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Merge branch 'master' into MrD_HD-Arm-Screen
This commit is contained in:
Darren Lines
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a35807b5c9
95 changed files with 3262 additions and 853 deletions
61
docs/Cli.md
61
docs/Cli.md
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@ -114,6 +114,7 @@ While connected to the CLI, all Logical Switches are temporarily disabled (5.1.0
|
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| `status` | Show status. Error codes can be looked up [here](https://github.com/iNavFlight/inav/wiki/%22Something%22-is-disabled----Reasons) |
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| `tasks` | Show task stats |
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| `temp_sensor` | List or configure temperature sensor(s). See [temperature sensors documentation](Temperature-sensors.md) for more information. |
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| `timer_output_mode` | Override automatic timer / pwm function allocation. [Additional Information](#timer_outout_mode)|
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| `version` | Show version |
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| `wp` | List or configure waypoints. See the [navigation documentation](Navigation.md#cli-command-wp-to-manage-waypoints). |
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@ -170,6 +171,66 @@ serial 0 -4
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`serial` can also be used without any argument to print the current configuration of all the serial ports.
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### `timer_output_mode`
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Since INAV 7, the firmware can dynamically allocate servo and motor outputs. This removes the need for bespoke targets for special cases (e.g. `MATEKF405` and `MATEKF405_SERVOS6`).
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#### Syntax
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```
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timer_output_mode [timer [function]]
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```
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where:
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* Without parameters, lists the current timers and modes
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* With just a `timer` lists the mode for that timer
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* With both `timer` and `function`, sets the function for that timers
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||||
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Note:
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||||
* `timer` identifies the timer **index** (from 0); thus is one less than the corresponding `TIMn` definition in a target's `target.c`.
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* The function is one of `AUTO` (the default), `MOTORS` or `SERVOS`.
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Motors are allocated first, hence having a servo before a motor may require use of `timer_output_mode`.
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#### Example
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||||
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||||
The original `MATEKF405` target defined a multi-rotor (MR) servo on output S1. The later `MATEKF405_SERVOS6` target defined (for MR) S1 as a motor and S6 as a servo. This was more logical, but annoying for anyone who had a legacy `MATEKF405` tricopter with the servo on S1.
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#### Solution
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||||
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||||
There is now a single `MATEKF405` target. The `target.c` sets the relevant outputs as:
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||||
```
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DEF_TIM(TIM3, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
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DEF_TIM(TIM8, CH2, PC7, TIM_USE_OUTPUT_AUTO, 0, 1), // S2 UP(2,1)
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DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 1), // S3 UP(2,1)
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DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S4 UP(2,1)
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DEF_TIM(TIM2, CH1, PA15, TIM_USE_MC_MOTOR | TIM_USE_LED, 0, 0), // S5 UP(1,7)
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DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 UP(2,5)
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DEF_TIM(TIM4, CH3, PB8, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 D(1,7)!S5 UP(2,6)
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||||
```
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||||
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||||
Using the "motors first" allocation, the servo would end up on S6, which in the legacy "tricopter servo on S1" case is not desired.
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||||
Forcing the S1 output (`TIM3`) to servo is achieved by:
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```
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timer_output_mode 2 SERVOS
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||||
```
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||||
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||||
with resulting `resource` output:
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||||
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||||
```
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C06: SERVO4 OUT
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C07: MOTOR1 OUT
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C08: MOTOR2 OUT
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C09: MOTOR3 OUT
|
||||
```
|
||||
|
||||
Note that the `timer` **index** in the `timer_output_mode` line is one less than the mnemonic in `target.c`, `timer` of 2 for `TIM3`.
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||||
Note that the usual caveat that one should not share a timer with both a motor and a servo still apply.
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||||
## Flash chip management
|
||||
|
||||
For targets that have a flash data chip, typically used for blackbox logs, the following additional comamnds are provided.
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|
|
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@ -28,8 +28,23 @@ While motors are usually ordered sequentially, here is no standard output layout
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||||
## Modifying output mapping
|
||||
|
||||
INAV 5 allows the limited output type mapping by allowing to change the function of *ALL* outputs at the same time. It can be done with the `output_mode` CLI setting. Allowed values:
|
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### Modifying all outputs at the same time
|
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Since INAV 5, it has been possible to force *ALL* outputs to be `MOTORS` or `SERVOS`.
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||||
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||||
Traditional ESCs usually can be controlled via a servo output, but would require calibration.
|
||||
|
||||
This can be done with the `output_mode` CLI setting. Allowed values:
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||||
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||||
* `AUTO` assigns outputs according to the default mapping
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||||
* `SERVOS` assigns all outputs to servos
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||||
* `MOTORS` assigns all outputs to motors
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||||
* `MOTORS` assigns all outputs to motors
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||||
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||||
### Modifying only some outputs
|
||||
|
||||
INAV 7 introduced extra functionality that let you force only some outputs to be either *MOTORS* or *SERVOS*, with some restrictions dictated by the hardware.
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The mains restrictions is that outputs need to be associated with timers, which are usually shared between multiple outputs. Two outputs on the same timer need to have the same function.
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||||
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||||
The easiest way to modify outputs, is to use the Mixer tab in the Configurator, as it will clearly show you which timer is used by all outputs, but you can also use `timer_output_mode` on the cli.
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||||
This can be used in conjunction to the previous method, in that cass all outputs will follow `output_mode` and `timer_output_mode` overrides are applied after that.
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||||
|
|
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|||
|
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@ -1,17 +1,28 @@
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|||
# INAV Programming Framework
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||||
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||||
INAV Programming Framework (abbr. IPF) is a mechanism that allows to evaluate cenrtain flight parameters (RC channels, switches, altitude, distance, timers, other logic conditions) and use the value of evaluated expression in different places of INAV. Currently, the result of LCs can be used in:
|
||||
INAV Programming Framework (IPF) is a mechanism that allows you to to create
|
||||
custom functionality in INAV. You can choose for certain actions to be done,
|
||||
based on custom conditions you select.
|
||||
|
||||
Logic conditions can be based on things such as RC channel values, switches, altitude,
|
||||
distance, timers, etc. The conditions you create can also make use of other conditions
|
||||
you've entered previously.
|
||||
The results can be used in:
|
||||
|
||||
* [Servo mixer](Mixer.md) to activate/deactivate certain servo mix rulers
|
||||
* To activate/deactivate system overrides
|
||||
|
||||
INAV Programming Framework coinsists of:
|
||||
INAV Programming Framework consists of:
|
||||
|
||||
* Logic Conditions - each Logic Condition can be understood as a single command, a single line of code
|
||||
* Global Variables - variables that can store values from and for LogiC Conditions and servo mixer
|
||||
* Logic Conditions - each Logic Condition can be understood as a single command, a single line of code. Each logic condition consists of:
|
||||
* an operator (action), such as "plus" or "set vtx power"
|
||||
* one or two operands (nouns), which the action acts upon. Operands are often numbers, such as a channel value or the distance to home.
|
||||
* "activator" condition - optional. This condition is only active when another condition is true
|
||||
* Global Variables - variables that can store values from and for Logic Conditions and servo mixer
|
||||
* Programming PID - general purpose, user configurable PID controllers
|
||||
|
||||
IPF can be edited using INAV Configurator user interface, or via CLI
|
||||
IPF can be edited using INAV Configurator user interface, or via CLI. To use COnfigurator, click the tab labeled
|
||||
"Programming". The various options shown in Configurator are described below.
|
||||
|
||||
## Logic Conditions
|
||||
|
||||
|
|
@ -46,16 +57,16 @@ IPF can be edited using INAV Configurator user interface, or via CLI
|
|||
| 10 | NAND | `false` if `Operand A` and `Operand B` are both `true`|
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||||
| 11 | NOR | `true` if `Operand A` and `Operand B` are both `false` |
|
||||
| 12 | NOT | The boolean opposite to `Operand A` |
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||||
| 13 | STICKY | `Operand A` is the activation operator, `Operand B` is the deactivation operator. After the activation is `true`, the operator will return `true` until Operand B is evaluated as `true`|
|
||||
| 14 | ADD | Add `Operand A` to `Operand B` and returns the result |
|
||||
| 15 | SUB | Substract `Operand B` from `Operand A` and returns the result |
|
||||
| 16 | MUL | Multiply `Operand A` by `Operand B` and returns the result |
|
||||
| 17 | DIV | Divide `Operand A` by `Operand B` and returns the result |
|
||||
| 18 | GVAR SET | Store value from `Operand B` into the Global Variable addressed by
|
||||
| 13 | Sticky | `Operand A` is the activation operator, `Operand B` is the deactivation operator. After the activation is `true`, the operator will return `true` until Operand B is evaluated as `true`|
|
||||
| 14 | Basic: Add | Add `Operand A` to `Operand B` and returns the result |
|
||||
| 15 | Basic: Subtract | Substract `Operand B` from `Operand A` and returns the result |
|
||||
| 16 | Basic: Multiply | Multiply `Operand A` by `Operand B` and returns the result |
|
||||
| 17 | Basic: Divide | Divide `Operand A` by `Operand B` and returns the result |
|
||||
| 18 | Set GVAR | Store value from `Operand B` into the Global Variable addressed by
|
||||
`Operand A`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` |
|
||||
| 19 | GVAR INC | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` |
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||||
| 20 | GVAR DEC | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` |
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||||
| 21 | IO PORT SET | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
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||||
| 19 | Increase GVAR | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` |
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||||
| 20 | Decrease GVAR | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` |
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||||
| 21 | Set IO Port | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
|
||||
| 22 | OVERRIDE_ARMING_SAFETY | Allows the craft to arm on any angle even without GPS fix. WARNING: This bypasses all safety checks, even that the throttle is low, so use with caution. If you only want to check for certain conditions, such as arm without GPS fix. You will need to add logic conditions to check the throttle is low. |
|
||||
| 23 | OVERRIDE_THROTTLE_SCALE | Override throttle scale to the value defined by operand. Operand type `0` and value `50` means throttle will be scaled by 50%. |
|
||||
| 24 | SWAP_ROLL_YAW | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes |
|
||||
|
|
@ -67,18 +78,18 @@ IPF can be edited using INAV Configurator user interface, or via CLI
|
|||
| 30 | SET_VTX_BAND | Sets VTX band. Accepted values are `1-5` |
|
||||
| 31 | SET_VTX_CHANNEL | Sets VTX channel. Accepted values are `1-8` |
|
||||
| 32 | SET_OSD_LAYOUT | Sets OSD layout. Accepted values are `0-3` |
|
||||
| 33 | SIN | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
|
||||
| 34 | COS | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
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||||
| 35 | TAN | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
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||||
| 33 | Trigonometry: Sine | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
|
||||
| 34 | Trigonometry: Cosine | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
|
||||
| 35 | Trigonometry: Tangent | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
|
||||
| 36 | MAP_INPUT | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled |
|
||||
| 37 | MAP_OUTPUT | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled |
|
||||
| 38 | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` |
|
||||
| 39 | SET_HEADING_TARGET | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
|
||||
| 40 | MOD | Modulo. Divide `Operand A` by `Operand B` and returns the remainder |
|
||||
| 40 | Modulo | Modulo. Divide `Operand A` by `Operand B` and returns the remainder |
|
||||
| 41 | LOITER_RADIUS_OVERRIDE | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. If the value is lower than the loiter radius set in the **Advanced Tuning**, that will be used. |
|
||||
| 42 | SET_PROFILE | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
|
||||
| 43 | MIN | Finds the lowest value of `Operand A` and `Operand B` |
|
||||
| 44 | MAX | Finds the highest value of `Operand A` and `Operand B` |
|
||||
| 43 | Use Lowest Value | Finds the lowest value of `Operand A` and `Operand B` |
|
||||
| 44 | Use Highest Value | Finds the highest value of `Operand A` and `Operand B` |
|
||||
| 45 | FLIGHT_AXIS_ANGLE_OVERRIDE | Sets the target attitude angle for axis. In other words, when active, it enforces Angle mode (Heading Hold for Yaw) on this axis (Angle mode does not have to be active). `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the angle in degrees |
|
||||
| 46 | FLIGHT_AXIS_RATE_OVERRIDE | Sets the target rate (rotation speed) for axis. `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the rate in degrees per second |
|
||||
| 47 | EDGE | Momentarily true when triggered by `Operand A`. `Operand A` is the activation operator [`boolean`], `Operand B` _(Optional)_ is the time for the edge to stay active [ms]. After activation, operator will return `true` until the time in Operand B is reached. If a pure momentary edge is wanted. Just leave `Operand B` as the default `Value: 0` setting. |
|
||||
|
|
@ -158,7 +169,7 @@ The flight mode operands return `true` when the mode is active. These are modes
|
|||
| 7 | HORIZON | `true` when you are in the **Horizon** flight mode. |
|
||||
| 8 | AIR | `true` when you the **Airmode** flight mode modifier is active. |
|
||||
| 9 | USER1 | `true` when the **USER 1** mode is active. |
|
||||
| 10 | USER2 | `true` when the **USER 21** mode is active. |
|
||||
| 10 | USER2 | `true` when the **USER 2** mode is active. |
|
||||
| 11 | COURSE_HOLD | `true` when you are in the **Course Hold** flight mode. |
|
||||
| 12 | USER3 | `true` when the **USER 3** mode is active. |
|
||||
| 13 | USER4 | `true` when the **USER 4** mode is active. |
|
||||
|
|
@ -310,3 +321,14 @@ Steps:
|
|||
2. Scale range [0:1000] to [0:3]
|
||||
3. Increase range by `1` to have the range of [1:4]
|
||||
4. Assign LC#2 to VTX power function
|
||||
|
||||
## Common issues / questions about IPF
|
||||
|
||||
One common mistake involves setting RC channel values. To override (set) the
|
||||
value of a specific RC channel, choose "Override RC value", then for operand A
|
||||
choose *value* and enter the channel number. Choosing "get RC value" is a common mistake,
|
||||
which does something other than what you probably want.
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -2662,6 +2662,16 @@ Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no speci
|
|||
|
||||
---
|
||||
|
||||
### nav_cruise_yaw_rate
|
||||
|
||||
Max YAW rate when NAV COURSE HOLD/CRUISE mode is enabled. Set to 0 to disable on fixed wing (Note: On multirotor setting to 0 will disable Course Hold/Cruise mode completely) [dps]
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 20 | 0 | 120 |
|
||||
|
||||
---
|
||||
|
||||
### nav_disarm_on_landing
|
||||
|
||||
If set to ON, INAV disarms the FC after landing
|
||||
|
|
@ -2752,16 +2762,6 @@ Cruise throttle in GPS assisted modes, this includes RTH. Should be set high eno
|
|||
|
||||
---
|
||||
|
||||
### nav_fw_cruise_yaw_rate
|
||||
|
||||
Max YAW rate when NAV CRUISE mode is enabled (0=disable control via yaw stick) [dps]
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 20 | 0 | 60 |
|
||||
|
||||
---
|
||||
|
||||
### nav_fw_dive_angle
|
||||
|
||||
Max negative pitch angle when diving in GPS assisted modes, is also restrained by global max_angle_inclination_pit
|
||||
|
|
@ -3282,6 +3282,16 @@ Max allowed above the ground altitude for terrain following mode
|
|||
|
||||
---
|
||||
|
||||
### nav_mc_althold_throttle
|
||||
|
||||
If set to STICK the FC remembers the throttle stick position when enabling ALTHOLD and treats it as the neutral midpoint for holding altitude. If set to MID_STICK or HOVER the neutral midpoint is set to the mid stick position or the hover throttle position respectively.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| STICK | | |
|
||||
|
||||
---
|
||||
|
||||
### nav_mc_bank_angle
|
||||
|
||||
Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude
|
||||
|
|
@ -3752,16 +3762,6 @@ Enables or Disables the use of the heading PID controller on fixed wing. Heading
|
|||
|
||||
---
|
||||
|
||||
### nav_use_midthr_for_althold
|
||||
|
||||
If set to OFF, the FC remembers your throttle stick position when enabling ALTHOLD and treats it as a neutral midpoint for holding altitude
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| OFF | OFF | ON |
|
||||
|
||||
---
|
||||
|
||||
### nav_user_control_mode
|
||||
|
||||
Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: ATTI - pitch/roll controls attitude like in ANGLE mode; CRUISE - pitch/roll controls velocity in forward and right direction.
|
||||
|
|
@ -4762,16 +4762,6 @@ Video system used. Possible values are `AUTO`, `PAL`, `NTSC`, `HDZERO`, 'DJIWTF'
|
|||
|
||||
---
|
||||
|
||||
### output_mode
|
||||
|
||||
Output function assignment mode. AUTO assigns outputs according to the default mapping, SERVOS assigns all outputs to servos, MOTORS assigns all outputs to motors
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| AUTO | | |
|
||||
|
||||
---
|
||||
|
||||
### pid_type
|
||||
|
||||
Allows to set type of PID controller used in control loop. Possible values: `NONE`, `PID`, `PIFF`, `AUTO`. Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use `PIFF` and multirotors `PID`
|
||||
|
|
@ -4868,7 +4858,7 @@ Selection of pitot hardware.
|
|||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| NONE | | |
|
||||
| VIRTUAL | | |
|
||||
|
||||
---
|
||||
|
||||
|
|
|
|||
BIN
docs/assets/images/ipf_set_get_rc_channel.png
Normal file
BIN
docs/assets/images/ipf_set_get_rc_channel.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 12 KiB |
|
|
@ -26,7 +26,7 @@ Install Git, Make, gcc and Ruby
|
|||
- `sudo apt-get install git make cmake ruby`
|
||||
|
||||
Install python and python-yaml to allow updates to settings.md
|
||||
- `sudo apt-get install python3 python-yaml`
|
||||
- `sudo apt-get install python3`
|
||||
|
||||
### CMAKE and Ubuntu 18_04
|
||||
|
||||
|
|
|
|||
|
|
@ -76,9 +76,11 @@ If the CLI `log_topics` is non-zero, then all topics matching the mask will be d
|
|||
|
||||
A set of macros `LOG_ERROR()` (log error) through `LOG_DEBUG()` (log debug) may be used, subject to compile time log level constraints. These provide `printf` style logging for a given topic.
|
||||
|
||||
Note that the `topic` is specified without the `LOG_TOPIC_` prefix:
|
||||
|
||||
```
|
||||
// LOG_DEBUG(topic, fmt, ...)
|
||||
LOG_DEBUG(LOG_TOPIC_SYSTEM, "This is %s topic debug message, value %d", "system", 42);
|
||||
LOG_DEBUG(SYSTEM, "This is %s topic debug message, value %d", "system", 42);
|
||||
```
|
||||
|
||||
It is also possible to dump a hex representation of arbitrary data, using functions named variously `LOG_BUFFER_` (`ERROR`) and `LOG_BUF_` (anything else, alas) e.g.:
|
||||
|
|
@ -89,7 +91,7 @@ It is also possible to dump a hex representation of arbitrary data, using funct
|
|||
|
||||
struct {...} tstruct;
|
||||
...
|
||||
LOG_BUF_DEBUG(LOG_TOPIC_TEMPERATURE, &tstruct, sizeof(tstruct));
|
||||
LOG_BUF_DEBUG(TEMPERATURE, &tstruct, sizeof(tstruct));
|
||||
```
|
||||
|
||||
## Output Support
|
||||
|
|
@ -104,7 +106,7 @@ Log messages are transmitted through the `FUNCTION_LOG` serial port as MSP messa
|
|||
For example, with the final lines of `src/main/fc/fc_init.c` set to:
|
||||
|
||||
```
|
||||
LOG_ERROR(LOG_TOPIC_SYSTEM, "Init is complete");
|
||||
LOG_ERROR(SYSTEM, "Init is complete");
|
||||
systemState |= SYSTEM_STATE_READY;
|
||||
```
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue