From 8a8efbcbeebd3156a0f4a095c57ce53ad4634744 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Mon, 1 Feb 2021 14:58:53 +0100 Subject: [PATCH 01/11] Basic support for Rush Blade F7 --- src/main/target/RUSH_BLADE_F7/CMakeLists.txt | 1 + src/main/target/RUSH_BLADE_F7/target.c | 37 +++++ src/main/target/RUSH_BLADE_F7/target.h | 147 +++++++++++++++++++ 3 files changed, 185 insertions(+) create mode 100644 src/main/target/RUSH_BLADE_F7/CMakeLists.txt create mode 100644 src/main/target/RUSH_BLADE_F7/target.c create mode 100644 src/main/target/RUSH_BLADE_F7/target.h diff --git a/src/main/target/RUSH_BLADE_F7/CMakeLists.txt b/src/main/target/RUSH_BLADE_F7/CMakeLists.txt new file mode 100644 index 0000000000..5dd7f2d2e1 --- /dev/null +++ b/src/main/target/RUSH_BLADE_F7/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32f722xe(RUSH_BLADE_F7) \ No newline at end of file diff --git a/src/main/target/RUSH_BLADE_F7/target.c b/src/main/target/RUSH_BLADE_F7/target.c new file mode 100644 index 0000000000..c56197a99e --- /dev/null +++ b/src/main/target/RUSH_BLADE_F7/target.c @@ -0,0 +1,37 @@ +/* + * This file is part of INAV. + * + * INAV 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. + * + * INAV 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 INAV. If not, see . + */ + +#include +#include "platform.h" +#include "drivers/bus.h" +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" + +const timerHardware_t timerHardware[] = { + + DEF_TIM(TIM8, CH3, PC8, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S1 UP2-1 D(2, 4, 7) + DEF_TIM(TIM8, CH4, PC9, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S2 UP2-1 D(2, 7, 7) + DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S6 UP1-2 D(1, 2, 5) + DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S5 UP1-2 D(1, 7, 5) + DEF_TIM(TIM8, CH2, PC7, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S5 D(2, 3, 7) + DEF_TIM(TIM8, CH1, PC6, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S6 D(1, 4, 5) + + DEF_TIM(TIM2, CH1, PA15, TIM_USE_LED, 0, 0), // LED +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/RUSH_BLADE_F7/target.h b/src/main/target/RUSH_BLADE_F7/target.h new file mode 100644 index 0000000000..ca0175f10d --- /dev/null +++ b/src/main/target/RUSH_BLADE_F7/target.h @@ -0,0 +1,147 @@ +/* + * This file is part of INAV. + * + * INAV 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. + * + * INAV 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 INAV. If not, see . + */ + + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "RBF7" +#define USBD_PRODUCT_STRING "RUSH_BLADE_F7" + +#define LED0 PB10 //Blue SWCLK +// #define LED1 PA13 //Green SWDIO + +#define BEEPER PB2 +#define BEEPER_INVERTED + +// *************** SPI1 Gyro & ACC ******************* +#define USE_SPI +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_EXTI +#define USE_MPU_DATA_READY_SIGNAL +#define GYRO_INT_EXTI PA4 + +#define USE_IMU_MPU6000 +#define IMU_MPU6000_ALIGN CW270_DEG +#define MPU6000_CS_PIN PC4 +#define MPU6000_SPI_BUS BUS_SPI1 + +// *************** I2C /Baro/Mag ********************* +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB8 +#define I2C1_SDA PB9 + +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C1 +#define USE_BARO_BMP280 +#define USE_BARO_MS5611 +#define USE_BARO_DPS310 + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C1 +#define USE_MAG_AK8975 +#define USE_MAG_HMC5883 +#define USE_MAG_QMC5883 +#define USE_MAG_IST8310 +#define USE_MAG_IST8308 +#define USE_MAG_MAG3110 +#define USE_MAG_LIS3MDL + +#define TEMPERATURE_I2C_BUS BUS_I2C1 + +#define PITOT_I2C_BUS BUS_I2C1 + +#define USE_RANGEFINDER +#define RANGEFINDER_I2C_BUS BUS_I2C1 + +// *************** SPI2 Flash *********************** +#define USE_SPI_DEVICE_2 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_FLASHFS +#define USE_FLASH_M25P16 +#define M25P16_SPI_BUS BUS_SPI2 +#define M25P16_CS_PIN PB12 +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT + +// *************** UART ***************************** +#define USE_VCP +#define USB_DETECT_PIN PC14 +#define USE_USB_DETECT + +#define USE_UART1 +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#define USE_UART2 +#define UART2_TX_PIN PA2 +#define UART2_RX_PIN PA3 + +#define USE_UART3 +#define UART3_TX_PIN PC10 +#define UART3_RX_PIN PC11 + +#define USE_UART4 +#define UART4_TX_PIN PA0 +#define UART4_RX_PIN PA1 + +#define USE_UART5 +#define UART5_TX_PIN PC12 +#define UART5_RX_PIN PD2 + +#define SERIAL_PORT_COUNT 6 + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_SBUS +#define SERIALRX_UART SERIAL_PORT_USART2 + +// *************** ADC ***************************** +#define USE_ADC +#define ADC_INSTANCE ADC1 +#define ADC1_DMA_STREAM DMA2_Stream0 + +#define ADC_CHANNEL_1_PIN PC0 +#define ADC_CHANNEL_2_PIN PC1 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 + +// *************** LEDSTRIP ************************ +#define USE_LED_STRIP +#define WS2811_PIN PA8 + +#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL) +#define CURRENT_METER_SCALE 179 + +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff + +#define MAX_PWM_OUTPUT_PORTS 10 +#define USE_OSD +#define USE_DSHOT +#define USE_SERIALSHOT +#define USE_ESC_SENSOR From bae0e9b00c6b2152a817258dfb1adc4dea4bba36 Mon Sep 17 00:00:00 2001 From: Olivier C Date: Tue, 2 Feb 2021 09:15:41 +0100 Subject: [PATCH 02/11] Remove duplicate WP message in the OSD/Hud ... since it's now displayed in the system message ("TO WP 1/4") --- src/main/io/osd.c | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/main/io/osd.c b/src/main/io/osd.c index 3612ef00d5..6dbe3189aa 100755 --- a/src/main/io/osd.c +++ b/src/main/io/osd.c @@ -1762,9 +1762,6 @@ static bool osdDrawSingleElement(uint8_t item) gpsLocation_t wp2; int j; - tfp_sprintf(buff, "W%u/%u", posControl.activeWaypointIndex, posControl.waypointCount); - displayWrite(osdGetDisplayPort(), 13, osdConfig()->hud_margin_v - 1, buff); - for (int i = osdConfig()->hud_wp_disp - 1; i >= 0 ; i--) { // Display in reverse order so the next WP is always written on top j = posControl.activeWaypointIndex + i; if (posControl.waypointList[j].lat != 0 && posControl.waypointList[j].lon != 0 && j <= posControl.waypointCount) { From c2e9dc9cd861e5d8ae605c6fbf5c4f2e591ee196 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Wed, 10 Feb 2021 10:49:38 +0100 Subject: [PATCH 03/11] Skip release for Rush Blade F722 --- src/main/target/RUSH_BLADE_F7/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/target/RUSH_BLADE_F7/CMakeLists.txt b/src/main/target/RUSH_BLADE_F7/CMakeLists.txt index 5dd7f2d2e1..5d612d6c68 100644 --- a/src/main/target/RUSH_BLADE_F7/CMakeLists.txt +++ b/src/main/target/RUSH_BLADE_F7/CMakeLists.txt @@ -1 +1 @@ -target_stm32f722xe(RUSH_BLADE_F7) \ No newline at end of file +target_stm32f722xe(RUSH_BLADE_F7 SKIP_RELEASES) \ No newline at end of file From 730e1a7354cdda5f2eefad40427e83181df4ff7a Mon Sep 17 00:00:00 2001 From: Michel Pastor Date: Wed, 10 Feb 2021 20:01:04 +0100 Subject: [PATCH 04/11] Enable baro median filtering by default again (#6584) It had been disabled by mistake in f0943875 --- src/main/sensors/barometer.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/sensors/barometer.c b/src/main/sensors/barometer.c index 3506e9361a..bb1325aeeb 100644 --- a/src/main/sensors/barometer.c +++ b/src/main/sensors/barometer.c @@ -56,7 +56,7 @@ baro_t baro; // barometer access functions -PG_REGISTER_WITH_RESET_TEMPLATE(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 2); +PG_REGISTER_WITH_RESET_TEMPLATE(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 3); #ifdef USE_BARO #define BARO_HARDWARE_DEFAULT BARO_AUTODETECT @@ -65,7 +65,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(barometerConfig_t, barometerConfig, PG_BAROMETER #endif PG_RESET_TEMPLATE(barometerConfig_t, barometerConfig, .baro_hardware = BARO_HARDWARE_DEFAULT, - .use_median_filtering = 0, + .use_median_filtering = 1, .baro_calibration_tolerance = 150 ); From 282c3b132e14c87a56d829a46dbc2e5d68f91e6c Mon Sep 17 00:00:00 2001 From: Michel Pastor Date: Sun, 14 Feb 2021 17:07:30 +0100 Subject: [PATCH 05/11] Fix logic condition VSpeed constraint not allowing the value to be negative --- src/main/programming/logic_condition.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c index d4465c4cec..84e3b4607c 100644 --- a/src/main/programming/logic_condition.c +++ b/src/main/programming/logic_condition.c @@ -418,7 +418,7 @@ static int logicConditionGetFlightOperandValue(int operand) { break; case LOGIC_CONDITION_OPERAND_FLIGHT_VERTICAL_SPEED: // cm/s - return constrain(getEstimatedActualVelocity(Z), 0, INT16_MAX); + return constrain(getEstimatedActualVelocity(Z), INT16_MIN, INT16_MAX); break; case LOGIC_CONDITION_OPERAND_FLIGHT_TROTTLE_POS: // % From 9a6fd4a7eee2f6799dca22684f7b29b058ff3882 Mon Sep 17 00:00:00 2001 From: Alexander van Saase Date: Mon, 15 Feb 2021 14:27:01 +0100 Subject: [PATCH 06/11] velocity in cm/s --- src/main/navigation/navigation_pos_estimator.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/navigation/navigation_pos_estimator.c b/src/main/navigation/navigation_pos_estimator.c index 94f612afa5..50ffb70fb7 100755 --- a/src/main/navigation/navigation_pos_estimator.c +++ b/src/main/navigation/navigation_pos_estimator.c @@ -569,7 +569,7 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx) if (ctx->newFlags & EST_GPS_Z_VALID) { // Trust GPS velocity only if residual/error is less than 2.5 m/s, scale weight according to gaussian distribution const float gpsRocResidual = posEstimator.gps.vel.z - posEstimator.est.vel.z; - const float gpsRocScaler = bellCurve(gpsRocResidual, 2.5f); + const float gpsRocScaler = bellCurve(gpsRocResidual, 250.0f); ctx->estVelCorr.z += gpsRocResidual * positionEstimationConfig()->w_z_gps_v * gpsRocScaler * ctx->dt; } From c43109178055614002fc0642826dde726785930d Mon Sep 17 00:00:00 2001 From: OptimusTi Date: Mon, 15 Feb 2021 12:06:14 -0500 Subject: [PATCH 07/11] CRSF SNR Range update This updates SNR range values to keep them inline with typical LoRa SNR values --- src/main/fc/settings.yaml | 4 ++-- src/main/io/osd.c | 10 +++++----- src/main/io/osd.h | 4 ++-- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml index a49d69ff33..ec2b1a01ea 100644 --- a/src/main/fc/settings.yaml +++ b/src/main/fc/settings.yaml @@ -2799,8 +2799,8 @@ groups: description: "Value below which Crossfire SNR Alarm pops-up. (dB)" default_value: "4" field: snr_alarm - min: -12 - max: 8 + min: -20 + max: 10 - name: osd_link_quality_alarm condition: USE_SERIALRX_CRSF description: "LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50%" diff --git a/src/main/io/osd.c b/src/main/io/osd.c index 6dbe3189aa..4055cf733a 100755 --- a/src/main/io/osd.c +++ b/src/main/io/osd.c @@ -785,7 +785,7 @@ static const char * navigationStateMessage(void) break; case MW_NAV_STATE_RTH_START: return OSD_MESSAGE_STR(OSD_MSG_STARTING_RTH); - case MW_NAV_STATE_RTH_CLIMB: + case MW_NAV_STATE_RTH_CLIMB: return OSD_MESSAGE_STR(OSD_MSG_RTH_CLIMB); case MW_NAV_STATE_RTH_ENROUTE: return OSD_MESSAGE_STR(OSD_MSG_HEADING_HOME); @@ -1685,7 +1685,7 @@ static bool osdDrawSingleElement(uint8_t item) } case OSD_CRSF_SNR_DB: { - const char* showsnr = "-12"; + const char* showsnr = "-20"; const char* hidesnr = " "; int16_t osdSNR_Alarm = rxLinkStatistics.uplinkSNR; if (osdSNR_Alarm <= osdConfig()->snr_alarm) { @@ -3378,7 +3378,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) { if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) { // Countdown display for remaining Waypoints - tfp_sprintf(messageBuf, "TO WP %u/%u", posControl.activeWaypointIndex + 1, posControl.waypointCount); + tfp_sprintf(messageBuf, "TO WP %u/%u", posControl.activeWaypointIndex + 1, posControl.waypointCount); messages[messageCount++] = messageBuf; } else if (NAV_Status.state == MW_NAV_STATE_HOLD_TIMED) { // WP hold time countdown in seconds @@ -3388,8 +3388,8 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter tfp_sprintf(messageBuf, "HOLDING WP FOR %2u S", holdTimeRemaining); messages[messageCount++] = messageBuf; } - } else { - const char *navStateMessage = navigationStateMessage(); + } else { + const char *navStateMessage = navigationStateMessage(); if (navStateMessage) { messages[messageCount++] = navStateMessage; } diff --git a/src/main/io/osd.h b/src/main/io/osd.h index d740b5de52..cff0993358 100755 --- a/src/main/io/osd.h +++ b/src/main/io/osd.h @@ -292,7 +292,7 @@ typedef struct osdConfig_s { float gforce_axis_alarm_min; float gforce_axis_alarm_max; #ifdef USE_SERIALRX_CRSF - int16_t snr_alarm; //CRSF SNR alarm in dB + int8_t snr_alarm; //CRSF SNR alarm in dB int8_t link_quality_alarm; #endif #ifdef USE_BARO @@ -337,7 +337,7 @@ typedef struct osdConfig_s { bool osd_failsafe_switch_layout; uint8_t plus_code_digits; // Number of digits to use in OSD_PLUS_CODE - uint8_t plus_code_short; + uint8_t plus_code_short; uint8_t osd_ahi_style; uint8_t force_grid; // Force a pixel based OSD to use grid mode. uint8_t ahi_bordered; // Only used by the AHI widget From 8f5ac3e51f8cb239d77efc9abde9c4a3d2f83773 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Sun, 21 Feb 2021 10:38:39 +0100 Subject: [PATCH 08/11] Refactor PID value getter --- src/main/programming/pid.c | 2 +- src/main/programming/pid.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/programming/pid.c b/src/main/programming/pid.c index 09916fbb1b..8b284087eb 100644 --- a/src/main/programming/pid.c +++ b/src/main/programming/pid.c @@ -110,7 +110,7 @@ void programmingPidInit(void) } } -int programmingPidGetOutput(uint8_t i) { +int32_t programmingPidGetOutput(uint8_t i) { return programmingPidState[constrain(i, 0, MAX_PROGRAMMING_PID_COUNT)].output; } diff --git a/src/main/programming/pid.h b/src/main/programming/pid.h index 8645de8f13..0d55b952c6 100644 --- a/src/main/programming/pid.h +++ b/src/main/programming/pid.h @@ -51,4 +51,4 @@ typedef struct programmingPidState_s { void programmingPidUpdateTask(timeUs_t currentTimeUs); void programmingPidInit(void); void programmingPidReset(void); -int programmingPidGetOutput(uint8_t i); \ No newline at end of file +int32_t programmingPidGetOutput(uint8_t i); \ No newline at end of file From 67572fed9d776eff58f781d4bedd29f8f3aab8d5 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Sun, 21 Feb 2021 11:20:07 +0100 Subject: [PATCH 09/11] Add ability to read Programming PID status via MSP --- src/main/fc/fc_msp.c | 5 +++++ src/main/msp/msp_protocol_v2_inav.h | 2 +- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index a32961daba..0e47385044 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -567,6 +567,11 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU16(dst, programmingPids(i)->gains.FF); } break; + case MSP2_INAV_PROGRAMMING_PID_STATUS: + for (int i = 0; i < MAX_PROGRAMMING_PID_COUNT; i++) { + sbufWriteU32(dst, programmingPidGetOutput(i)); + } + break; #endif case MSP2_COMMON_MOTOR_MIXER: for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) { diff --git a/src/main/msp/msp_protocol_v2_inav.h b/src/main/msp/msp_protocol_v2_inav.h index 70e394ccb3..d3e7d14585 100755 --- a/src/main/msp/msp_protocol_v2_inav.h +++ b/src/main/msp/msp_protocol_v2_inav.h @@ -63,6 +63,7 @@ #define MSP2_INAV_GVAR_STATUS 0x2027 #define MSP2_INAV_PROGRAMMING_PID 0x2028 #define MSP2_INAV_SET_PROGRAMMING_PID 0x2029 +#define MSP2_INAV_PROGRAMMING_PID_STATUS 0x202A #define MSP2_PID 0x2030 #define MSP2_SET_PID 0x2031 @@ -79,4 +80,3 @@ #define MSP2_INAV_SET_SAFEHOME 0x2039 #define MSP2_INAV_MISC2 0x203A - From 1a5133fa11d6f1e1d00482d96a3c57d9d161a67d Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Wed, 24 Feb 2021 11:16:24 +0100 Subject: [PATCH 10/11] Fix mag gain computation for negative mag zero --- src/main/sensors/compass.c | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c index 90a108109d..adfc8e79a3 100644 --- a/src/main/sensors/compass.c +++ b/src/main/sensors/compass.c @@ -350,7 +350,7 @@ void compassUpdate(timeUs_t currentTimeUs) static sensorCalibrationState_t calState; static timeUs_t calStartedAt = 0; static int16_t magPrev[XYZ_AXIS_COUNT]; - static int magGain[XYZ_AXIS_COUNT] = {-4096, -4096, -4096}; + static int magAxisDeviation[XYZ_AXIS_COUNT]; // Check magZero if ( @@ -381,6 +381,7 @@ void compassUpdate(timeUs_t currentTimeUs) compassConfigMutable()->magZero.raw[axis] = 0; compassConfigMutable()->magGain[axis] = 1024; magPrev[axis] = 0; + magAxisDeviation[axis] = 0; // Gain is based on the biggest absolute deviation from the mag zero point. Gain computation starts at 0 } beeper(BEEPER_ACTION_SUCCESS); @@ -400,9 +401,9 @@ void compassUpdate(timeUs_t currentTimeUs) diffMag += (mag.magADC[axis] - magPrev[axis]) * (mag.magADC[axis] - magPrev[axis]); avgMag += (mag.magADC[axis] + magPrev[axis]) * (mag.magADC[axis] + magPrev[axis]) / 4.0f; - const int32_t sample = ABS(mag.magADC[axis]); - if (sample > magGain[axis]) { - magGain[axis] = sample; + // Find the biggest sample deviation together with sample' sign + if (ABS(mag.magADC[axis]) > ABS(magAxisDeviation[axis])) { + magAxisDeviation[axis] = mag.magADC[axis]; } } @@ -429,7 +430,7 @@ void compassUpdate(timeUs_t currentTimeUs) * It is dirty, but worth checking if this will solve the problem of changing mag vector when UAV is tilted */ for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { - compassConfigMutable()->magGain[axis] = magGain[axis] - compassConfig()->magZero.raw[axis]; + compassConfigMutable()->magGain[axis] = ABS(magAxisDeviation[axis] - compassConfig()->magZero.raw[axis]); } calStartedAt = 0; From 25e1524dea9504d164178519cd1252250ad58424 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Thu, 25 Feb 2021 11:40:32 +0100 Subject: [PATCH 11/11] Update docs for Lua telemetry --- README.md | 2 +- docs/Telemetry.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index cbe75a1b18..f34db4d136 100644 --- a/README.md +++ b/README.md @@ -39,7 +39,7 @@ Tool for Blackbox logs analysis is available [here](https://github.com/iNavFligh ### Telemetry screen for OpenTX -Users of FrSky Taranis X9 and Q X7 can use INAV Lua Telemetry screen created by @teckel12 . Software and installation instruction are available here: [https://github.com/iNavFlight/LuaTelemetry](https://github.com/iNavFlight/LuaTelemetry) +Users of OpenTX radios (Taranis, Horus, Jumper, Radiomaster, Nirvana) can use INAV OpenTX Telemetry Widget screen. Software and installation instruction are available here: [https://github.com/iNavFlight/OpenTX-Telemetry-Widget](https://github.com/iNavFlight/OpenTX-Telemetry-Widget) ## Installation diff --git a/docs/Telemetry.md b/docs/Telemetry.md index 8c8b406ccf..2b5972370e 100644 --- a/docs/Telemetry.md +++ b/docs/Telemetry.md @@ -123,7 +123,7 @@ The following sensors are transmitted * **0450** : 'Flight Path Vector' or 'Course over ground' in degrees*10 ### Compatible SmartPort/INAV telemetry flight status -To quickly and easily monitor these SmartPort sensors and flight modes, install [iNav LuaTelemetry](https://github.com/iNavFlight/LuaTelemetry) to your Taranis Q X7, X9D, X9D+ or X9E transmitter. +To quickly and easily monitor these SmartPort sensors and flight modes, install [OpenTX Telemetry Widget](https://github.com/iNavFlight/OpenTX-Telemetry-Widget) to your Taranis Q X7, X9D, X9D+ or X9E transmitter. ## FrSky telemetry