mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-23 00:05:28 +03:00
MSP override feature (#4704)
This commit is contained in:
Michel Pastor
GitHub
parent
85631d2477
commit
9e51b387fe
13 changed files with 465 additions and 109 deletions
|
|
@ -102,11 +102,13 @@ COMMON_SRC = \
|
|||
io/rcdevice.c \
|
||||
io/rcdevice_cam.c \
|
||||
msp/msp_serial.c \
|
||||
rx/crsf.c \
|
||||
rx/eleres.c \
|
||||
rx/fport.c \
|
||||
rx/ibus.c \
|
||||
rx/jetiexbus.c \
|
||||
rx/msp.c \
|
||||
rx/uib_rx.c \
|
||||
rx/msp_override.c \
|
||||
rx/nrf24_cx10.c \
|
||||
rx/nrf24_inav.c \
|
||||
rx/nrf24_h8_3d.c \
|
||||
|
|
@ -115,14 +117,13 @@ COMMON_SRC = \
|
|||
rx/pwm.c \
|
||||
rx/rx.c \
|
||||
rx/rx_spi.c \
|
||||
rx/crsf.c \
|
||||
rx/sbus.c \
|
||||
rx/sbus_channels.c \
|
||||
rx/spektrum.c \
|
||||
rx/sumd.c \
|
||||
rx/sumh.c \
|
||||
rx/uib_rx.c \
|
||||
rx/xbus.c \
|
||||
rx/eleres.c \
|
||||
scheduler/scheduler.c \
|
||||
sensors/acceleration.c \
|
||||
sensors/battery.c \
|
||||
|
|
|
|||
|
|
@ -65,6 +65,7 @@
|
|||
#include "navigation/navigation.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
#include "rx/msp_override.h"
|
||||
|
||||
#include "sensors/diagnostics.h"
|
||||
#include "sensors/acceleration.h"
|
||||
|
|
@ -363,6 +364,9 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
|
|||
{"wind", 0, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
|
||||
{"wind", 1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
|
||||
{"wind", 2, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
{"mspOverrideFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
|
||||
#endif
|
||||
{"IMUTemperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
|
||||
#ifdef USE_BARO
|
||||
{"baroTemperature", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
|
||||
|
|
@ -475,6 +479,9 @@ typedef struct blackboxSlowState_s {
|
|||
uint16_t powerSupplyImpedance;
|
||||
uint16_t sagCompensatedVBat;
|
||||
int16_t wind[XYZ_AXIS_COUNT];
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
uint16_t mspOverrideFlags;
|
||||
#endif
|
||||
int16_t imuTemperature;
|
||||
#ifdef USE_BARO
|
||||
int16_t baroTemperature;
|
||||
|
|
@ -1071,6 +1078,10 @@ static void writeSlowFrame(void)
|
|||
|
||||
blackboxWriteSigned16VBArray(slowHistory.wind, XYZ_AXIS_COUNT);
|
||||
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
blackboxWriteUnsignedVB(slowHistory.mspOverrideFlags);
|
||||
#endif
|
||||
|
||||
blackboxWriteSignedVB(slowHistory.imuTemperature);
|
||||
|
||||
#ifdef USE_BARO
|
||||
|
|
@ -1113,6 +1124,10 @@ static void loadSlowState(blackboxSlowState_t *slow)
|
|||
#endif
|
||||
}
|
||||
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
slow->mspOverrideFlags = (IS_RC_MODE_ACTIVE(BOXMSPRCOVERRIDE) ? 2 : 0) + (mspOverrideIsInFailsafe() ? 1 : 0);
|
||||
#endif
|
||||
|
||||
bool valid_temp;
|
||||
valid_temp = getIMUTemperature(&slow->imuTemperature);
|
||||
if (!valid_temp) slow->imuTemperature = TEMPERATURE_INVALID_VALUE;
|
||||
|
|
|
|||
|
|
@ -249,6 +249,10 @@ static const OSD_Entry menuOsdElemsEntries[] =
|
|||
OSD_ELEMENT_ENTRY("G-FORCE Y", OSD_GFORCE),
|
||||
OSD_ELEMENT_ENTRY("G-FORCE Z", OSD_GFORCE),
|
||||
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
OSD_ELEMENT_ENTRY("RC SOURCE", OSD_RC_SOURCE),
|
||||
#endif
|
||||
|
||||
OSD_ELEMENT_ENTRY("IMU TEMP", OSD_IMU_TEMPERATURE),
|
||||
#ifdef USE_BARO
|
||||
OSD_ELEMENT_ENTRY("BARO TEMP", OSD_BARO_TEMPERATURE),
|
||||
|
|
@ -268,7 +272,7 @@ static const OSD_Entry menuOsdElemsEntries[] =
|
|||
OSD_BACK_AND_END_ENTRY,
|
||||
};
|
||||
|
||||
#if defined(USE_GPS) && defined(USE_BARO) && defined(USE_PITOT) && defined(USE_TEMPERATURE_SENSOR)
|
||||
#if defined(USE_GPS) && defined(USE_BARO) && defined(USE_PITOT) && defined(USE_TEMPERATURE_SENSOR) && defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
// All CMS OSD elements should be enabled in this case. The menu has 2 extra
|
||||
// elements (label, back+end), but there's an OSD element that we intentionally
|
||||
// don't show here (OSD_DEBUG).
|
||||
|
|
|
|||
|
|
@ -85,6 +85,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
|
|||
{ BOXUSER1, "USER1", 47 },
|
||||
{ BOXUSER2, "USER2", 48 },
|
||||
{ BOXLOITERDIRCHN, "LOITER CHANGE", 49 },
|
||||
{ BOXMSPRCOVERRIDE, "MSP RC OVERRIDE", 50 },
|
||||
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
|
||||
};
|
||||
|
||||
|
|
@ -292,6 +293,10 @@ void initActiveBoxIds(void)
|
|||
#endif
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
activeBoxIds[activeBoxIdCount++] = BOXMSPRCOVERRIDE;
|
||||
#endif
|
||||
}
|
||||
|
||||
#define IS_ENABLED(mask) (mask == 0 ? 0 : 1)
|
||||
|
|
@ -305,49 +310,52 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
|
|||
// Serialize the flags in the order we delivered them, ignoring BOXNAMES and BOXINDEXES
|
||||
// Requires new Multiwii protocol version to fix
|
||||
// It would be preferable to setting the enabled bits based on BOXINDEX.
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)), BOXANGLE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)), BOXHORIZON);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HEADING_MODE)), BOXHEADINGHOLD);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)), BOXHEADFREE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHEADADJ)), BOXHEADADJ);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMSTAB)), BOXCAMSTAB);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX)), BOXFPVANGLEMIX);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(MANUAL_MODE)), BOXMANUAL);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBEEPERON)), BOXBEEPERON);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDLOW)), BOXLEDLOW);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLIGHTS)), BOXLIGHTS);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)), BOXOSD);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)), BOXTELEMETRY);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(ARMING_FLAG(ARMED)), BOXARM);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)), BOXBLACKBOX);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)), BOXFAILSAFE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_ALTHOLD_MODE)), BOXNAVALTHOLD);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_POSHOLD_MODE)), BOXNAVPOSHOLD);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_CRUISE_MODE)), BOXNAVCRUISE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_RTH_MODE)), BOXNAVRTH);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_WP_MODE)), BOXNAVWP);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)), BOXAIRMODE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGCSNAV)), BOXGCSNAV);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)), BOXANGLE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)), BOXHORIZON);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HEADING_MODE)), BOXHEADINGHOLD);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)), BOXHEADFREE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHEADADJ)), BOXHEADADJ);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMSTAB)), BOXCAMSTAB);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX)), BOXFPVANGLEMIX);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(MANUAL_MODE)), BOXMANUAL);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBEEPERON)), BOXBEEPERON);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDLOW)), BOXLEDLOW);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLIGHTS)), BOXLIGHTS);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)), BOXOSD);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)), BOXTELEMETRY);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(ARMING_FLAG(ARMED)), BOXARM);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)), BOXBLACKBOX);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)), BOXFAILSAFE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_ALTHOLD_MODE)), BOXNAVALTHOLD);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_POSHOLD_MODE)), BOXNAVPOSHOLD);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_CRUISE_MODE)), BOXNAVCRUISE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_RTH_MODE)), BOXNAVRTH);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_WP_MODE)), BOXNAVWP);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)), BOXAIRMODE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGCSNAV)), BOXGCSNAV);
|
||||
#ifdef USE_FLM_FLAPERON
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(FLAPERON)), BOXFLAPERON);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(FLAPERON)), BOXFLAPERON);
|
||||
#endif
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(TURN_ASSISTANT)), BOXTURNASSIST);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_LAUNCH_MODE)), BOXNAVLAUNCH);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(AUTO_TUNE)), BOXAUTOTUNE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAUTOTRIM)), BOXAUTOTRIM);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXKILLSWITCH)), BOXKILLSWITCH);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)), BOXHOMERESET);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA1)), BOXCAMERA1);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA2)), BOXCAMERA2);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA3)), BOXCAMERA3);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT1)), BOXOSDALT1);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT2)), BOXOSDALT2);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT3)), BOXOSDALT3);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(TURN_ASSISTANT)), BOXTURNASSIST);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_LAUNCH_MODE)), BOXNAVLAUNCH);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(AUTO_TUNE)), BOXAUTOTUNE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAUTOTRIM)), BOXAUTOTRIM);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXKILLSWITCH)), BOXKILLSWITCH);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)), BOXHOMERESET);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA1)), BOXCAMERA1);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA2)), BOXCAMERA2);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA3)), BOXCAMERA3);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT1)), BOXOSDALT1);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT2)), BOXOSDALT2);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSDALT3)), BOXOSDALT3);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(navigationTerrainFollowingEnabled()), BOXSURFACE);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBRAKING)), BOXBRAKING);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXUSER1)), BOXUSER1);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXUSER2)), BOXUSER2);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)),BOXLOITERDIRCHN);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBRAKING)), BOXBRAKING);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXUSER1)), BOXUSER1);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXUSER2)), BOXUSER2);
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)), BOXLOITERDIRCHN);
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXMSPRCOVERRIDE)), BOXMSPRCOVERRIDE);
|
||||
#endif
|
||||
|
||||
memset(mspBoxModeFlags, 0, sizeof(boxBitmask_t));
|
||||
for (uint32_t i = 0; i < activeBoxIdCount; i++) {
|
||||
|
|
|
|||
|
|
@ -26,47 +26,48 @@
|
|||
#define BOXID_NONE 255
|
||||
|
||||
typedef enum {
|
||||
BOXARM = 0,
|
||||
BOXANGLE = 1,
|
||||
BOXHORIZON = 2,
|
||||
BOXNAVALTHOLD = 3, // old BOXBARO
|
||||
BOXHEADINGHOLD = 4, // old MAG
|
||||
BOXHEADFREE = 5,
|
||||
BOXHEADADJ = 6,
|
||||
BOXCAMSTAB = 7,
|
||||
BOXNAVRTH = 8, // old GPSHOME
|
||||
BOXNAVPOSHOLD = 9, // old GPSHOLD
|
||||
BOXMANUAL = 10,
|
||||
BOXBEEPERON = 11,
|
||||
BOXLEDLOW = 12,
|
||||
BOXLIGHTS = 13,
|
||||
BOXNAVLAUNCH = 14,
|
||||
BOXOSD = 15,
|
||||
BOXTELEMETRY = 16,
|
||||
BOXBLACKBOX = 17,
|
||||
BOXFAILSAFE = 18,
|
||||
BOXNAVWP = 19,
|
||||
BOXAIRMODE = 20,
|
||||
BOXHOMERESET = 21,
|
||||
BOXGCSNAV = 22,
|
||||
BOXKILLSWITCH = 23, // old HEADING LOCK
|
||||
BOXSURFACE = 24,
|
||||
BOXFLAPERON = 25,
|
||||
BOXTURNASSIST = 26,
|
||||
BOXAUTOTRIM = 27,
|
||||
BOXAUTOTUNE = 28,
|
||||
BOXCAMERA1 = 29,
|
||||
BOXCAMERA2 = 30,
|
||||
BOXCAMERA3 = 31,
|
||||
BOXOSDALT1 = 32,
|
||||
BOXOSDALT2 = 33,
|
||||
BOXOSDALT3 = 34,
|
||||
BOXNAVCRUISE = 35,
|
||||
BOXBRAKING = 36,
|
||||
BOXUSER1 = 37,
|
||||
BOXUSER2 = 38,
|
||||
BOXFPVANGLEMIX = 39,
|
||||
BOXLOITERDIRCHN = 40,
|
||||
BOXARM = 0,
|
||||
BOXANGLE = 1,
|
||||
BOXHORIZON = 2,
|
||||
BOXNAVALTHOLD = 3, // old BOXBARO
|
||||
BOXHEADINGHOLD = 4, // old MAG
|
||||
BOXHEADFREE = 5,
|
||||
BOXHEADADJ = 6,
|
||||
BOXCAMSTAB = 7,
|
||||
BOXNAVRTH = 8, // old GPSHOME
|
||||
BOXNAVPOSHOLD = 9, // old GPSHOLD
|
||||
BOXMANUAL = 10,
|
||||
BOXBEEPERON = 11,
|
||||
BOXLEDLOW = 12,
|
||||
BOXLIGHTS = 13,
|
||||
BOXNAVLAUNCH = 14,
|
||||
BOXOSD = 15,
|
||||
BOXTELEMETRY = 16,
|
||||
BOXBLACKBOX = 17,
|
||||
BOXFAILSAFE = 18,
|
||||
BOXNAVWP = 19,
|
||||
BOXAIRMODE = 20,
|
||||
BOXHOMERESET = 21,
|
||||
BOXGCSNAV = 22,
|
||||
BOXKILLSWITCH = 23, // old HEADING LOCK
|
||||
BOXSURFACE = 24,
|
||||
BOXFLAPERON = 25,
|
||||
BOXTURNASSIST = 26,
|
||||
BOXAUTOTRIM = 27,
|
||||
BOXAUTOTUNE = 28,
|
||||
BOXCAMERA1 = 29,
|
||||
BOXCAMERA2 = 30,
|
||||
BOXCAMERA3 = 31,
|
||||
BOXOSDALT1 = 32,
|
||||
BOXOSDALT2 = 33,
|
||||
BOXOSDALT3 = 34,
|
||||
BOXNAVCRUISE = 35,
|
||||
BOXBRAKING = 36,
|
||||
BOXUSER1 = 37,
|
||||
BOXUSER2 = 38,
|
||||
BOXFPVANGLEMIX = 39,
|
||||
BOXLOITERDIRCHN = 40,
|
||||
BOXMSPRCOVERRIDE = 41,
|
||||
CHECKBOX_ITEM_COUNT
|
||||
} boxId_e;
|
||||
|
||||
|
|
|
|||
|
|
@ -416,6 +416,11 @@ groups:
|
|||
- name: serialrx_halfduplex
|
||||
field: halfDuplex
|
||||
type: bool
|
||||
- name: msp_override_channels
|
||||
field: mspOverrideChannels
|
||||
condition: USE_MSP_RC_OVERRIDE
|
||||
min: 0
|
||||
max: 65535
|
||||
|
||||
- name: PG_BLACKBOX_CONFIG
|
||||
type: blackboxConfig_t
|
||||
|
|
|
|||
|
|
@ -83,6 +83,7 @@
|
|||
#include "navigation/navigation_private.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
#include "rx/msp_override.h"
|
||||
|
||||
#include "sensors/acceleration.h"
|
||||
#include "sensors/battery.h"
|
||||
|
|
@ -2505,6 +2506,16 @@ static bool osdDrawSingleElement(uint8_t item)
|
|||
return true;
|
||||
}
|
||||
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
case OSD_RC_SOURCE:
|
||||
{
|
||||
const char *source_text = IS_RC_MODE_ACTIVE(BOXMSPRCOVERRIDE) && !mspOverrideIsInFailsafe() ? "MSP" : "STD";
|
||||
if (IS_RC_MODE_ACTIVE(BOXMSPRCOVERRIDE) && mspOverrideIsInFailsafe()) TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
|
||||
displayWriteWithAttr(osdDisplayPort, elemPosX, elemPosY, source_text, elemAttr);
|
||||
return true;
|
||||
}
|
||||
#endif
|
||||
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
|
|
@ -2708,6 +2719,10 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
|
|||
osdConfig->item_pos[0][OSD_GFORCE_Y] = OSD_POS(12, 6);
|
||||
osdConfig->item_pos[0][OSD_GFORCE_Z] = OSD_POS(12, 7);
|
||||
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
osdConfig->item_pos[0][OSD_RC_SOURCE] = OSD_POS(3, 4);
|
||||
#endif
|
||||
|
||||
// Under OSD_FLYMODE. TODO: Might not be visible on NTSC?
|
||||
osdConfig->item_pos[0][OSD_MESSAGES] = OSD_POS(1, 13) | OSD_VISIBLE_FLAG;
|
||||
|
||||
|
|
|
|||
|
|
@ -141,6 +141,7 @@ typedef enum {
|
|||
OSD_GFORCE_X,
|
||||
OSD_GFORCE_Y,
|
||||
OSD_GFORCE_Z,
|
||||
OSD_RC_SOURCE,
|
||||
OSD_ITEM_COUNT // MUST BE LAST
|
||||
} osd_items_e;
|
||||
|
||||
|
|
|
|||
240
src/main/rx/msp_override.c
Executable file
240
src/main/rx/msp_override.c
Executable file
|
|
@ -0,0 +1,240 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "build/build_config.h"
|
||||
#include "build/debug.h"
|
||||
|
||||
#include "common/maths.h"
|
||||
#include "common/utils.h"
|
||||
|
||||
#include "config/feature.h"
|
||||
#include "config/parameter_group.h"
|
||||
#include "config/parameter_group_ids.h"
|
||||
|
||||
#include "drivers/time.h"
|
||||
|
||||
#include "fc/config.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/rc_modes.h"
|
||||
|
||||
#include "flight/failsafe.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
#include "rx/msp.h"
|
||||
#include "rx/msp_override.h"
|
||||
|
||||
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
|
||||
static bool rxDataProcessingRequired = false;
|
||||
|
||||
static bool rxSignalReceived = false;
|
||||
static bool rxFlightChannelsValid = false;
|
||||
static bool rxFailsafe = true;
|
||||
|
||||
static timeMs_t rxDataFailurePeriod;
|
||||
static timeMs_t rxDataRecoveryPeriod;
|
||||
static timeMs_t validRxDataReceivedAt = 0;
|
||||
static timeMs_t validRxDataFailedAt = 0;
|
||||
|
||||
static timeUs_t rxNextUpdateAtUs = 0;
|
||||
static timeUs_t needRxSignalBefore = 0;
|
||||
|
||||
static uint16_t mspOverrideCtrlChannels = 0; // bitmask representing which channels are used to control MSP override
|
||||
static rcChannel_t mspRcChannels[MAX_SUPPORTED_RC_CHANNEL_COUNT];
|
||||
|
||||
static rxRuntimeConfig_t rxRuntimeConfigMSP;
|
||||
|
||||
|
||||
void mspOverrideInit(void)
|
||||
{
|
||||
timeMs_t nowMs = millis();
|
||||
|
||||
for (int i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
|
||||
mspRcChannels[i].raw = PWM_RANGE_MIDDLE;
|
||||
mspRcChannels[i].data = PWM_RANGE_MIDDLE;
|
||||
mspRcChannels[i].expiresAt = nowMs + MAX_INVALID_RX_PULSE_TIME;
|
||||
}
|
||||
|
||||
mspRcChannels[THROTTLE].raw = (feature(FEATURE_3D)) ? PWM_RANGE_MIDDLE : rxConfig()->rx_min_usec;
|
||||
mspRcChannels[THROTTLE].data = mspRcChannels[THROTTLE].raw;
|
||||
|
||||
// Initialize ARM switch to OFF position when arming via switch is defined
|
||||
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
|
||||
if (modeActivationConditions(i)->modeId == BOXARM && IS_RANGE_USABLE(&modeActivationConditions(i)->range)) {
|
||||
// ARM switch is defined, determine an OFF value
|
||||
uint16_t value;
|
||||
if (modeActivationConditions(i)->range.startStep > 0) {
|
||||
value = MODE_STEP_TO_CHANNEL_VALUE((modeActivationConditions(i)->range.startStep - 1));
|
||||
} else {
|
||||
value = MODE_STEP_TO_CHANNEL_VALUE((modeActivationConditions(i)->range.endStep + 1));
|
||||
}
|
||||
// Initialize ARM AUX channel to OFF value
|
||||
rcChannel_t *armChannel = &mspRcChannels[modeActivationConditions(i)->auxChannelIndex + NON_AUX_CHANNEL_COUNT];
|
||||
armChannel->raw = value;
|
||||
armChannel->data = value;
|
||||
}
|
||||
|
||||
// Find which channels are used to control MSP override
|
||||
if (modeActivationConditions(i)->modeId == BOXMSPRCOVERRIDE && IS_RANGE_USABLE(&modeActivationConditions(i)->range)) {
|
||||
mspOverrideCtrlChannels |= 1 << (modeActivationConditions(i)->auxChannelIndex + NON_AUX_CHANNEL_COUNT);
|
||||
}
|
||||
}
|
||||
|
||||
rxDataFailurePeriod = PERIOD_RXDATA_FAILURE + failsafeConfig()->failsafe_delay * MILLIS_PER_TENTH_SECOND;
|
||||
rxDataRecoveryPeriod = PERIOD_RXDATA_RECOVERY + failsafeConfig()->failsafe_recovery_delay * MILLIS_PER_TENTH_SECOND;
|
||||
|
||||
rxMspInit(rxConfig(), &rxRuntimeConfigMSP);
|
||||
}
|
||||
|
||||
bool mspOverrideIsReceivingSignal(void)
|
||||
{
|
||||
return rxSignalReceived;
|
||||
}
|
||||
|
||||
bool mspOverrideAreFlightChannelsValid(void)
|
||||
{
|
||||
return rxFlightChannelsValid;
|
||||
}
|
||||
|
||||
bool mspOverrideIsInFailsafe(void)
|
||||
{
|
||||
return rxFailsafe;
|
||||
}
|
||||
|
||||
bool mspOverrideUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
|
||||
{
|
||||
UNUSED(currentDeltaTime);
|
||||
|
||||
if (rxSignalReceived) {
|
||||
if (currentTimeUs >= needRxSignalBefore) {
|
||||
rxSignalReceived = false;
|
||||
}
|
||||
}
|
||||
|
||||
const uint8_t frameStatus = rxRuntimeConfigMSP.rcFrameStatusFn(&rxRuntimeConfigMSP);
|
||||
if (frameStatus & RX_FRAME_COMPLETE) {
|
||||
rxDataProcessingRequired = true;
|
||||
rxSignalReceived = true;
|
||||
needRxSignalBefore = currentTimeUs + rxRuntimeConfigMSP.rxSignalTimeout;
|
||||
}
|
||||
|
||||
if (cmpTimeUs(currentTimeUs, rxNextUpdateAtUs) > 0) {
|
||||
rxDataProcessingRequired = true;
|
||||
}
|
||||
|
||||
return rxDataProcessingRequired; // data driven or 50Hz
|
||||
}
|
||||
|
||||
bool mspOverrideCalculateChannels(timeUs_t currentTimeUs)
|
||||
{
|
||||
int16_t rcStaging[MAX_SUPPORTED_RC_CHANNEL_COUNT];
|
||||
const timeMs_t currentTimeMs = millis();
|
||||
|
||||
if (!rxDataProcessingRequired) {
|
||||
return false;
|
||||
}
|
||||
|
||||
rxDataProcessingRequired = false;
|
||||
rxNextUpdateAtUs = currentTimeUs + DELAY_50_HZ;
|
||||
|
||||
rxFlightChannelsValid = true;
|
||||
|
||||
// Read and process channel data
|
||||
for (int channel = 0; channel < rxRuntimeConfigMSP.channelCount; channel++) {
|
||||
const uint8_t rawChannel = calculateChannelRemapping(rxConfig()->rcmap, REMAPPABLE_CHANNEL_COUNT, channel);
|
||||
|
||||
// sample the channel
|
||||
uint16_t sample = (*rxRuntimeConfigMSP.rcReadRawFn)(&rxRuntimeConfigMSP, rawChannel);
|
||||
|
||||
// apply the rx calibration to flight channel
|
||||
if (channel < NON_AUX_CHANNEL_COUNT && sample != PPM_RCVR_TIMEOUT) {
|
||||
sample = scaleRange(sample, rxChannelRangeConfigs(channel)->min, rxChannelRangeConfigs(channel)->max, PWM_RANGE_MIN, PWM_RANGE_MAX);
|
||||
sample = MIN(MAX(PWM_PULSE_MIN, sample), PWM_PULSE_MAX);
|
||||
}
|
||||
|
||||
// Store as rxRaw
|
||||
mspRcChannels[channel].raw = sample;
|
||||
|
||||
// Apply invalid pulse value logic
|
||||
if (!isRxPulseValid(sample)) {
|
||||
sample = mspRcChannels[channel].data; // hold channel, replace with old value
|
||||
if ((currentTimeMs > mspRcChannels[channel].expiresAt) && (channel < NON_AUX_CHANNEL_COUNT)) {
|
||||
rxFlightChannelsValid = false;
|
||||
}
|
||||
} else {
|
||||
mspRcChannels[channel].expiresAt = currentTimeMs + MAX_INVALID_RX_PULSE_TIME;
|
||||
}
|
||||
|
||||
// Save channel value
|
||||
rcStaging[channel] = sample;
|
||||
}
|
||||
|
||||
// Update channel input value if receiver is not in failsafe mode
|
||||
// If receiver is in failsafe (not receiving signal or sending invalid channel values) - last good input values are retained
|
||||
if (rxFlightChannelsValid && rxSignalReceived) {
|
||||
for (int channel = 0; channel < rxRuntimeConfigMSP.channelCount; channel++) {
|
||||
mspRcChannels[channel].data = rcStaging[channel];
|
||||
}
|
||||
}
|
||||
|
||||
// Update failsafe
|
||||
if (rxFlightChannelsValid && rxSignalReceived) {
|
||||
validRxDataReceivedAt = millis();
|
||||
if ((validRxDataReceivedAt - validRxDataFailedAt) > rxDataRecoveryPeriod) {
|
||||
rxFailsafe = false;
|
||||
}
|
||||
} else {
|
||||
validRxDataFailedAt = millis();
|
||||
if ((validRxDataFailedAt - validRxDataReceivedAt) > rxDataFailurePeriod) {
|
||||
rxFailsafe = true;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void mspOverrideChannels(rcChannel_t *rcChannels)
|
||||
{
|
||||
for (uint16_t channel = 0, channelMask = 1; channel < rxRuntimeConfigMSP.channelCount; ++channel, channelMask <<= 1) {
|
||||
if (rxConfig()->mspOverrideChannels & ~mspOverrideCtrlChannels & channelMask) {
|
||||
rcChannels[channel].raw = rcChannels[channel].data = mspRcChannels[channel].data;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
uint16_t mspOverrideGetRefreshRate(void)
|
||||
{
|
||||
return rxRuntimeConfigMSP.rxRefreshRate;
|
||||
}
|
||||
|
||||
int16_t mspOverrideGetChannelValue(unsigned channelNumber)
|
||||
{
|
||||
return mspRcChannels[channelNumber].data;
|
||||
}
|
||||
|
||||
int16_t mspOverrideGetRawChannelValue(unsigned channelNumber)
|
||||
{
|
||||
return mspRcChannels[channelNumber].raw;
|
||||
}
|
||||
|
||||
#endif // defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
29
src/main/rx/msp_override.h
Normal file
29
src/main/rx/msp_override.h
Normal file
|
|
@ -0,0 +1,29 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
void mspOverrideInit(void);
|
||||
bool mspOverrideUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime);
|
||||
bool mspOverrideCalculateChannels(timeUs_t currentTimeUs);
|
||||
void mspOverrideChannels(rcChannel_t *rcChannels);
|
||||
bool mspOverrideIsReceivingSignal(void);
|
||||
bool mspOverrideIsInFailsafe(void);
|
||||
bool mspOverrideAreFlightChannelsValid(void);
|
||||
uint16_t mspOverrideGetRefreshRate(void);
|
||||
int16_t mspOverrideGetChannelValue(unsigned channelNumber);
|
||||
int16_t mspOverrideGetRawChannelValue(unsigned channelNumber);
|
||||
|
|
@ -49,30 +49,25 @@
|
|||
#include "io/serial.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
#include "rx/crsf.h"
|
||||
#include "rx/eleres.h"
|
||||
#include "rx/ibus.h"
|
||||
#include "rx/jetiexbus.h"
|
||||
#include "rx/fport.h"
|
||||
#include "rx/msp.h"
|
||||
#include "rx/msp_override.h"
|
||||
#include "rx/pwm.h"
|
||||
#include "rx/rx_spi.h"
|
||||
#include "rx/sbus.h"
|
||||
#include "rx/spektrum.h"
|
||||
#include "rx/sumd.h"
|
||||
#include "rx/sumh.h"
|
||||
#include "rx/msp.h"
|
||||
#include "rx/xbus.h"
|
||||
#include "rx/ibus.h"
|
||||
#include "rx/jetiexbus.h"
|
||||
#include "rx/rx_spi.h"
|
||||
#include "rx/crsf.h"
|
||||
#include "rx/eleres.h"
|
||||
#include "rx/uib_rx.h"
|
||||
#include "rx/xbus.h"
|
||||
|
||||
|
||||
//#define DEBUG_RX_SIGNAL_LOSS
|
||||
|
||||
typedef struct rcChannel_s {
|
||||
int16_t raw; // Value received via RX - [1000;2000]
|
||||
int16_t data; // Value after processing - [1000;2000]
|
||||
timeMs_t expiresAt; // Time when this value becomes too old and it's discarded
|
||||
} rcChannel_t;
|
||||
|
||||
const char rcChannelLetters[] = "AERT";
|
||||
|
||||
static uint16_t rssi = 0; // range: [0;1023]
|
||||
|
|
@ -85,6 +80,10 @@ static rssiSource_e rssiSource;
|
|||
static bool rxDataProcessingRequired = false;
|
||||
static bool auxiliaryProcessingRequired = false;
|
||||
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
static bool mspOverrideDataProcessingRequired = false;
|
||||
#endif
|
||||
|
||||
static bool rxSignalReceived = false;
|
||||
static bool rxFlightChannelsValid = false;
|
||||
static bool rxIsInFailsafeMode = true;
|
||||
|
|
@ -96,15 +95,13 @@ static uint8_t skipRxSamples = 0;
|
|||
|
||||
static rcChannel_t rcChannels[MAX_SUPPORTED_RC_CHANNEL_COUNT];
|
||||
|
||||
#define MAX_INVALID_PULS_TIME 300
|
||||
|
||||
#define SKIP_RC_ON_SUSPEND_PERIOD 1500000 // 1.5 second period in usec (call frequency independent)
|
||||
#define SKIP_RC_SAMPLES_ON_RESUME 2 // flush 2 samples to drop wrong measurements (timing independent)
|
||||
|
||||
rxRuntimeConfig_t rxRuntimeConfig;
|
||||
static uint8_t rcSampleIndex = 0;
|
||||
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(rxConfig_t, rxConfig, PG_RX_CONFIG, 7);
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(rxConfig_t, rxConfig, PG_RX_CONFIG, 8);
|
||||
|
||||
#ifndef RX_SPI_DEFAULT_PROTOCOL
|
||||
#define RX_SPI_DEFAULT_PROTOCOL 0
|
||||
|
|
@ -135,6 +132,9 @@ PG_RESET_TEMPLATE(rxConfig_t, rxConfig,
|
|||
.rssiMax = RSSI_VISIBLE_VALUE_MAX,
|
||||
.sbusSyncInterval = SBUS_DEFAULT_INTERFRAME_DELAY_US,
|
||||
.rcFilterFrequency = 50,
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
.mspOverrideChannels = 15,
|
||||
#endif
|
||||
);
|
||||
|
||||
void resetAllRxChannelRangeConfigurations(void)
|
||||
|
|
@ -172,7 +172,7 @@ static uint8_t nullFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
|
|||
return RX_FRAME_PENDING;
|
||||
}
|
||||
|
||||
static bool isPulseValid(uint16_t pulseDuration)
|
||||
bool isRxPulseValid(uint16_t pulseDuration)
|
||||
{
|
||||
return pulseDuration >= rxConfig()->rx_min_usec &&
|
||||
pulseDuration <= rxConfig()->rx_max_usec;
|
||||
|
|
@ -251,7 +251,7 @@ void rxInit(void)
|
|||
for (int i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
|
||||
rcChannels[i].raw = PWM_RANGE_MIDDLE;
|
||||
rcChannels[i].data = PWM_RANGE_MIDDLE;
|
||||
rcChannels[i].expiresAt = nowMs + MAX_INVALID_PULS_TIME;
|
||||
rcChannels[i].expiresAt = nowMs + MAX_INVALID_RX_PULSE_TIME;
|
||||
}
|
||||
|
||||
rcChannels[THROTTLE].raw = (feature(FEATURE_3D)) ? PWM_RANGE_MIDDLE : rxConfig()->rx_min_usec;
|
||||
|
|
@ -327,6 +327,12 @@ void rxInit(void)
|
|||
}
|
||||
|
||||
rxUpdateRSSISource();
|
||||
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
if (rxConfig()->receiverType != RX_TYPE_MSP) {
|
||||
mspOverrideInit();
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void rxUpdateRSSISource(void)
|
||||
|
|
@ -381,7 +387,7 @@ void rxUpdateRSSISource(void)
|
|||
}
|
||||
}
|
||||
|
||||
static uint8_t calculateChannelRemapping(const uint8_t *channelMap, uint8_t channelMapEntryCount, uint8_t channelToRemap)
|
||||
uint8_t calculateChannelRemapping(const uint8_t *channelMap, uint8_t channelMapEntryCount, uint8_t channelToRemap)
|
||||
{
|
||||
if (channelToRemap < channelMapEntryCount) {
|
||||
return channelMap[channelToRemap];
|
||||
|
|
@ -439,7 +445,16 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
|
|||
rxDataProcessingRequired = true;
|
||||
}
|
||||
|
||||
return rxDataProcessingRequired || auxiliaryProcessingRequired; // data driven or 50Hz
|
||||
bool result = rxDataProcessingRequired || auxiliaryProcessingRequired;
|
||||
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
if (rxConfig()->receiverType != RX_TYPE_MSP) {
|
||||
mspOverrideDataProcessingRequired = mspOverrideUpdateCheck(currentTimeUs, currentDeltaTime);
|
||||
result = result || mspOverrideDataProcessingRequired;
|
||||
}
|
||||
#endif
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
#define FILTERING_SAMPLE_COUNT 5
|
||||
|
|
@ -477,11 +492,15 @@ static uint16_t applyChannelFiltering(uint8_t chan, uint16_t sample)
|
|||
|
||||
bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
|
||||
{
|
||||
UNUSED(currentTimeUs);
|
||||
|
||||
int16_t rcStaging[MAX_SUPPORTED_RC_CHANNEL_COUNT];
|
||||
const timeMs_t currentTimeMs = millis();
|
||||
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
if ((rxConfig()->receiverType != RX_TYPE_MSP) && mspOverrideDataProcessingRequired) {
|
||||
mspOverrideCalculateChannels(currentTimeUs);
|
||||
}
|
||||
#endif
|
||||
|
||||
if (auxiliaryProcessingRequired) {
|
||||
auxiliaryProcessingRequired = !rxRuntimeConfig.rcProcessFrameFn(&rxRuntimeConfig);
|
||||
}
|
||||
|
|
@ -521,13 +540,13 @@ bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
|
|||
rcChannels[channel].raw = sample;
|
||||
|
||||
// Apply invalid pulse value logic
|
||||
if (!isPulseValid(sample)) {
|
||||
if (!isRxPulseValid(sample)) {
|
||||
sample = rcChannels[channel].data; // hold channel, replace with old value
|
||||
if ((currentTimeMs > rcChannels[channel].expiresAt) && (channel < NON_AUX_CHANNEL_COUNT)) {
|
||||
rxFlightChannelsValid = false;
|
||||
}
|
||||
} else {
|
||||
rcChannels[channel].expiresAt = currentTimeMs + MAX_INVALID_PULS_TIME;
|
||||
rcChannels[channel].expiresAt = currentTimeMs + MAX_INVALID_RX_PULSE_TIME;
|
||||
}
|
||||
|
||||
// Save channel value
|
||||
|
|
@ -548,6 +567,12 @@ bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
|
|||
}
|
||||
}
|
||||
|
||||
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
|
||||
if (IS_RC_MODE_ACTIVE(BOXMSPRCOVERRIDE) && !mspOverrideIsInFailsafe()) {
|
||||
mspOverrideChannels(rcChannels);
|
||||
}
|
||||
#endif
|
||||
|
||||
// Update failsafe
|
||||
if (rxFlightChannelsValid && rxSignalReceived) {
|
||||
failsafeOnValidDataReceived();
|
||||
|
|
|
|||
|
|
@ -90,6 +90,8 @@ extern const char rcChannelLetters[];
|
|||
|
||||
#define MAX_MAPPABLE_RX_INPUTS 4
|
||||
|
||||
#define MAX_INVALID_RX_PULSE_TIME 300
|
||||
|
||||
#define RSSI_VISIBLE_VALUE_MIN 0
|
||||
#define RSSI_VISIBLE_VALUE_MAX 100
|
||||
#define RSSI_VISIBLE_FACTOR (RSSI_MAX_VALUE/(float)RSSI_VISIBLE_VALUE_MAX)
|
||||
|
|
@ -120,6 +122,7 @@ typedef struct rxConfig_s {
|
|||
uint16_t rx_min_usec;
|
||||
uint16_t rx_max_usec;
|
||||
uint8_t rcFilterFrequency; // RC filter cutoff frequency (smoothness vs response sharpness)
|
||||
uint16_t mspOverrideChannels; // Channels to override with MSP RC when BOXMSPRCOVERRIDE is active
|
||||
} rxConfig_t;
|
||||
|
||||
PG_DECLARE(rxConfig_t, rxConfig);
|
||||
|
|
@ -143,6 +146,12 @@ typedef struct rxRuntimeConfig_s {
|
|||
void *frameData;
|
||||
} rxRuntimeConfig_t;
|
||||
|
||||
typedef struct rcChannel_s {
|
||||
int16_t raw; // Value received via RX - [1000;2000]
|
||||
int16_t data; // Value after processing - [1000;2000]
|
||||
timeMs_t expiresAt; // Time when this value becomes too old and it's discarded
|
||||
} rcChannel_t;
|
||||
|
||||
typedef enum {
|
||||
RSSI_SOURCE_NONE = 0,
|
||||
RSSI_SOURCE_ADC,
|
||||
|
|
@ -159,7 +168,9 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime);
|
|||
bool rxIsReceivingSignal(void);
|
||||
bool rxAreFlightChannelsValid(void);
|
||||
bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs);
|
||||
bool isRxPulseValid(uint16_t pulseDuration);
|
||||
|
||||
uint8_t calculateChannelRemapping(const uint8_t *channelMap, uint8_t channelMapEntryCount, uint8_t channelToRemap);
|
||||
void parseRcChannels(const char *input);
|
||||
|
||||
// filtered = true indicates that newRssi comes from a source which already does
|
||||
|
|
|
|||
|
|
@ -133,6 +133,7 @@
|
|||
#define USE_MSP_OVER_TELEMETRY
|
||||
// These are rather exotic serial protocols
|
||||
#define USE_RX_MSP
|
||||
//#define USE_MSP_RC_OVERRIDE
|
||||
#define USE_SERIALRX_SUMD
|
||||
#define USE_SERIALRX_SUMH
|
||||
#define USE_SERIALRX_XBUS
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue