis] = CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT;
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} else {
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controlRateConfig->rates[axis] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT;
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}
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}
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}
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void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
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{
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@ -429,8 +409,6 @@ void createDefaultConfig(master_t *config)
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resetPidProfile(&config->profile[0].pidProfile);
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resetControlRateConfig(&config->controlRateProfiles[0]);
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// for (int i = 0; i < CHECKBOXITEMS; i++)
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// cfg.activate[i] = 0;
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@ -558,11 +536,6 @@ void createDefaultConfig(master_t *config)
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memcpy(&config->profile[i], &config->profile[0], sizeof(profile_t));
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}
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// copy first control rate config into remaining profile
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for (int i = 1; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) {
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memcpy(&config->controlRateProfiles[i], &config->controlRateProfiles[0], sizeof(controlRateConfig_t));
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}
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for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
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config->profile[i].defaultRateProfileIndex = i % MAX_CONTROL_RATE_PROFILE_COUNT;
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}
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@ -582,11 +555,6 @@ void resetConfigs(void)
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#endif
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}
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static void activateControlRateConfig(void)
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{
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generateThrottleCurve(currentControlRateProfile);
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}
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static void activateConfig(void)
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{
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activateControlRateConfig();
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@ -926,26 +894,6 @@ void changeProfile(uint8_t profileIndex)
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beeperConfirmationBeeps(profileIndex + 1);
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}
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uint8_t getCurrentControlRateProfile(void)
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{
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return currentControlRateProfileIndex;
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}
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void setControlRateProfile(uint8_t profileIndex)
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{
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currentControlRateProfileIndex = profileIndex;
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currentControlRateProfile = &masterConfig.controlRateProfiles[profileIndex];
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}
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void changeControlRateProfile(uint8_t profileIndex)
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{
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if (profileIndex >= MAX_CONTROL_RATE_PROFILE_COUNT) {
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profileIndex = MAX_CONTROL_RATE_PROFILE_COUNT - 1;
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}
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setControlRateProfile(profileIndex);
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activateControlRateConfig();
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}
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void persistentFlagClearAll()
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{
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masterConfig.persistentFlags = 0;
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@ -21,7 +21,6 @@
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#include <stdbool.h>
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#define MAX_PROFILE_COUNT 3
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#define MAX_CONTROL_RATE_PROFILE_COUNT 3
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#define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500
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#define MAX_NAME_LENGTH 16
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@ -99,10 +98,6 @@ void changeProfile(uint8_t profileIndex);
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struct pidProfile_s;
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void resetPidProfile(struct pidProfile_s *pidProfile);
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void setControlRateProfile(uint8_t profileIndex);
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void changeControlRateProfile(uint8_t profileIndex);
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uint8_t getCurrentControlRateProfile(void);
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bool canSoftwareSerialBeUsed(void);
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void applyAndSaveBoardAlignmentDelta(int16_t roll, int16_t pitch);
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78
src/main/fc/controlrate_profile.c
Normal file
78
src/main/fc/controlrate_profile.c
Normal file
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@ -0,0 +1,78 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include "platform.h"
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#include "common/axis.h"
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#include "config/config_reset.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "fc/controlrate_profile.h"
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#include "fc/rc_curves.h"
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static uint8_t currentControlRateProfileIndex = 0;
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const controlRateConfig_t *currentControlRateProfile;
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PG_REGISTER_ARR_WITH_RESET_FN(const controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 0);
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void pgResetFn_controlRateProfiles(const controlRateConfig_t *instance)
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{
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for (int i = 0; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) {
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RESET_CONFIG(const controlRateConfig_t, ((controlRateConfig_t*)&instance[i]),
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.rcExpo8 = 70,
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.thrMid8 = 50,
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.thrExpo8 = 0,
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.dynThrPID = 0,
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.rcYawExpo8 = 20,
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.tpa_breakpoint = 1500,
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.rates[FD_ROLL] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT,
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.rates[FD_PITCH] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT,
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.rates[FD_YAW] = CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT
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);
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}
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}
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uint8_t getCurrentControlRateProfile(void)
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{
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return currentControlRateProfileIndex;
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}
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void setControlRateProfile(uint8_t profileIndex)
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{
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currentControlRateProfileIndex = profileIndex;
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currentControlRateProfile = controlRateProfiles(profileIndex);
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}
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void activateControlRateConfig(void)
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{
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generateThrottleCurve(currentControlRateProfile);
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}
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void changeControlRateProfile(uint8_t profileIndex)
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{
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if (profileIndex >= MAX_CONTROL_RATE_PROFILE_COUNT) {
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profileIndex = MAX_CONTROL_RATE_PROFILE_COUNT - 1;
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}
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setControlRateProfile(profileIndex);
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activateControlRateConfig();
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}
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60
src/main/fc/controlrate_profile.h
Normal file
60
src/main/fc/controlrate_profile.h
Normal file
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@ -0,0 +1,60 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
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* the Free Software Foundation, either version 3 of the License, or
|
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
|
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*
|
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* You should have received a copy of the GNU General Public License
|
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stdint.h>
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#include "config/parameter_group.h"
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#define MAX_CONTROL_RATE_PROFILE_COUNT 3
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/*
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Max and min available values for rates are now stored as absolute
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tenths of degrees-per-second [dsp/10]
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That means, max. rotation rate 180 equals 1800dps
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New defaults of 200dps for pitch,roll and yaw are more less
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equivalent of rates 0 from previous versions of iNav, Cleanflight, Baseflight
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and so on.
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*/
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#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX 180
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#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN 6
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#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT 20
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#define CONTROL_RATE_CONFIG_YAW_RATE_MAX 180
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#define CONTROL_RATE_CONFIG_YAW_RATE_MIN 2
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#define CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT 20
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#define CONTROL_RATE_CONFIG_TPA_MAX 100
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typedef struct controlRateConfig_s {
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uint16_t tpa_breakpoint; // Breakpoint where TPA is activated
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uint8_t rcExpo8;
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uint8_t thrMid8;
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uint8_t thrExpo8;
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uint8_t rates[3];
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uint8_t dynThrPID;
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uint8_t rcYawExpo8;
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} controlRateConfig_t;
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PG_DECLARE_ARR(const controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
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extern const controlRateConfig_t *currentControlRateProfile;
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void setControlRateProfile(uint8_t profileIndex);
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void changeControlRateProfile(uint8_t profileIndex);
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void activateControlRateConfig(void);
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uint8_t getCurrentControlRateProfile(void);
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@ -43,6 +43,7 @@
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#include "drivers/system.h"
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#include "fc/config.h"
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#include "fc/controlrate_profile.h"
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#include "fc/fc_msp.h"
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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@ -1349,23 +1350,24 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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case MSP_SET_RC_TUNING:
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if (dataSize >= 10) {
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sbufReadU8(src); //Read rcRate8, kept for protocol compatibility reasons
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currentControlRateProfile->rcExpo8 = sbufReadU8(src);
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// need to cast away const to set controlRateProfile
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((controlRateConfig_t*)currentControlRateProfile)->rcExpo8 = sbufReadU8(src);
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for (int i = 0; i < 3; i++) {
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rate = sbufReadU8(src);
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if (i == FD_YAW) {
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currentControlRateProfile->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
|
||||
((controlRateConfig_t*)currentControlRateProfile)->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
|
||||
}
|
||||
else {
|
||||
currentControlRateProfile->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
|
||||
((controlRateConfig_t*)currentControlRateProfile)->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
|
||||
}
|
||||
}
|
||||
rate = sbufReadU8(src);
|
||||
currentControlRateProfile->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);
|
||||
currentControlRateProfile->thrMid8 = sbufReadU8(src);
|
||||
currentControlRateProfile->thrExpo8 = sbufReadU8(src);
|
||||
currentControlRateProfile->tpa_breakpoint = sbufReadU16(src);
|
||||
((controlRateConfig_t*)currentControlRateProfile)->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);
|
||||
((controlRateConfig_t*)currentControlRateProfile)->thrMid8 = sbufReadU8(src);
|
||||
((controlRateConfig_t*)currentControlRateProfile)->thrExpo8 = sbufReadU8(src);
|
||||
((controlRateConfig_t*)currentControlRateProfile)->tpa_breakpoint = sbufReadU16(src);
|
||||
if (dataSize >= 11) {
|
||||
currentControlRateProfile->rcYawExpo8 = sbufReadU8(src);
|
||||
((controlRateConfig_t*)currentControlRateProfile)->rcYawExpo8 = sbufReadU8(src);
|
||||
}
|
||||
|
||||
schedulePidGainsUpdate();
|
||||
|
|
|
|||
|
|
@ -46,6 +46,7 @@
|
|||
#include "sensors/battery.h"
|
||||
|
||||
#include "fc/config.h"
|
||||
#include "fc/controlrate_profile.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/rc_curves.h"
|
||||
#include "fc/runtime_config.h"
|
||||
|
|
|
|||
|
|
@ -34,6 +34,7 @@
|
|||
#include "drivers/system.h"
|
||||
|
||||
#include "fc/config.h"
|
||||
#include "fc/controlrate_profile.h"
|
||||
#include "fc/mw.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/rc_curves.h"
|
||||
|
|
@ -502,7 +503,7 @@ void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adj
|
|||
MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
|
||||
}
|
||||
|
||||
void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
|
||||
static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
|
||||
int newValue;
|
||||
|
||||
if (delta > 0) {
|
||||
|
|
@ -638,7 +639,7 @@ void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
|
|||
|
||||
#define RESET_FREQUENCY_2HZ (1000 / 2)
|
||||
|
||||
void processRcAdjustments(controlRateConfig_t *controlRateConfig)
|
||||
void processRcAdjustments(const controlRateConfig_t *controlRateConfig)
|
||||
{
|
||||
uint8_t adjustmentIndex;
|
||||
uint32_t now = millis();
|
||||
|
|
@ -687,7 +688,8 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig)
|
|||
continue;
|
||||
}
|
||||
|
||||
applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
|
||||
// it is legitimate to adjust an otherwise const item here
|
||||
applyStepAdjustment((controlRateConfig_t*)controlRateConfig, adjustmentFunction, delta);
|
||||
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
|
||||
uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
|
||||
uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
|
||||
|
|
|
|||
|
|
@ -103,23 +103,6 @@ typedef enum {
|
|||
#define MIN_MODE_RANGE_STEP 0
|
||||
#define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)
|
||||
|
||||
/*
|
||||
Max and min available values for rates are now stored as absolute
|
||||
tenths of degrees-per-second [dsp/10]
|
||||
That means, max. rotation rate 180 equals 1800dps
|
||||
|
||||
New defaults of 200dps for pitch,roll and yaw are more less
|
||||
equivalent of rates 0 from previous versions of iNav, Cleanflight, Baseflight
|
||||
and so on.
|
||||
*/
|
||||
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX 180
|
||||
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN 6
|
||||
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT 20
|
||||
#define CONTROL_RATE_CONFIG_YAW_RATE_MAX 180
|
||||
#define CONTROL_RATE_CONFIG_YAW_RATE_MIN 2
|
||||
#define CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT 20
|
||||
|
||||
#define CONTROL_RATE_CONFIG_TPA_MAX 100
|
||||
|
||||
// steps are 25 apart
|
||||
// a value of 0 corresponds to a channel value of 900 or less
|
||||
|
|
@ -143,16 +126,6 @@ typedef enum {
|
|||
MODE_OPERATOR_AND
|
||||
} modeActivationOperator_e;
|
||||
|
||||
typedef struct controlRateConfig_s {
|
||||
uint8_t rcExpo8;
|
||||
uint8_t thrMid8;
|
||||
uint8_t thrExpo8;
|
||||
uint8_t rates[3];
|
||||
uint8_t dynThrPID;
|
||||
uint8_t rcYawExpo8;
|
||||
uint16_t tpa_breakpoint; // Breakpoint where TPA is activated
|
||||
} controlRateConfig_t;
|
||||
|
||||
extern int16_t rcCommand[4];
|
||||
|
||||
typedef struct rcControlsConfig_s {
|
||||
|
|
@ -260,7 +233,8 @@ typedef struct adjustmentState_s {
|
|||
void resetAdjustmentStates(void);
|
||||
void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);
|
||||
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
|
||||
void processRcAdjustments(controlRateConfig_t *controlRateConfig);
|
||||
struct controlRateConfig_s;
|
||||
void processRcAdjustments(const struct controlRateConfig_s *controlRateConfig);
|
||||
|
||||
bool isUsingSticksForArming(void);
|
||||
bool isUsingNavigationModes(void);
|
||||
|
|
|
|||
|
|
@ -20,12 +20,14 @@
|
|||
|
||||
#include "platform.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
#include "fc/controlrate_profile.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/rc_curves.h"
|
||||
|
||||
#include "flight/mixer.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
|
||||
|
||||
#define PITCH_LOOKUP_LENGTH 7
|
||||
#define YAW_LOOKUP_LENGTH 7
|
||||
|
|
@ -34,7 +36,7 @@
|
|||
static int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
|
||||
int16_t lookupThrottleRCMid; // THROTTLE curve mid point
|
||||
|
||||
void generateThrottleCurve(controlRateConfig_t *controlRateConfig)
|
||||
void generateThrottleCurve(const controlRateConfig_t *controlRateConfig)
|
||||
{
|
||||
lookupThrottleRCMid = motorConfig()->minthrottle + (int32_t)(motorConfig()->maxthrottle - motorConfig()->minthrottle) * controlRateConfig->thrMid8 / 100; // [MINTHROTTLE;MAXTHROTTLE]
|
||||
|
||||
|
|
|
|||
|
|
@ -18,7 +18,7 @@
|
|||
#pragma once
|
||||
|
||||
struct controlRateConfig_s;
|
||||
void generateThrottleCurve(struct controlRateConfig_s *controlRateConfig);
|
||||
void generateThrottleCurve(const struct controlRateConfig_s *controlRateConfig);
|
||||
|
||||
int16_t rcLookup(int32_t stickDeflection, uint8_t expo);
|
||||
int16_t rcLookupThrottle(int32_t tmp);
|
||||
|
|
|
|||
|
|
@ -66,6 +66,7 @@ uint8_t cliMode = 0;
|
|||
#include "drivers/timer.h"
|
||||
|
||||
#include "fc/config.h"
|
||||
#include "fc/controlrate_profile.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/runtime_config.h"
|
||||
#include "fc/serial_cli.h"
|
||||
|
|
@ -623,6 +624,21 @@ static const clivalue_t valueTable[] = {
|
|||
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_SERVO_CONFIG, offsetof(servoConfig_t, servoCenterPulse) },
|
||||
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 50, 498 }, PG_SERVO_CONFIG, offsetof(servoConfig_t, servoPwmRate) },
|
||||
#endif
|
||||
|
||||
// PG_CONTROLRATE_PROFILE
|
||||
{ "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcExpo8) },
|
||||
{ "rc_yaw_expo", VAR_UINT8 | CONTROL_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcYawExpo8) },
|
||||
{ "thr_mid", VAR_UINT8 | CONTROL_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrMid8) },
|
||||
{ "thr_expo", VAR_UINT8 | CONTROL_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrExpo8) },
|
||||
|
||||
// New rates are in dps/10. That means, Rate of 20 means 200dps of rotation speed on given axis.
|
||||
// Rate 180 (1800dps) is max. value gyro can measure reliably
|
||||
{ "roll_rate", VAR_UINT8 | CONTROL_RATE_VALUE, .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_ROLL]) },
|
||||
{ "pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_PITCH]) },
|
||||
{ "yaw_rate", VAR_UINT8 | CONTROL_RATE_VALUE, .config.minmax = { CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_YAW]) },
|
||||
|
||||
{ "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, dynThrPID) },
|
||||
{ "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX}, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpa_breakpoint) },
|
||||
};
|
||||
|
||||
#else
|
||||
|
|
@ -783,22 +799,6 @@ const clivalue_t valueTable[] = {
|
|||
|
||||
{ "mode_range_logic_operator", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.modeActivationOperator, .config.lookup = { TABLE_AUX_OPERATOR } },
|
||||
{ "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, .config.minmax = { 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 } },
|
||||
{ "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, .config.minmax = { 0, 100 } },
|
||||
{ "rc_yaw_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcYawExpo8, .config.minmax = { 0, 100 } },
|
||||
{ "thr_mid", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrMid8, .config.minmax = { 0, 100 } },
|
||||
{ "thr_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrExpo8, .config.minmax = { 0, 100 } },
|
||||
|
||||
/*
|
||||
New rates are in dps/10. That means, Rate of 20 means 200dps of rotation speed on given axis.
|
||||
Rate 180 (1800dps) is max. value gyro can measure reliably
|
||||
*/
|
||||
{ "roll_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_ROLL], .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, },
|
||||
{ "pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, },
|
||||
{ "yaw_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_YAW], .config.minmax = { CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX }, },
|
||||
|
||||
{ "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, },
|
||||
{ "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX}, },
|
||||
|
||||
|
||||
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0, 200 }, },
|
||||
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0, 200 }, },
|
||||
|
|
|
|||
|
|
@ -42,6 +42,7 @@
|
|||
#include "flight/navigation_rewrite_private.h"
|
||||
|
||||
#include "fc/config.h"
|
||||
#include "fc/controlrate_profile.h"
|
||||
#include "fc/runtime_config.h"
|
||||
|
||||
// If we are going slower than NAV_FW_MIN_VEL_SPEED_BOOST - boost throttle to fight against the wind
|
||||
|
|
@ -55,10 +56,6 @@ static bool isPitchAdjustmentValid = false;
|
|||
static bool isRollAdjustmentValid = false;
|
||||
static float throttleSpeedAdjustment = 0;
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Backdoor to MW
|
||||
*-----------------------------------------------------------*/
|
||||
extern controlRateConfig_t *currentControlRateProfile;
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Altitude controller
|
||||
|
|
|
|||
|
|
@ -31,6 +31,7 @@
|
|||
#include "config/config_master.h"
|
||||
|
||||
#include "fc/config.h"
|
||||
#include "fc/controlrate_profile.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/runtime_config.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -38,6 +38,7 @@
|
|||
#include "common/typeconversion.h"
|
||||
|
||||
#include "fc/config.h"
|
||||
#include "fc/controlrate_profile.h"
|
||||
#include "fc/runtime_config.h"
|
||||
#include "fc/rc_controls.h"
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue