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Merge remote-tracking branch 'origin/master' into mmosca-msp-gps-ublox-command

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This commit is contained in:
Marcelo Bezerra 2024-04-21 13:26:10 +02:00
commit aac4cd4c3a
156 changed files with 4222 additions and 1396 deletions
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8
.vscode/tasks.json vendored
View file

@ -4,9 +4,9 @@
"version": "2.0.0",
"tasks": [
{
"label": "Build Matek F722-SE",
"label": "Build AOCODARCH7DUAL",
"type": "shell",
"command": "make MATEKF722SE",
"command": "make AOCODARCH7DUAL",
"group": "build",
"problemMatcher": [],
"options": {
@ -14,9 +14,9 @@
}
},
{
"label": "Build Matek F722",
"label": "Build AOCODARCH7DUAL",
"type": "shell",
"command": "make MATEKF722",
"command": "make AOCODARCH7DUAL",
"group": {
"kind": "build",
"isDefault": true

3
build_docs.sh
View file

@ -21,7 +21,6 @@ doc_files=(
'Buzzer.md'
'Sonar.md'
'Profiles.md'
'Modes.md'
'Inflight Adjustments.md'
'Controls.md'
'Gtune.md'
@ -49,7 +48,7 @@ if which gimli >/dev/null; then
done
rm -f ${filename}.pdf
gimli -f ${filename}.md -stylesheet override.css \
-w '--toc --title "Cleanflight Manual" --footer-right "[page]" --toc-depth 1'
-w '--toc --title "INAV Manual" --footer-right "[page]" --toc-depth 1'
rm ${filename}.md
popd >/dev/null
else

2
cmake/arm-none-eabi-checks.cmake
View file

@ -47,7 +47,7 @@ function(arm_none_eabi_gcc_install)
host_uname_machine(machine)
if(machine STREQUAL "x86_64" OR machine STREQUAL "amd64")
set(dist ${arm_none_eabi_darwin_amd64})
elseif(machine STREQUAL "aarch64")
elseif(machine STREQUAL "aarch64" OR machine STREQUAL "arm64")
set(dist ${arm_none_eabi_darwin_aarch64})
else()
message("-- no precompiled ${arm_none_eabi_triplet} toolchain for machine ${machine}")

4
cmake/sitl.cmake
View file

@ -34,7 +34,7 @@ set(SITL_LINK_OPTIONS
-Wl,-L${STM32_LINKER_DIR}
)
if(${WIN32} OR ${CYGWIN})
if(${CYGWIN})
set(SITL_LINK_OPTIONS ${SITL_LINK_OPTIONS} "-static-libgcc")
endif()
@ -131,7 +131,7 @@ function (target_sitl name)
target_link_options(${exe_target} PRIVATE -T${script_path})
endif()
if(${WIN32} OR ${CYGWIN})
if(${CYGWIN})
set(exe_filename ${CMAKE_BINARY_DIR}/${binary_name}.exe)
else()
set(exe_filename ${CMAKE_BINARY_DIR}/${binary_name})

6
docs/API/MSP_extensions.md
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@ -23,7 +23,7 @@ Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the
| Data | Type | Notes |
|------|------|-------|
| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
| permanentId | uint8 | See [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for a definition of the permanent ids |
| auxChannelIndex | uint8 | The Aux switch number (indexed from 0) |
| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
@ -45,7 +45,7 @@ sending this message for all auxiliary slots.
| Data | Type | Notes |
|------|------|-------|
| sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 |
| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
| permanentId | uint8 | See [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for a definition of the permanent ids |
| auxChannelIndex | uint8 | The Aux channel number (indexed from 0) |
| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
@ -157,5 +157,5 @@ INAV.
See also
--------
Modes.md describes the user visible implementation for the INAV
[The wiki](https://github.com/iNavFlight/inav/wiki/Modes) describes the user visible implementation for the INAV
modes extension.

2
docs/ESC and servo outputs.md
View file

@ -13,7 +13,7 @@ INAV support the following ESC protocols:
ESC protocol can be selected in Configurator. No special configuration is required.
Check ESC documentation of the list of protocols that it is supporting.
Check the ESC documentation for the list of protocols that are supported.
## Servo outputs

25
docs/Fixed Wing Landing.md
View file

@ -5,6 +5,8 @@
INAV supports advanced automatic landings for fixed wing aircraft from version 7.1.
The procedure is based on landings for man-carrying aircraft, so that safe landings at a specific location are possible.
Supported are landings at safehome after "Return to Home" or at a defined LAND waypoint for missions.
Every landing locations can be defined with a target point and 2 different approach headings (colinear to the landing strips) with exclusive direction or opposite directions allowed.
This enables up to 4 different approach directions, based on the landing site and surrounding area.
## General procedure:
@ -34,7 +36,7 @@ The following graphics illustrate the process:
### The following parameters are set for each landing site (Safefome/LAND waypoint):
All settings can also be conveniently made in the Configurator via Missionplanner.
All settings can also be conveniently made in the Configurator via Mission Control.
CLI command `fwapproach`:
`fwapproach <index> <Approach altitude> <Land altitude> <Approach direction> <approach heading 1> <approach heading 2> <sea level>`
@ -54,7 +56,7 @@ This means that practically 4 landing directions can be saved.
> [!CAUTION]
> The Configuator automatically determines the ground altitude based on databases on the Internet, which may be inaccurate. Please always compare with the measured GPS altitude at the landing site to avoid crashes.
### Global paramters
### Global parameters
All settings are available via “Advanced Tuning” in the Configurator.
@ -80,6 +82,23 @@ In degrees. Min: 0, Max: 45, Default: 0
* `nav_fw_land_max_tailwind`: Max. tailwind if no landing direction with downwind is available. Wind strengths below this value are ignored (error tolerance in the wind measurement). Landing then takes place in the main direction. If, for example, 90 degrees is configured, landing takes place in this direction, NOT in 270 degrees (see above).
In cm/s. Min: 0; Max: 3000, Default: 140
### General paramters and tuning tips
* `nav_fw_wp_tracking_accuracy`: Its highly recommended that this parameter is used and tuned well. Only with WP-Tracking enabled, the Aircraft will try to precisely align with the runway during approach.
If WP-Tracking is not used, the Plane will head straight to the landiung location without flying in line with the intended landing strip. Wind can intensively alter the final landing heading.
* `nav_fw_pitch2thr`: The navigation throttle modifier has to be tuned well to allow stable navigation during climbs and descents to prevent a stall. Make sure your plane maintains Ground or Airspeed, when climbing in any navigation mode.
The Craft should not get slower and not speed ub significantly during a navigation climb, if P2T is tuned properly.
* `nav_wp_radius`: This parameter might be too high if you have set up your craft with INAV 6 or INAV 7. With a too high value, the turning points for the Crosswind-Leg and Final Approach are hit too early and make it difficult for the plane to align to the runway or cut short the approach.
Make sure this parameter is not set greater than 1000 (cm). The better your craft and navigation system is tuned, the lower this value can be. We recommend to start with 1000 for flying wings and 800 for a Plane with Tail.
* Test your Navigation-Tuning: A better Navigation-Tune will reward you with smoother and more reliable landings. To test your nav systems limit, we recommend to create a waypoint missions with many 90° turn angles with shorter and shorter tracks.
With this Method, you can find out how well your plane can follow a navigation path and how long it takes to align to a waypoint track. A well tuned plane should be able to pull of a WP Mission that looks like this, where the distance between WP6 and WP7 si recommended to be the minimum approach length:
![Test Waypoint Track](https://github.com/iNavFlight/inav/assets/33039058/a929cd0c-80b1-42d6-815d-89a90e9daa1b)
## Waypoint missions
Only one landing waypoint per mission can be active and saved and the landing waypoint must be the last waypoint of the mission.
@ -87,7 +106,7 @@ If the altitude of the waypoint and the "Approach Altitude" are different, the a
## Logic Conditions
The current landing state can be retrieved via ID 41 in "Flight" (FW Land State). This allows additional actions to be executed according to the landing phases, e.g. deplyoment of the landing flaps.
The current landing state can be retrieved via ID 41 in "Flight" (FW Land State). This allows additional actions to be executed according to the landing phases, e.g. deployment of the landing flaps.
| Returned value | State |
| --- | --- |

2
docs/Getting Started.md
View file

@ -70,7 +70,7 @@ Now, there are two ways to [configure CF](Configuration.md); via the Configurat
* Verify the range of each channel goes from ~1000 to ~2000. See also [controls](Controls.md). and `rx_min_usec` and `rx_max_usec`.
* You can also set EXPO here instead of your Tx.
* Click Save!
* Modes tab: Setup the desired modes. See the [modes](Modes.md) chapter for what each mode does, but for the beginning you mainly need HORIZON, if any.
* Modes tab: Setup the desired modes. See the [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for what each mode does.
* Before finishing this section, you should calibrate the ESCs, install the FC to the frame, and connect the RSSI cable, buzzer and battery if you have chosen to use those.

339
docs/OSD.md
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@ -19,155 +19,156 @@ Not all OSDs are created equally. This table shows the differences between the d
## OSD Elements
Here are the OSD Elements provided by INAV.
| ID | Element | Added |
|-----|--------------------------------------------------|--------|
| 0 | OSD_RSSI_VALUE | 1.0.0 |
| 1 | OSD_MAIN_BATT_VOLTAGE | 1.0.0 |
| 2 | OSD_CROSSHAIRS | 1.0.0 |
| 3 | OSD_ARTIFICIAL_HORIZON | 1.0.0 |
| 4 | OSD_HORIZON_SIDEBARS | 1.0.0 |
| 5 | OSD_ONTIME | 1.0.0 |
| 6 | OSD_FLYTIME | 1.0.0 |
| 7 | OSD_FLYMODE | 1.0.0 |
| 8 | OSD_CRAFT_NAME | 1.0.0 |
| 9 | OSD_THROTTLE_POS | 1.0.0 |
| 10 | OSD_VTX_CHANNEL | 1.0.0 |
| 11 | OSD_CURRENT_DRAW | 1.0.0 |
| 12 | OSD_MAH_DRAWN | 1.0.0 |
| 13 | OSD_GPS_SPEED | 1.0.0 |
| 14 | OSD_GPS_SATS | 1.0.0 |
| 15 | OSD_ALTITUDE | 1.0.0 |
| 16 | OSD_ROLL_PIDS | 1.6.0 |
| 17 | OSD_PITCH_PIDS | 1.6.0 |
| 18 | OSD_YAW_PIDS | 1.6.0 |
| 19 | OSD_POWER | 1.6.0 |
| 20 | OSD_GPS_LON | 1.6.0 |
| 21 | OSD_GPS_LAT | 1.6.0 |
| 22 | OSD_HOME_DIR | 1.6.0 |
| 23 | OSD_HOME_DIST | 1.6.0 |
| 24 | OSD_HEADING | 1.6.0 |
| 25 | OSD_VARIO | 1.6.0 |
| 26 | OSD_VARIO_NUM | 1.6.0 |
| 27 | OSD_AIR_SPEED | 1.7.3 |
| 28 | OSD_ONTIME_FLYTIME | 1.8.0 |
| 29 | OSD_RTC_TIME | 1.8.0 |
| 30 | OSD_MESSAGES | 1.8.0 |
| 31 | OSD_GPS_HDOP | 1.8.0 |
| 32 | OSD_MAIN_BATT_CELL_VOLTAGE | 1.8.0 |
| 33 | OSD_SCALED_THROTTLE_POS | 1.8.0 |
| 34 | OSD_HEADING_GRAPH | 1.8.0 |
| 35 | OSD_EFFICIENCY_MAH_PER_KM | 1.9.0 |
| 36 | OSD_WH_DRAWN | 1.9.0 |
| 37 | OSD_BATTERY_REMAINING_CAPACITY | 1.9.0 |
| 38 | OSD_BATTERY_REMAINING_PERCENT | 1.9.0 |
| 39 | OSD_EFFICIENCY_WH_PER_KM | 1.9.0 |
| 40 | OSD_TRIP_DIST | 1.9.1 |
| 41 | OSD_ATTITUDE_PITCH | 2.0.0 |
| 42 | OSD_ATTITUDE_ROLL | 2.0.0 |
| 43 | OSD_MAP_NORTH | 2.0.0 |
| 44 | OSD_MAP_TAKEOFF | 2.0.0 |
| 45 | OSD_RADAR | 2.0.0 |
| 46 | OSD_WIND_SPEED_HORIZONTAL | 2.0.0 |
| 47 | OSD_WIND_SPEED_VERTICAL | 2.0.0 |
| 48 | OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH | 2.0.0 |
| 49 | OSD_REMAINING_DISTANCE_BEFORE_RTH | 2.0.0 |
| 50 | OSD_HOME_HEADING_ERROR | 2.0.0 |
| 51 | OSD_COURSE_HOLD_ERROR | 2.0.0 |
| 52 | OSD_COURSE_HOLD_ADJUSTMENT | 2.0.0 |
| 53 | OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE | 2.0.0 |
| 54 | OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE | 2.0.0 |
| 55 | OSD_POWER_SUPPLY_IMPEDANCE | 2.0.0 |
| 56 | OSD_LEVEL_PIDS | 2.0.0 |
| 57 | OSD_POS_XY_PIDS | 2.0.0 |
| 58 | OSD_POS_Z_PIDS | 2.0.0 |
| 59 | OSD_VEL_XY_PIDS | 2.0.0 |
| 60 | OSD_VEL_Z_PIDS | 2.0.0 |
| 61 | OSD_HEADING_P | 2.0.0 |
| 62 | OSD_BOARD_ALIGN_ROLL | 2.0.0 |
| 63 | OSD_BOARD_ALIGN_PITCH | 2.0.0 |
| 64 | OSD_RC_EXPO | 2.0.0 |
| 65 | OSD_RC_YAW_EXPO | 2.0.0 |
| 66 | OSD_THROTTLE_EXPO | 2.0.0 |
| 67 | OSD_PITCH_RATE | 2.0.0 |
| 68 | OSD_ROLL_RATE | 2.0.0 |
| 69 | OSD_YAW_RATE | 2.0.0 |
| 70 | OSD_MANUAL_RC_EXPO | 2.0.0 |
| 71 | OSD_MANUAL_RC_YAW_EXPO | 2.0.0 |
| 72 | OSD_MANUAL_PITCH_RATE | 2.0.0 |
| 73 | OSD_MANUAL_ROLL_RATE | 2.0.0 |
| 74 | OSD_MANUAL_YAW_RATE | 2.0.0 |
| 75 | OSD_NAV_FW_CRUISE_THR | 2.0.0 |
| 76 | OSD_NAV_FW_PITCH2THR | 2.0.0 |
| 77 | OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE | 2.0.0 |
| 78 | OSD_DEBUG | 2.0.0 |
| 79 | OSD_FW_ALT_PID_OUTPUTS | 2.0.0 |
| 80 | OSD_FW_POS_PID_OUTPUTS | 2.0.0 |
| 81 | OSD_MC_VEL_X_PID_OUTPUTS | 2.0.0 |
| 82 | OSD_MC_VEL_Y_PID_OUTPUTS | 2.0.0 |
| 83 | OSD_MC_VEL_Z_PID_OUTPUTS | 2.0.0 |
| 84 | OSD_MC_POS_XYZ_P_OUTPUTS | 2.0.0 |
| 85 | OSD_3D_SPEED | 2.1.0 |
| 86 | OSD_IMU_TEMPERATURE | 2.1.0 |
| 87 | OSD_BARO_TEMPERATURE | 2.1.0 |
| 88 | OSD_TEMP_SENSOR_0_TEMPERATURE | 2.1.0 |
| 89 | OSD_TEMP_SENSOR_1_TEMPERATURE | 2.1.0 |
| 90 | OSD_TEMP_SENSOR_2_TEMPERATURE | 2.1.0 |
| 91 | OSD_TEMP_SENSOR_3_TEMPERATURE | 2.1.0 |
| 92 | OSD_TEMP_SENSOR_4_TEMPERATURE | 2.1.0 |
| 93 | OSD_TEMP_SENSOR_5_TEMPERATURE | 2.1.0 |
| 94 | OSD_TEMP_SENSOR_6_TEMPERATURE | 2.1.0 |
| 95 | OSD_TEMP_SENSOR_7_TEMPERATURE | 2.1.0 |
| 96 | OSD_ALTITUDE_MSL | 2.1.0 |
| 97 | OSD_PLUS_CODE | 2.1.0 |
| 98 | OSD_MAP_SCALE | 2.2.0 |
| 99 | OSD_MAP_REFERENCE | 2.2.0 |
| 100 | OSD_GFORCE | 2.2.0 |
| 101 | OSD_GFORCE_X | 2.2.0 |
| 102 | OSD_GFORCE_Y | 2.2.0 |
| 103 | OSD_GFORCE_Z | 2.2.0 |
| 104 | OSD_RC_SOURCE | 2.2.0 |
| 105 | OSD_VTX_POWER | 2.2.0 |
| 106 | OSD_ESC_RPM | 2.3.0 |
| 107 | OSD_ESC_TEMPERATURE | 2.5.0 |
| 108 | OSD_AZIMUTH | 2.6.0 |
| 109 | OSD_CRSF_RSSI_DBM | 2.6.0 |
| 110 | OSD_CRSF_LQ | 2.6.0 |
| 111 | OSD_CRSF_SNR_DB | 2.6.0 |
| 112 | OSD_CRSF_TX_POWER | 2.6.0 |
| 113 | OSD_GVAR_0 | 2.6.0 |
| 114 | OSD_GVAR_1 | 2.6.0 |
| 115 | OSD_GVAR_2 | 2.6.0 |
| 116 | OSD_GVAR_3 | 2.6.0 |
| 117 | OSD_TPA | 2.6.0 |
| 118 | OSD_NAV_FW_CONTROL_SMOOTHNESS | 2.6.0 |
| 119 | OSD_VERSION | 3.0.0 |
| 120 | OSD_RANGEFINDER | 3.0.0 |
| 121 | OSD_PLIMIT_REMAINING_BURST_TIME | 3.0.0 |
| 122 | OSD_PLIMIT_ACTIVE_CURRENT_LIMIT | 3.0.0 |
| 123 | OSD_PLIMIT_ACTIVE_POWER_LIMIT | 3.0.0 |
| 124 | OSD_GLIDESLOPE | 3.0.1 |
| 125 | OSD_GPS_MAX_SPEED | 4.0.0 |
| 126 | OSD_3D_MAX_SPEED | 4.0.0 |
| 127 | OSD_AIR_MAX_SPEED | 4.0.0 |
| 128 | OSD_ACTIVE_PROFILE | 4.0.0 |
| 129 | OSD_MISSION | 4.0.0 |
| 130 | OSD_SWITCH_INDICATOR_0 | 5.0.0 |
| 131 | OSD_SWITCH_INDICATOR_1 | 5.0.0 |
| 132 | OSD_SWITCH_INDICATOR_2 | 5.0.0 |
| 133 | OSD_SWITCH_INDICATOR_3 | 5.0.0 |
| 134 | OSD_TPA_TIME_CONSTANT | 5.0.0 |
| 135 | OSD_FW_LEVEL_TRIM | 5.0.0 |
| 136 | OSD_GLIDE_TIME_REMAINING | 6.0.0 |
| 137 | OSD_GLIDE_RANGE | 6.0.0 |
| 138 | OSD_CLIMB_EFFICIENCY | 6.0.0 |
| 139 | OSD_NAV_WP_MULTI_MISSION_INDEX | 6.0.0 |
| 140 | OSD_GROUND_COURSE | 6.0.0 |
| 141 | OSD_CROSS_TRACK_ERROR | 6.0.0 |
| 142 | OSD_PILOT_NAME | 6.0.0 |
| 143 | OSD_PAN_SERVO_CENTRED | 6.0.0 |
| 144 | OSD_MULTI_FUNCTION | 7.0.0 |
| 145 | OSD_ODOMETER | 7.0.0 |
| 146 | OSD_PILOT_LOGO | 7.0.0 |
| ID | Element | Added | Notes |
|-----|--------------------------------------------------|--------|-------|
| 0 | OSD_RSSI_VALUE | 1.0.0 | |
| 1 | OSD_MAIN_BATT_VOLTAGE | 1.0.0 | |
| 2 | OSD_CROSSHAIRS | 1.0.0 | |
| 3 | OSD_ARTIFICIAL_HORIZON | 1.0.0 | |
| 4 | OSD_HORIZON_SIDEBARS | 1.0.0 | |
| 5 | OSD_ONTIME | 1.0.0 | |
| 6 | OSD_FLYTIME | 1.0.0 | |
| 7 | OSD_FLYMODE | 1.0.0 | |
| 8 | OSD_CRAFT_NAME | 1.0.0 | |
| 9 | OSD_THROTTLE_POS | 1.0.0 | |
| 10 | OSD_VTX_CHANNEL | 1.0.0 | |
| 11 | OSD_CURRENT_DRAW | 1.0.0 | |
| 12 | OSD_MAH_DRAWN | 1.0.0 | |
| 13 | OSD_GPS_SPEED | 1.0.0 | |
| 14 | OSD_GPS_SATS | 1.0.0 | |
| 15 | OSD_ALTITUDE | 1.0.0 | |
| 16 | OSD_ROLL_PIDS | 1.6.0 | |
| 17 | OSD_PITCH_PIDS | 1.6.0 | |
| 18 | OSD_YAW_PIDS | 1.6.0 | |
| 19 | OSD_POWER | 1.6.0 | |
| 20 | OSD_GPS_LON | 1.6.0 | |
| 21 | OSD_GPS_LAT | 1.6.0 | |
| 22 | OSD_HOME_DIR | 1.6.0 | |
| 23 | OSD_HOME_DIST | 1.6.0 | |
| 24 | OSD_HEADING | 1.6.0 | |
| 25 | OSD_VARIO | 1.6.0 | |
| 26 | OSD_VARIO_NUM | 1.6.0 | |
| 27 | OSD_AIR_SPEED | 1.7.3 | |
| 28 | OSD_ONTIME_FLYTIME | 1.8.0 | |
| 29 | OSD_RTC_TIME | 1.8.0 | |
| 30 | OSD_MESSAGES | 1.8.0 | |
| 31 | OSD_GPS_HDOP | 1.8.0 | |
| 32 | OSD_MAIN_BATT_CELL_VOLTAGE | 1.8.0 | |
| 33 | OSD_SCALED_THROTTLE_POS | 1.8.0 | |
| 34 | OSD_HEADING_GRAPH | 1.8.0 | |
| 35 | OSD_EFFICIENCY_MAH_PER_KM | 1.9.0 | |
| 36 | OSD_WH_DRAWN | 1.9.0 | |
| 37 | OSD_BATTERY_REMAINING_CAPACITY | 1.9.0 | |
| 38 | OSD_BATTERY_REMAINING_PERCENT | 1.9.0 | |
| 39 | OSD_EFFICIENCY_WH_PER_KM | 1.9.0 | |
| 40 | OSD_TRIP_DIST | 1.9.1 | |
| 41 | OSD_ATTITUDE_PITCH | 2.0.0 | |
| 42 | OSD_ATTITUDE_ROLL | 2.0.0 | |
| 43 | OSD_MAP_NORTH | 2.0.0 | |
| 44 | OSD_MAP_TAKEOFF | 2.0.0 | |
| 45 | OSD_RADAR | 2.0.0 | |
| 46 | OSD_WIND_SPEED_HORIZONTAL | 2.0.0 | |
| 47 | OSD_WIND_SPEED_VERTICAL | 2.0.0 | |
| 48 | OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH | 2.0.0 | |
| 49 | OSD_REMAINING_DISTANCE_BEFORE_RTH | 2.0.0 | |
| 50 | OSD_HOME_HEADING_ERROR | 2.0.0 | |
| 51 | OSD_COURSE_HOLD_ERROR | 2.0.0 | |
| 52 | OSD_COURSE_HOLD_ADJUSTMENT | 2.0.0 | |
| 53 | OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE | 2.0.0 | |
| 54 | OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE | 2.0.0 | |
| 55 | OSD_POWER_SUPPLY_IMPEDANCE | 2.0.0 | |
| 56 | OSD_LEVEL_PIDS | 2.0.0 | |
| 57 | OSD_POS_XY_PIDS | 2.0.0 | |
| 58 | OSD_POS_Z_PIDS | 2.0.0 | |
| 59 | OSD_VEL_XY_PIDS | 2.0.0 | |
| 60 | OSD_VEL_Z_PIDS | 2.0.0 | |
| 61 | OSD_HEADING_P | 2.0.0 | |
| 62 | OSD_BOARD_ALIGN_ROLL | 2.0.0 | |
| 63 | OSD_BOARD_ALIGN_PITCH | 2.0.0 | |
| 64 | OSD_RC_EXPO | 2.0.0 | |
| 65 | OSD_RC_YAW_EXPO | 2.0.0 | |
| 66 | OSD_THROTTLE_EXPO | 2.0.0 | |
| 67 | OSD_PITCH_RATE | 2.0.0 | |
| 68 | OSD_ROLL_RATE | 2.0.0 | |
| 69 | OSD_YAW_RATE | 2.0.0 | |
| 70 | OSD_MANUAL_RC_EXPO | 2.0.0 | |
| 71 | OSD_MANUAL_RC_YAW_EXPO | 2.0.0 | |
| 72 | OSD_MANUAL_PITCH_RATE | 2.0.0 | |
| 73 | OSD_MANUAL_ROLL_RATE | 2.0.0 | |
| 74 | OSD_MANUAL_YAW_RATE | 2.0.0 | |
| 75 | OSD_NAV_FW_CRUISE_THR | 2.0.0 | |
| 76 | OSD_NAV_FW_PITCH2THR | 2.0.0 | |
| 77 | OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE | 2.0.0 | |
| 78 | OSD_DEBUG | 2.0.0 | |
| 79 | OSD_FW_ALT_PID_OUTPUTS | 2.0.0 | |
| 80 | OSD_FW_POS_PID_OUTPUTS | 2.0.0 | |
| 81 | OSD_MC_VEL_X_PID_OUTPUTS | 2.0.0 | |
| 82 | OSD_MC_VEL_Y_PID_OUTPUTS | 2.0.0 | |
| 83 | OSD_MC_VEL_Z_PID_OUTPUTS | 2.0.0 | |
| 84 | OSD_MC_POS_XYZ_P_OUTPUTS | 2.0.0 | |
| 85 | OSD_3D_SPEED | 2.1.0 | |
| 86 | OSD_IMU_TEMPERATURE | 2.1.0 | |
| 87 | OSD_BARO_TEMPERATURE | 2.1.0 | |
| 88 | OSD_TEMP_SENSOR_0_TEMPERATURE | 2.1.0 | |
| 89 | OSD_TEMP_SENSOR_1_TEMPERATURE | 2.1.0 | |
| 90 | OSD_TEMP_SENSOR_2_TEMPERATURE | 2.1.0 | |
| 91 | OSD_TEMP_SENSOR_3_TEMPERATURE | 2.1.0 | |
| 92 | OSD_TEMP_SENSOR_4_TEMPERATURE | 2.1.0 | |
| 93 | OSD_TEMP_SENSOR_5_TEMPERATURE | 2.1.0 | |
| 94 | OSD_TEMP_SENSOR_6_TEMPERATURE | 2.1.0 | |
| 95 | OSD_TEMP_SENSOR_7_TEMPERATURE | 2.1.0 | |
| 96 | OSD_ALTITUDE_MSL | 2.1.0 | |
| 97 | OSD_PLUS_CODE | 2.1.0 | |
| 98 | OSD_MAP_SCALE | 2.2.0 | |
| 99 | OSD_MAP_REFERENCE | 2.2.0 | |
| 100 | OSD_GFORCE | 2.2.0 | |
| 101 | OSD_GFORCE_X | 2.2.0 | |
| 102 | OSD_GFORCE_Y | 2.2.0 | |
| 103 | OSD_GFORCE_Z | 2.2.0 | |
| 104 | OSD_RC_SOURCE | 2.2.0 | |
| 105 | OSD_VTX_POWER | 2.2.0 | |
| 106 | OSD_ESC_RPM | 2.3.0 | |
| 107 | OSD_ESC_TEMPERATURE | 2.5.0 | |
| 108 | OSD_AZIMUTH | 2.6.0 | |
| 109 | OSD_CRSF_RSSI_DBM | 2.6.0 | |
| 110 | OSD_CRSF_LQ | 2.6.0 | |
| 111 | OSD_CRSF_SNR_DB | 2.6.0 | |
| 112 | OSD_CRSF_TX_POWER | 2.6.0 | |
| 113 | OSD_GVAR_0 | 2.6.0 | |
| 114 | OSD_GVAR_1 | 2.6.0 | |
| 115 | OSD_GVAR_2 | 2.6.0 | |
| 116 | OSD_GVAR_3 | 2.6.0 | |
| 117 | OSD_TPA | 2.6.0 | |
| 118 | OSD_NAV_FW_CONTROL_SMOOTHNESS | 2.6.0 | |
| 119 | OSD_VERSION | 3.0.0 | |
| 120 | OSD_RANGEFINDER | 3.0.0 | |
| 121 | OSD_PLIMIT_REMAINING_BURST_TIME | 3.0.0 | |
| 122 | OSD_PLIMIT_ACTIVE_CURRENT_LIMIT | 3.0.0 | |
| 123 | OSD_PLIMIT_ACTIVE_POWER_LIMIT | 3.0.0 | |
| 124 | OSD_GLIDESLOPE | 3.0.1 | |
| 125 | OSD_GPS_MAX_SPEED | 4.0.0 | |
| 126 | OSD_3D_MAX_SPEED | 4.0.0 | |
| 127 | OSD_AIR_MAX_SPEED | 4.0.0 | |
| 128 | OSD_ACTIVE_PROFILE | 4.0.0 | |
| 129 | OSD_MISSION | 4.0.0 | |
| 130 | OSD_SWITCH_INDICATOR_0 | 5.0.0 | |
| 131 | OSD_SWITCH_INDICATOR_1 | 5.0.0 | |
| 132 | OSD_SWITCH_INDICATOR_2 | 5.0.0 | |
| 133 | OSD_SWITCH_INDICATOR_3 | 5.0.0 | |
| 134 | OSD_TPA_TIME_CONSTANT | 5.0.0 | |
| 135 | OSD_FW_LEVEL_TRIM | 5.0.0 | |
| 136 | OSD_GLIDE_TIME_REMAINING | 6.0.0 | |
| 137 | OSD_GLIDE_RANGE | 6.0.0 | |
| 138 | OSD_CLIMB_EFFICIENCY | 6.0.0 | |
| 139 | OSD_NAV_WP_MULTI_MISSION_INDEX | 6.0.0 | |
| 140 | OSD_GROUND_COURSE | 6.0.0 | |
| 141 | OSD_CROSS_TRACK_ERROR | 6.0.0 | |
| 142 | OSD_PILOT_NAME | 6.0.0 | |
| 143 | OSD_PAN_SERVO_CENTRED | 6.0.0 | |
| 144 | OSD_MULTI_FUNCTION | 7.0.0 | |
| 145 | OSD_ODOMETER | 7.0.0 | For this to work correctly, stats must be enabled (`set stats=ON`). Otherwise, this will show the total flight distance. |
| 146 | OSD_PILOT_LOGO | 7.0.0 | |
| 147 | OSD_BLACKBOX | 8.0.0 | The element will be hidden unless blackbox recording is attempted. |
# Pilot Logos
@ -192,3 +193,43 @@ This is an example of the arming screen with the pilot logo enabled. This is usi
This is an example of setting the `osd_inav_to_pilot_logo_spacing` to 0. This will allow a larger, single logo.
![Power on screen example with 0 spacing between logos](https://user-images.githubusercontent.com/17590174/271817352-6206402c-9da4-4682-9d83-790cc2396b00.png)
# Post Flight Statistics
The post flight statistcs are set in the firmware. Statistics are only hidden if the supporting hardware is not present. Due to size contraints. The post flight statistics are spread over 2 pages on analogue systems.
## Statistics shown
| Statistic | Requirement | Page | |
|-------------------------------|-----------------------|-------|-|
| Flight Time | | 1 | The total time from arm to disarm. |
| Flight Distance | | 1 | |
| Maximum Distance From Home | GPS | 1 | |
| Maximum Speed | GPS | 1 | |
| Average Speed | GPS | 1 | |
| Maximum Altitude | Baro/GPS | 1 | |
| Minimum Average Cell Voltage | | 1 | |
| Minimum Pack Voltage | | 1 | |
| Maximum Current | Current Sensor | 1 | |
| Maximum Power | Current Sensor | 1 | |
| Energy Used (Flight) | Current Sensor | 1 | |
| Energy Used (Battery Total) | Current Sensor | 1 | This data is not reset on arming. |
| Average Efficiency | Current Sensor & GPS | 1 | |
| Minimum RSSI | | 2 | |
| Minimum LQ | CRSF | 2 | |
| Minmum dBm | CRSF | 2 | |
| Minimum Satellites | GPS | 2 | |
| Maximum Satellites | GPS | 2 | |
| Minimum ESC Temperature | ESC Telemetry | 2 | |
| Maximum ESC Temperature | ESC Telemetry | 2 | |
| Maximum G-Force | | 2 | |
| Minimum Z axis G-Force | | 2 | |
| Maximum Z axis G-Force | | 2 | |
| Blackbox file number | Blackbox recording | 2 | |
| Disarm method | | 1 & 2 | |
| Settings save status | | 1 & 2 | Shows a message if the settings are being saved or have been saved on disarm. |
## Configuration
There are a couple of settings that allow you to adjust parts of the post flights statistics.
- `osd_stats_page_auto_swap_time` allows you to specify how long each stats page is displayed [seconds]. Reverts to manual control when Roll stick used to change pages. Disabled when set to 0.
- `osd_stats_energy_unit` allows you to choose the unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour). Default is MAH.
- `osd_stats_show_metric_efficiency` if you use non-metric units on your OSD. Enabling this option will also show the efficiency in metric.

1
docs/Rangefinder.md
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@ -20,6 +20,7 @@ Following rangefinders are supported:
* UIB - experimental
* MSP - experimental
* TOF10120 - small & lightweight laser range sensor, usable up to 200cm
* TERARANGER EVO - 30cm to 600cm, depends on version https://www.terabee.com/sensors-modules/lidar-tof-range-finders/#individual-distance-measurement-sensors
## Connections

2
docs/Safety.md
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@ -6,7 +6,7 @@ As many can attest, multirotors and RC models in general can be very dangerous,
## Before Installing
Please consult the [Cli](Cli.md), [Controls](Controls.md), [Failsafe](Failsafe.md) and [Modes](Modes.md)
Please consult the [Cli](Cli.md), [Controls](Controls.md), [Failsafe](Failsafe.md) and [Modes](https://github.com/iNavFlight/inav/wiki/Modes)
pages for further important information.
You are highly advised to use the Receiver tab in the INAV Configurator, making sure your Rx channel

2
docs/Servo.md
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@ -1,6 +1,6 @@
# Servo configuration
Servos can be configured from the graphical user interface's `Servos` tab.
Servos can be configured from the graphical user interface's `Outputs` tab.
* MID: middle/neutral point of the servo
* MIN: the minimum value that can be sent to the servo is MIN * Rate

238
docs/Settings.md
View file

@ -104,7 +104,7 @@ Specifies the type of the software LPF of the acc signals. BIQUAD gives better f
### acc_notch_cutoff
_// TODO_
Frequency of the software notch filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz)
| Default | Min | Max |
| --- | --- | --- |
@ -114,7 +114,7 @@ _// TODO_
### acc_notch_hz
_// TODO_
Frequency of the software notch filter to remove mechanical vibrations from the accelerometer measurements. Value is center frequency (Hz)
| Default | Min | Max |
| --- | --- | --- |
@ -394,7 +394,7 @@ Defines the deadband of throttle during alt_hold [r/c points]
### antigravity_accelerator
_// TODO_
Multiplier for Antigravity gain. The bigger is the difference between actual and filtered throttle input, the bigger Antigravity gain
| Default | Min | Max |
| --- | --- | --- |
@ -552,16 +552,6 @@ Blackbox logging rate numerator. Use num/denom settings to decide if a frame sho
---
### control_deadband
Stick deadband in [r/c points], applied after r/c deadband and expo. Used to check if sticks are centered.
| Default | Min | Max |
| --- | --- | --- |
| 10 | 2 | 250 |
---
### controlrate_profile
Control rate profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control rate profile
@ -572,16 +562,6 @@ Control rate profile to switch to when the battery profile is selected, 0 to dis
---
### cpu_underclock
This option is only available on certain architectures (F3 CPUs at the moment). It makes CPU clock lower to reduce interference to long-range RC systems working at 433MHz
| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |
---
### cruise_power
Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit
@ -634,7 +614,7 @@ ADC , VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the
### d_boost_gyro_delta_lpf_hz
_// TODO_
Cutoff frequency for the low pass filter applied to the gyro delta signal used for D-term boost. Lower value will produce a smoother D-term boost signal, but it will be more delayed.
| Default | Min | Max |
| --- | --- | --- |
@ -644,7 +624,7 @@ _// TODO_
### d_boost_max
_// TODO_
D-term multiplier when rapid external conditions are detected. Lower values give sharper response to stick input, higher values give smoother response by scaling D-gains up.
| Default | Min | Max |
| --- | --- | --- |
@ -654,7 +634,7 @@ _// TODO_
### d_boost_max_at_acceleration
_// TODO_
Acceleration threshold for D-term multiplier. When acceleration is above this value, D-term multiplier is set to `d_boost_max`
| Default | Min | Max |
| --- | --- | --- |
@ -664,7 +644,7 @@ _// TODO_
### d_boost_min
_// TODO_
D-term multiplier when pilot provides rapid stick input. Lower values give sharper response to stick input, higher values give smoother response.
| Default | Min | Max |
| --- | --- | --- |
@ -678,7 +658,7 @@ These are values (in us) by how much RC input can be different before it's consi
| Default | Min | Max |
| --- | --- | --- |
| 5 | 0 | 32 |
| 2 | 0 | 32 |
---
@ -692,9 +672,9 @@ Defines debug values exposed in debug variables (developer / debugging setting)
---
### disarm_kill_switch
### disarm_always
Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel.
Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low.
| Default | Min | Max |
| --- | --- | --- |
@ -772,16 +752,6 @@ Re-purpose the craft name field for messages.
---
### dji_workarounds
Enables workarounds for different versions of MSP protocol used
| Default | Min | Max |
| --- | --- | --- |
| 1 | 0 | 255 |
---
### dshot_beeper_enabled
Whether using DShot motors as beepers is enabled
@ -962,6 +932,16 @@ EzTune response
---
### ez_snappiness
EzTune snappiness
| Default | Min | Max |
| --- | --- | --- |
| 0 | 0 | 100 |
---
### ez_stability
EzTune stability
@ -1164,7 +1144,7 @@ Defines throw range in us for both ailerons that will be passed to servo mixer v
### fpv_mix_degrees
_// TODO_
The tilt angle of the FPV camera in degrees, used by the FPV ANGLE MIX mode
| Default | Min | Max |
| --- | --- | --- |
@ -1592,16 +1572,6 @@ Gyro processing anti-aliasing filter cutoff frequency. In normal operation this
---
### gyro_anti_aliasing_lpf_type
Specifies the type of the software LPF of the gyro signals.
| Default | Min | Max |
| --- | --- | --- |
| PT1 | | |
---
### gyro_dyn_lpf_curve_expo
Expo value for the throttle-to-frequency mapping for Dynamic LPF
@ -1632,16 +1602,6 @@ Minimum frequency of the gyro Dynamic LPF
---
### gyro_hardware_lpf
Hardware lowpass filter for gyro. This value should never be changed without a very strong reason! If you have to set gyro lpf below 256HZ, it means the frame is vibrating too much, and that should be fixed first.
| Default | Min | Max |
| --- | --- | --- |
| 256HZ | | |
---
### gyro_main_lpf_hz
Software based gyro main lowpass filter. Value is cutoff frequency (Hz)
@ -1652,19 +1612,9 @@ Software based gyro main lowpass filter. Value is cutoff frequency (Hz)
---
### gyro_main_lpf_type
Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation.
| Default | Min | Max |
| --- | --- | --- |
| BIQUAD | | |
---
### gyro_to_use
_// TODO_
On multi-gyro targets, allows to choose which gyro to use. 0 = first gyro, 1 = second gyro
| Default | Min | Max |
| --- | --- | --- |
@ -1872,16 +1822,6 @@ _// TODO_
---
### inav_use_gps_velned
Defined if INAV should use velocity data provided by GPS module for doing position and speed estimation. If set to OFF INAV will fallback to calculating velocity from GPS coordinates. Using native velocity data may improve performance on some GPS modules. Some GPS modules introduce significant delay and using native velocity may actually result in much worse performance.
| Default | Min | Max |
| --- | --- | --- |
| ON | OFF | ON |
---
### inav_w_acc_bias
Weight for accelerometer drift estimation
@ -1894,7 +1834,7 @@ Weight for accelerometer drift estimation
### inav_w_xy_flow_p
_// TODO_
Weight of optical flow measurements in estimated UAV position.
| Default | Min | Max |
| --- | --- | --- |
@ -1904,7 +1844,7 @@ _// TODO_
### inav_w_xy_flow_v
_// TODO_
Weight of optical flow measurements in estimated UAV speed.
| Default | Min | Max |
| --- | --- | --- |
@ -1984,7 +1924,7 @@ Decay coefficient for estimated climb rate when baro/GPS reference for altitude
### inav_w_z_surface_p
_// TODO_
Weight of rangefinder measurements in estimated altitude. Setting is used on both airplanes and multirotors when rangefinder is present and Surface mode enabled
| Default | Min | Max |
| --- | --- | --- |
@ -1994,7 +1934,7 @@ _// TODO_
### inav_w_z_surface_v
_// TODO_
Weight of rangefinder measurements in estimated climb rate. Setting is used on both airplanes and multirotors when rangefinder is present and Surface mode enabled
| Default | Min | Max |
| --- | --- | --- |
@ -2042,16 +1982,6 @@ PWM mode of LED pin.
---
### ledstrip_visual_beeper
_// TODO_
| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |
---
### limit_attn_filter_cutoff
Throttle attenuation PI control output filter cutoff frequency
@ -2354,7 +2284,7 @@ Servo travel multiplier for the YAW axis in `MANUAL` flight mode [0-100]%
### mavlink_ext_status_rate
_// TODO_
Rate of the extended status message for MAVLink telemetry
| Default | Min | Max |
| --- | --- | --- |
@ -2364,7 +2294,7 @@ _// TODO_
### mavlink_extra1_rate
_// TODO_
Rate of the extra1 message for MAVLink telemetry
| Default | Min | Max |
| --- | --- | --- |
@ -2374,7 +2304,7 @@ _// TODO_
### mavlink_extra2_rate
_// TODO_
Rate of the extra2 message for MAVLink telemetry
| Default | Min | Max |
| --- | --- | --- |
@ -2384,7 +2314,7 @@ _// TODO_
### mavlink_extra3_rate
_// TODO_
Rate of the extra3 message for MAVLink telemetry
| Default | Min | Max |
| --- | --- | --- |
@ -2394,7 +2324,7 @@ _// TODO_
### mavlink_pos_rate
_// TODO_
Rate of the position message for MAVLink telemetry
| Default | Min | Max |
| --- | --- | --- |
@ -2404,7 +2334,7 @@ _// TODO_
### mavlink_rc_chan_rate
_// TODO_
Rate of the RC channels message for MAVLink telemetry
| Default | Min | Max |
| --- | --- | --- |
@ -2452,16 +2382,6 @@ These are min/max values (in us) which, when a channel is smaller (min) or large
---
### max_throttle
This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK for everyone (legacy). For modern ESCs, higher values (c. 2000) may be more appropriate. If you have brushed motors, the value should be set to 2000.
| Default | Min | Max |
| --- | --- | --- |
| 1850 | PWM_RANGE_MIN | PWM_RANGE_MAX |
---
### mc_cd_lpf_hz
Cutoff frequency for Control Derivative. This controls the cutoff for the LPF that is applied to the CD (Feed Forward) signal to the PID controller. Lower value will produce a smoother CD gain to the controller, but it will be more delayed. Higher values will produce CD gain that may have more noise in the signal depending on your RC link but wil be less delayed.
@ -2584,7 +2504,7 @@ Multicopter rate stabilisation I-gain for YAW
### mc_iterm_relax
_// TODO_
Iterm relax type. When enabled, Iterm will be relaxed when stick is centered. This will help to reduce bounceback and followthrough on multirotors. It is recommended to enable this feature on all multirotors.
| Default | Min | Max |
| --- | --- | --- |
@ -2594,7 +2514,7 @@ _// TODO_
### mc_iterm_relax_cutoff
_// TODO_
Iterm relax cutoff frequency.
| Default | Min | Max |
| --- | --- | --- |
@ -3004,11 +2924,11 @@ Max. tailwind (in cm/s) if no landing direction with downwind is available
### nav_fw_launch_accel
Forward acceleration threshold for bungee launch of throw launch [cm/s/s], 1G = 981 cm/s/s
Forward acceleration threshold for bungee launch or throw launch [cm/s/s], 1G = 981 cm/s/s
| Default | Min | Max |
| --- | --- | --- |
| 1863 | 1000 | 20000 |
| 1863 | 1500 | 20000 |
---
@ -3162,6 +3082,16 @@ Forward velocity threshold for swing-launch detection [cm/s]
---
### nav_fw_launch_wiggle_to_wake_idle
Trigger the idle throttle by wiggling the plane. 0 = disabled. 1 and 2 signify 1 or 2 yaw wiggles to activate. 1 wiggle has a higher detection point, for airplanes without a tail. 2 wiggles has a lower detection point, but requires the repeated action. This is intended for larger models and airplanes with tails.
| Default | Min | Max |
| --- | --- | --- |
| 0 | 0 | 2 |
---
### nav_fw_loiter_radius
PosHold radius. 3000 to 7500 is a good value (30-75m) [cm]
@ -3714,7 +3644,7 @@ A point (in percent of both target and current horizontal velocity) where nav_mc
### nav_mc_vel_xy_dterm_lpf_hz
_// TODO_
D-term low pass filter cutoff frequency for horizontal velocity PID controller (Multirotor). It allows to smooth the PosHold CRUISE, WP and RTH when Multirotor is traveling at full speed. Dterm is not attenuated at low speeds, breaking and accelerating.
| Default | Min | Max |
| --- | --- | --- |
@ -3724,7 +3654,7 @@ _// TODO_
### nav_mc_vel_xy_ff
_// TODO_
FF gain of Position-Rate (Velocity to Acceleration)
| Default | Min | Max |
| --- | --- | --- |
@ -3794,7 +3724,7 @@ When ON, NAV engine will slow down when switching to the next waypoint. This pri
### nav_min_ground_speed
Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s.
Minimum ground speed for navigation flight modes [m/s]. Currently, this only affects fixed wing. Default 7 m/s.
| Default | Min | Max |
| --- | --- | --- |
@ -4094,7 +4024,7 @@ Selection of OPFLOW hardware.
### opflow_scale
_// TODO_
Optical flow module scale factor
| Default | Min | Max |
| --- | --- | --- |
@ -4314,7 +4244,7 @@ Set the camera uptilt for the FPV camera in degres, positive is up, negative is
### osd_coordinate_digits
_// TODO_
Number of digits for the coordinates displayed in the OSD [8-11].
| Default | Min | Max |
| --- | --- | --- |
@ -4402,6 +4332,16 @@ Use wind estimation for remaining flight time/distance estimation
---
### osd_estimations_wind_mps
Wind speed estimation in m/s
| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |
---
### osd_failsafe_switch_layout
If enabled the OSD automatically switches to the first layout during failsafe
@ -4664,7 +4604,7 @@ PWM value for UP key
### osd_left_sidebar_scroll
_// TODO_
Scroll type for the left sidebar
| Default | Min | Max |
| --- | --- | --- |
@ -4794,7 +4734,7 @@ Number of leading digits removed from plus code. Removing 2, 4 and 6 digits requ
### osd_right_sidebar_scroll
_// TODO_
Scroll type for the right sidebar
| Default | Min | Max |
| --- | --- | --- |
@ -4884,7 +4824,7 @@ Sidebar horizontal offset from default position. Positive values move the sideba
### osd_sidebar_scroll_arrows
_// TODO_
Show arrows for scrolling the sidebars
| Default | Min | Max |
| --- | --- | --- |
@ -4922,16 +4862,6 @@ Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt
---
### osd_stats_min_voltage_unit
Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats.
| Default | Min | Max |
| --- | --- | --- |
| BATTERY | | |
---
### osd_stats_page_auto_swap_time
Auto swap display time interval between disarm stats pages (seconds). Reverts to manual control when Roll stick used to change pages. Disabled when set to 0.
@ -4942,6 +4872,16 @@ Auto swap display time interval between disarm stats pages (seconds). Reverts to
---
### osd_stats_show_metric_efficiency
Enabling this option will show metric efficiency statistics on the post flight stats screen. In addition to the efficiency statistics in your chosen units.
| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |
---
### osd_switch_indicator_one_channel
RC Channel to use for OSD switch indicator 1.
@ -5122,26 +5062,6 @@ Allows to set type of PID controller used in control loop. Possible values: `NON
---
### pidsum_limit
A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help
| Default | Min | Max |
| --- | --- | --- |
| 500 | PID_SUM_LIMIT_MIN | PID_SUM_LIMIT_MAX |
---
### pidsum_limit_yaw
A limitation to overall amount of correction Flight PID can request on each axis (Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help
| Default | Min | Max |
| --- | --- | --- |
| 350 | PID_SUM_LIMIT_MIN | PID_SUM_LIMIT_MAX |
---
### pilot_name
Pilot name
@ -5214,7 +5134,7 @@ Selection of pitot hardware.
### pitot_lpf_milli_hz
_// TODO_
Pitot tube lowpass filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay
| Default | Min | Max |
| --- | --- | --- |
@ -5224,7 +5144,7 @@ _// TODO_
### pitot_scale
_// TODO_
Pitot tube scale factor
| Default | Min | Max |
| --- | --- | --- |
@ -5594,7 +5514,7 @@ Used to control when safehomes will be used. Possible values are `OFF`, `RTH` an
### sbus_sync_interval
_// TODO_
SBUS sync interval in us. Default value is 3000us. Lower values may cause issues with some receivers.
| Default | Min | Max |
| --- | --- | --- |
@ -6214,7 +6134,7 @@ Some VTXes may report max power incorrectly (i.e. 200mW for a 600mW VTX). Use th
### vtx_pit_mode_chan
_// TODO_
Pit mode channel.
| Default | Min | Max |
| --- | --- | --- |
@ -6278,7 +6198,7 @@ These are values (in us) by how much RC input can be different before it's consi
| Default | Min | Max |
| --- | --- | --- |
| 5 | 0 | 100 |
| 2 | 0 | 100 |
---

4
docs/boards/MAMBAH743_2022B.md
View file

@ -2,4 +2,8 @@
Contrary to what the documentation suggests, VTX power is actually on USER2.
# Dual Gyros
INAV 7.1 changed the default gyro of the board from the gyro on SPI4 back to the one on SPI1. A new tagrt ```MAMBAH743_2022B_GYRO2``` was added to use gyro on SPI4, in case you suspect an issue with the gyro on SPI1, you can switch to the gyro on SPI4 by using the new target.

1
docs/development/Blackbox Internals.md
View file

@ -566,7 +566,6 @@ The log end marker is an optional Event ("E") frame of type 0xFF whose payload i
<li> Sticks</li>
<li> Switch_3D</li>
<li> Switch</li>
<li> Killswitch</li>
<li> Failsafe</li>
<li> Navigation</li>
</ol>

2
docs/development/Building in Docker.md
View file

@ -1,5 +1,7 @@
# Building with Docker
> **On Windows building with this method is not advised and should be used only if Windows Linux Subsystem can not be used. In all other cases all Windows users should be using Linux Subsystem (WSL) instead**
Building with [Docker](https://www.docker.com/) is remarkably easy: an isolated container will hold all the needed compilation tools so that they won't interfere with your system and you won't need to install and manage them by yourself. You'll only need to have Docker itself [installed](https://docs.docker.com/install/).
The first time that you'll run a build it will take a little more time than following executions since it will be building its base image first. Once this initial process is completed, the firmware will be always built immediately.

2
docs/development/Building in Vagrant.md
View file

@ -1,5 +1,7 @@
# Building with Vagrant
> **On Windows building with this method is not advised and should be used only if Windows Linux Subsystem can not be used. In all other cases all Windows users should be using Linux Subsystem (WSL) instead**
Setting up build environment with Vagrant is remarkably simple, but you still need to have some basic knowlage of your OS.
## Installing Vagrant

44
docs/development/Building in Windows 10 or 11 with Linux Subsystem.md
View file

@ -1,6 +1,6 @@
# Building in Windows 10 with Linux subsystem [Recommended]
# Building in Windows 10/11 with Linux subsystem (WSL) [Recommended]
Linux subsystem for Windows 10 is probably the simplest way of building INAV under Windows 10.
Linux subsystem for Windows (WSL) 10/11 is probably the simplest way of building INAV under Windows.
## Setting up the environment
@ -9,7 +9,6 @@ run `windows features`
enable `windows subsytem for linux`
reboot
Install Ubuntu:
1. Go to Microsoft store https://www.microsoft.com/en-gb/store/b/home
1. Search and install most recent Ubuntu LTS version
@ -56,12 +55,12 @@ You can fix this with by remounting the drive using the following commands
1. `sudo umount /mnt/c`
2. `sudo mount -t drvfs C: /mnt/c -o metadata`
## Building (example):
## Building with Make (example):
For detailed build instrusctions see [Building in Linux](Building%20in%20Linux.md)
For detailed build instructions see [Building in Linux](Building%20in%20Linux.md)
Launch Ubuntu:
Click Windows Start button then scroll and lauch "Ubuntu"
Click Windows Start button then scroll and launch "Ubuntu"
Building from Ubuntu command line
@ -80,6 +79,39 @@ cd build
make MATEKF722
```
## Building with Ninja (example):
[Ninja](https://ninja-build.org/) is a popular cross-platform tool. It is both lightweight and executes parallel builds by default. It is advantageous to use this over the old _make_ method. There are detailed instructions for building with Ninja in [Building in Linux](Building%20in%20Linux.md#building-with-ninja).
Launch Ubuntu:
Click Windows Start button. Then scroll and launch **Ubuntu**.
> [!TIP]
> Before using Ninja, you will need to install it. From the Ubuntu command prompt type `sudo apt-get install ninja-build -y` and press enter.
Building from the command line:
First, change to the INAV directory with
```cd /mnt/c/inav```
Before building, you will need to prepare the build environment. You only need to do this once, unless you reinstall WSL or cmake.
```
mkdir build
cd build
cmake -GNinja ..
```
From then on, you can build your target by calling the following from inside the build directory.
```
ninja MATEKF722
```
If you want to build multiple targets. You can use:
```
ninja MATEKF722 MATEKF405SE SPEEDYBEEF405
```
## Updating the documents
```
cd /mnt/c/inav

3
docs/development/Building in Windows 10 or 11 with MSYS2.md
View file

@ -1,4 +1,7 @@
# Building in Windows with MSYS2
> **Building with this method is not advised and should be used only if Windows Linux Subsystem can not be used. In all other cases all Windows users should be using Linux Subsystem (WSL) instead**
- This environment does not require installing WSL, which may not be available or would get in the way of other virtualization and/or anti-cheat software
- It is also much faster to install and get set up because of its small size(~3.65 GB total after building hex file as of 6.0.0)
## Setting up the environment

4
docs/development/Building in Windows light.md → docs/development/[Deprecated] Building in Windows light.md
View file

@ -1,4 +1,8 @@
# Building in windows light [Deprecated]
> **Building with this method is deprecated and not advised. All Windows users should be using
Linux Subsystem (WSL) instead**
no cygwin and no path changes
## Install Git for windows

19
docs/development/serial_printf_debugging.md
View file

@ -98,10 +98,13 @@ LOG_BUF_DEBUG(TEMPERATURE, &tstruct, sizeof(tstruct));
Log messages are transmitted through the `FUNCTION_LOG` serial port as MSP messages (`MSP_DEBUGMSG`). It is possible to use any serial terminal to display these messages, however it is advisable to use an application that understands `MSP_DEBUGMSG` in order to maintain readability (in a raw serial terminal the MSP message envelope may result in the display of strange characters). `MSP_DEBUGMSG` aware applications include:
* [msp-tool](https://github.com/fiam/msp-tool)
* [mwp](https://github.com/stronnag/mwptools)
* [dbg-tool](https://codeberg.org/stronnag/dbg-tool)
* [INAV Configurator](https://github.com/iNavFlight/inav-configurator)
* [mwp](https://github.com/stronnag/mwptools)
In addtion:
* [msp-tool](https://github.com/fiam/msp-tool) is obsolete and has limited OS support.
For example, with the final lines of `src/main/fc/fc_init.c` set to:
@ -121,10 +124,16 @@ set log_topics = 4294967295
The output will be formatted as follows:
```
# msp-tool
[DEBUG] [ 3.967] Init is complete
# dbg-tool
[dbg-tool] 12:46:49.909079 DBG: [ 3.967] Init is complete
# mwp (stderr log file)
2020-02-02T19:09:02+0000 DEBUG:[ 3.968] Init is complete
# msp-tool
[DEBUG] [ 3.967] Init is complete
```
The numeric value in square brackets is the FC uptime in seconds.
For the Configurator, debug messages are shown in the developer console log.
Note: The numeric value in square brackets is the FC uptime in seconds.

4
docs/policies/NEW_HARDWARE_POLICY.md
View file

@ -23,8 +23,8 @@ New targets are accepted into INAV code if any of the following conditions is sa
3. The new target must meet the following minimal requirements:
* On-board sensors include at least the IMU (gyroscope + accelerometer)
* At least 2 hardware serial ports are available with both TX and RX pins
* At least 512K of firmware flash memory and at least of 64K of RAM available
* At least 3 hardware serial ports are available with both TX and RX pads. 2 serial ports may be accepted if there is an onboard serial RX.
* At least 512K of firmware flash memory and at least of 128K of RAM available
* At least one I2C bus broken out (SCL and SDA pins) and not shared with other functions
## New hardware support

38
readme.md
View file

@ -1,6 +1,6 @@
# INAV - navigation capable flight controller
# PSA
# F411 PSA
> INAV no longer accepts targets based on STM32 F411 MCU.
@ -8,28 +8,50 @@
![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png)
# PosHold, Navigation and RTH without compass PSA
Attention all drone pilots and enthusiasts,
Are you ready to take your flights to new heights with INAV 7.1? We've got some important information to share with you.
INAV 7.1 brings an exciting update to navigation capabilities. Now, you can soar through the skies, navigate waypoints, and even return to home without relying on a compass. Yes, you heard that right! But before you launch into the air, there's something crucial to consider.
While INAV 7.1 may not require a compass for basic navigation functions, we strongly advise you to install one for optimal flight performance. Here's why:
🛰️ Better Flight Precision: A compass provides essential data for accurate navigation, ensuring smoother and more precise flight paths.
🌐 Enhanced Reliability: With a compass onboard, your drone can maintain stability even in challenging environments, low speeds and strong wind.
🚀 Minimize Risks: Although INAV 7.1 can get you where you need to go without a compass, flying without one may result in a bumpier ride and increased risk of drift or inaccurate positioning.
Remember, safety and efficiency are paramount when operating drones. By installing a compass, you're not just enhancing your flight experience, but also prioritizing safety for yourself and those around you.
So, before you take off on your next adventure, make sure to equip your drone with a compass. It's the smart choice for smoother flights and better navigation.
Fly safe, fly smart with INAV 7.1 and a compass by your side!
# INAV Community
* [INAV Discord Server](https://discord.gg/peg2hhbYwN)
* [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)
* [INAV Official on Telegram](https://t.me/INAVFlight)
## Features
* Runs on the most popular F4, F7 and H7 flight controllers
* Runs on the most popular F4, AT32, F7 and H7 flight controllers
* On Screen Display (OSD) - both character and pixel style
* DJI OSD integration: all elements, system messages and warnings
* Outstanding performance out of the box
* Position Hold, Altitude Hold, Return To Home and Waypoint Missions
* Excellent support for fixed wing UAVs: airplanes, flying wings
* Blackbox flight recorder logging
* Advanced gyro filtering
* Fully configurable mixer that allows to run any hardware you want: multirotor, fixed wing, rovers, boats and other experimental devices
* Multiple sensor support: GPS, Pitot tube, sonar, lidar, temperature, ESC with BlHeli_32 telemetry
* Logic Conditions, Global Functions and Global Variables: you can program INAV with a GUI
* SmartAudio and IRC Tramp VTX support
* Blackbox flight recorder logging
* Telemetry: SmartPort, FPort, MAVlink, LTM, CRSF
* Multi-color RGB LED Strip support
* Advanced gyro filtering
* Logic Conditions, Global Functions and Global Variables: you can program INAV with a GUI
* On Screen Display (OSD) - both character and pixel style
* And many more!
For a list of features, changes and some discussion please review consult the releases [page](https://github.com/iNavFlight/inav/releases) and the documentation.
@ -52,10 +74,6 @@ Command line tools (`blackbox_decode`, `blackbox_render`) for Blackbox log conve
Users of EdgeTX and 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)
### INAV magnetometer alignment helper
[INAV Magnetometer Alignment helper](https://kernel-machine.github.io/INavMagAlignHelper/) allows to align INAV magnetometer despite position and orientation. This simplifies the process of INAV setup on multirotors with tilted GPS modules.
### OSD layout Copy, Move, or Replace helper tool
[Easy INAV OSD switcher tool](https://www.mrd-rc.com/tutorials-tools-and-testing/useful-tools/inav-osd-switcher-tool/) allows you to easily switch your OSD layouts around in INAV. Choose the from and to OSD layouts, and the method of transfering the layouts.

2
src/main/CMakeLists.txt
View file

@ -237,6 +237,8 @@ main_sources(COMMON_SRC
drivers/rangefinder/rangefinder_us42.h
drivers/rangefinder/rangefinder_tof10120_i2c.c
drivers/rangefinder/rangefinder_tof10120_i2c.h
drivers/rangefinder/rangefinder_teraranger_evo.c
drivers/rangefinder/rangefinder_teraranger_evo.h
drivers/resource.c
drivers/resource.h

9
src/main/blackbox/blackbox.c
View file

@ -1844,9 +1844,9 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s", systemConfig()->craftName);
BLACKBOX_PRINT_HEADER_LINE("P interval", "%u/%u", blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d", getThrottleIdleValue());
BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", motorConfig()->maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", getMaxThrottle());
BLACKBOX_PRINT_HEADER_LINE("gyro_scale", "0x%x", castFloatBytesToInt(1.0f));
BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", getThrottleIdleValue(),motorConfig()->maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", getThrottleIdleValue(),getMaxThrottle());
BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u", acc.dev.acc_1G);
#ifdef USE_ADC
@ -1915,9 +1915,8 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_type", "%d", pidProfile()->dterm_lpf_type);
BLACKBOX_PRINT_HEADER_LINE("deadband", "%d", rcControlsConfig()->deadband);
BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d", rcControlsConfig()->yaw_deadband);
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d", gyroConfig()->gyro_lpf);
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d", GYRO_LPF_256HZ);
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_hz", "%d", gyroConfig()->gyro_main_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_type", "%d", gyroConfig()->gyro_main_lpf_type);
#ifdef USE_DYNAMIC_FILTERS
BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchQ", "%d", gyroConfig()->dynamicGyroNotchQ);
BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchMinHz", "%d", gyroConfig()->dynamicGyroNotchMinHz);
@ -1940,8 +1939,6 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("waypoints", "%d,%d", getWaypointCount(),isWaypointListValid());
BLACKBOX_PRINT_HEADER_LINE("acc_notch_hz", "%d", accelerometerConfig()->acc_notch_hz);
BLACKBOX_PRINT_HEADER_LINE("acc_notch_cutoff", "%d", accelerometerConfig()->acc_notch_cutoff);
BLACKBOX_PRINT_HEADER_LINE("pidSumLimit", "%d", pidProfile()->pidSumLimit);
BLACKBOX_PRINT_HEADER_LINE("pidSumLimitYaw", "%d", pidProfile()->pidSumLimitYaw);
BLACKBOX_PRINT_HEADER_LINE("axisAccelerationLimitYaw", "%d", pidProfile()->axisAccelerationLimitYaw);
BLACKBOX_PRINT_HEADER_LINE("axisAccelerationLimitRollPitch", "%d", pidProfile()->axisAccelerationLimitRollPitch);
#ifdef USE_RPM_FILTER

34
src/main/blackbox/blackbox_io.c
View file

@ -35,6 +35,10 @@
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#ifdef USE_SDCARD
#include "drivers/sdcard/sdcard.h"
#endif
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/flashfs.h"
#include "io/serial.h"
@ -507,6 +511,36 @@ bool isBlackboxDeviceFull(void)
}
}
bool isBlackboxDeviceWorking(void)
{
switch (blackboxConfig()->device) {
case BLACKBOX_DEVICE_SERIAL:
return blackboxPort != NULL;
#ifdef USE_SDCARD
case BLACKBOX_DEVICE_SDCARD:
return sdcard_isInserted() && sdcard_isFunctional() && (afatfs_getFilesystemState() == AFATFS_FILESYSTEM_STATE_READY);
#endif
#ifdef USE_FLASHFS
case BLACKBOX_DEVICE_FLASH:
return flashfsIsReady();
#endif
default:
return false;
}
}
int32_t blackboxGetLogNumber(void)
{
switch (blackboxConfig()->device) {
#ifdef USE_SDCARD
case BLACKBOX_DEVICE_SDCARD:
return blackboxSDCard.largestLogFileNumber;
#endif
default:
return -1;
}
}
/**
* Call once every loop iteration in order to maintain the global blackboxHeaderBudget with the number of bytes we can
* transmit this iteration.

2
src/main/blackbox/blackbox_io.h
View file

@ -67,6 +67,8 @@ bool blackboxDeviceBeginLog(void);
bool blackboxDeviceEndLog(bool retainLog);
bool isBlackboxDeviceFull(void);
bool isBlackboxDeviceWorking(void);
int32_t blackboxGetLogNumber(void);
void blackboxReplenishHeaderBudget(void);
blackboxBufferReserveStatus_e blackboxDeviceReserveBufferSpace(int32_t bytes);

26
src/main/cms/cms_menu_imu.c
View file

@ -137,6 +137,30 @@ static long cmsx_PidWriteback(const OSD_Entry *self)
return 0;
}
static const OSD_Entry cmsx_menuEzTuneEntries[] =
{
OSD_LABEL_DATA_ENTRY("-- EZTUNE --", profileIndexString),
OSD_SETTING_ENTRY("ENABLED", SETTING_EZ_ENABLED),
OSD_SETTING_ENTRY("FILTER HZ", SETTING_EZ_FILTER_HZ),
OSD_SETTING_ENTRY("RATIO", SETTING_EZ_AXIS_RATIO),
OSD_SETTING_ENTRY("RESP.", SETTING_EZ_RESPONSE),
OSD_SETTING_ENTRY("DAMP.", SETTING_EZ_DAMPING),
OSD_SETTING_ENTRY("STAB.", SETTING_EZ_STABILITY),
OSD_SETTING_ENTRY("AGGR.", SETTING_EZ_AGGRESSIVENESS),
OSD_SETTING_ENTRY("RATE", SETTING_EZ_RATE),
OSD_SETTING_ENTRY("EXPO", SETTING_EZ_EXPO),
OSD_BACK_AND_END_ENTRY,
};
static const CMS_Menu cmsx_menuEzTune = {
.onEnter = NULL,
.onExit = NULL,
.onGlobalExit = NULL,
.entries = cmsx_menuEzTuneEntries
};
static const OSD_Entry cmsx_menuPidEntries[] =
{
OSD_LABEL_DATA_ENTRY("-- PID --", profileIndexString),
@ -398,7 +422,6 @@ static const CMS_Menu cmsx_menuProfileOther = {
static const OSD_Entry cmsx_menuFilterPerProfileEntries[] =
{
OSD_LABEL_DATA_ENTRY("-- FILTERING --", profileIndexString),
OSD_SETTING_ENTRY("HARDWARE LPF", SETTING_GYRO_HARDWARE_LPF),
OSD_SETTING_ENTRY("GYRO MAIN", SETTING_GYRO_MAIN_LPF_HZ),
OSD_SETTING_ENTRY("DTERM LPF", SETTING_DTERM_LPF_HZ),
#ifdef USE_DYNAMIC_FILTERS
@ -458,6 +481,7 @@ static const OSD_Entry cmsx_menuImuEntries[] =
// Profile dependent
OSD_UINT8_CALLBACK_ENTRY("PID PROF", cmsx_profileIndexOnChange, (&(const OSD_UINT8_t){ &tmpProfileIndex, 1, MAX_PROFILE_COUNT, 1})),
OSD_SUBMENU_ENTRY("EZTUNE", &cmsx_menuEzTune),
OSD_SUBMENU_ENTRY("PID", &cmsx_menuPid),
OSD_SUBMENU_ENTRY("PID ALTMAG", &cmsx_menuPidAltMag),
OSD_SUBMENU_ENTRY("PID GPSNAV", &cmsx_menuPidGpsnav),

4
src/main/common/maths.h
View file

@ -56,6 +56,8 @@
#define RADIANS_TO_CENTIDEGREES(angle) (((angle) * 100.0f) / RAD)
#define CENTIDEGREES_TO_RADIANS(angle) (((angle) * 0.01f) * RAD)
#define MILLIMETERS_TO_CENTIMETERS(mm) (mm / 10.0f)
#define CENTIMETERS_TO_CENTIFEET(cm) (cm / 0.3048f)
#define CENTIMETERS_TO_FEET(cm) (cm / 30.48f)
#define CENTIMETERS_TO_METERS(cm) (cm * 0.01f)
@ -65,6 +67,8 @@
#define METERS_TO_MILES(m) (m / 1609.344f)
#define METERS_TO_NAUTICALMILES(m) (m / 1852.00f)
#define MWH_TO_WH(mWh) (mWh / 1000.0f)
#define CMSEC_TO_CENTIMPH(cms) (cms * 2.2369363f)
#define CMSEC_TO_CENTIKPH(cms) (cms * 3.6f)
#define CMSEC_TO_CENTIKNOTS(cms) (cms * 1.943845f)

9
src/main/drivers/accgyro/accgyro_bmi160.c
View file

@ -108,15 +108,6 @@ static const gyroFilterAndRateConfig_t gyroConfigs[] = {
{ GYRO_LPF_256HZ, 3200, { BMI160_BWP_OSR4 | BMI160_ODR_3200_Hz} },
{ GYRO_LPF_256HZ, 1600, { BMI160_BWP_OSR2 | BMI160_ODR_1600_Hz} },
{ GYRO_LPF_256HZ, 800, { BMI160_BWP_NORMAL | BMI160_ODR_800_Hz } },
{ GYRO_LPF_188HZ, 800, { BMI160_BWP_OSR2 | BMI160_ODR_800_Hz } }, // ODR = 800 Hz, LPF = 128 Hz
{ GYRO_LPF_188HZ, 400, { BMI160_BWP_NORMAL | BMI160_ODR_400_Hz } }, // ODR = 400 Hz, LPF = 137 Hz
{ GYRO_LPF_98HZ, 800, { BMI160_BWP_OSR4 | BMI160_ODR_800_Hz } }, // ODR = 800 Hz, LPF = 63 Hz
{ GYRO_LPF_98HZ, 400, { BMI160_BWP_OSR2 | BMI160_ODR_400_Hz } }, // ODR = 400 Hz, LPF = 68 Hz
{ GYRO_LPF_42HZ, 800, { BMI160_BWP_OSR4 | BMI160_ODR_800_Hz } }, // ODR = 800 Hz, LPF = 63 Hz
{ GYRO_LPF_42HZ, 400, { BMI160_BWP_OSR4 | BMI160_ODR_400_Hz } }, // ODR = 400 Hz, LPF = 34 Hz
};
static void bmi160AccAndGyroInit(gyroDev_t *gyro)

9
src/main/drivers/accgyro/accgyro_bmi270.c
View file

@ -134,15 +134,6 @@ static const gyroFilterAndRateConfig_t gyroConfigs[] = {
{ GYRO_LPF_256HZ, 3200, { BMI270_BWP_OSR4 | BMI270_ODR_3200} },
{ GYRO_LPF_256HZ, 1600, { BMI270_BWP_OSR2 | BMI270_ODR_1600} },
{ GYRO_LPF_256HZ, 800, { BMI270_BWP_NORM | BMI270_ODR_800 } },
{ GYRO_LPF_188HZ, 800, { BMI270_BWP_OSR2 | BMI270_ODR_800 } },
{ GYRO_LPF_188HZ, 400, { BMI270_BWP_NORM | BMI270_ODR_400 } },
{ GYRO_LPF_98HZ, 800, { BMI270_BWP_OSR4 | BMI270_ODR_800 } },
{ GYRO_LPF_98HZ, 400, { BMI270_BWP_OSR2 | BMI270_ODR_400 } },
{ GYRO_LPF_42HZ, 800, { BMI270_BWP_OSR4 | BMI270_ODR_800 } },
{ GYRO_LPF_42HZ, 400, { BMI270_BWP_OSR4 | BMI270_ODR_400 } },
};
// Toggle the CS to switch the device into SPI mode.

15
src/main/drivers/accgyro/accgyro_icm42605.c
View file

@ -198,21 +198,6 @@ static const gyroFilterAndRateConfig_t icm42605GyroConfigs[] = {
{ GYRO_LPF_256HZ, 2000, { 3, 5 } }, /* 250 Hz LPF */
{ GYRO_LPF_256HZ, 1000, { 1, 6 } }, /* 250 Hz LPF */
{ GYRO_LPF_256HZ, 500, { 0, 15 } }, /* 250 Hz LPF */
{ GYRO_LPF_188HZ, 1000, { 3, 6 } }, /* 125 HZ */
{ GYRO_LPF_188HZ, 500, { 1, 15 } }, /* 125 HZ */
{ GYRO_LPF_98HZ, 1000, { 4, 6 } }, /* 100 HZ*/
{ GYRO_LPF_98HZ, 500, { 2, 15 } }, /* 100 HZ*/
{ GYRO_LPF_42HZ, 1000, { 6, 6 } }, /* 50 HZ */
{ GYRO_LPF_42HZ, 500, { 4, 15 } },
{ GYRO_LPF_20HZ, 1000, { 7, 6 } }, /* 25 HZ */
{ GYRO_LPF_20HZ, 500, { 6, 15 } },
{ GYRO_LPF_10HZ, 1000, { 7, 6 } }, /* 25 HZ */
{ GYRO_LPF_10HZ, 500, { 7, 15 } } /* 12.5 HZ */
};
static void icm42605AccAndGyroInit(gyroDev_t *gyro)

15
src/main/drivers/accgyro/accgyro_mpu.c
View file

@ -50,21 +50,6 @@ static const gyroFilterAndRateConfig_t mpuGyroConfigs[] = {
{ GYRO_LPF_256HZ, 1000, { MPU_DLPF_256HZ, 7 } },
{ GYRO_LPF_256HZ, 666, { MPU_DLPF_256HZ, 11 } },
{ GYRO_LPF_256HZ, 500, { MPU_DLPF_256HZ, 15 } },
{ GYRO_LPF_188HZ, 1000, { MPU_DLPF_188HZ, 0 } },
{ GYRO_LPF_188HZ, 500, { MPU_DLPF_188HZ, 1 } },
{ GYRO_LPF_98HZ, 1000, { MPU_DLPF_98HZ, 0 } },
{ GYRO_LPF_98HZ, 500, { MPU_DLPF_98HZ, 1 } },
{ GYRO_LPF_42HZ, 1000, { MPU_DLPF_42HZ, 0 } },
{ GYRO_LPF_42HZ, 500, { MPU_DLPF_42HZ, 1 } },
{ GYRO_LPF_20HZ, 1000, { MPU_DLPF_20HZ, 0 } },
{ GYRO_LPF_20HZ, 500, { MPU_DLPF_20HZ, 1 } },
{ GYRO_LPF_10HZ, 1000, { MPU_DLPF_10HZ, 0 } },
{ GYRO_LPF_10HZ, 500, { MPU_DLPF_10HZ, 1 } }
};
const gyroFilterAndRateConfig_t * mpuChooseGyroConfig(uint8_t desiredLpf, uint16_t desiredRateHz)

1
src/main/drivers/bus.h
View file

@ -135,6 +135,7 @@ typedef enum {
DEVHW_VL53L1X,
DEVHW_US42,
DEVHW_TOF10120_I2C,
DEVHW_TERARANGER_EVO_I2C,
/* Other hardware */
DEVHW_MS4525, // Pitot meter

2
src/main/drivers/nvic.h
View file

@ -26,4 +26,4 @@
#else
#define NVIC_PRIORITY_GROUPING NVIC_PriorityGroup_4
#endif
#endif
#endif

2
src/main/drivers/osd_symbols.h
View file

@ -178,6 +178,8 @@
#define SYM_ALERT 0xDD // 221 General alert symbol
#define SYM_TERRAIN_FOLLOWING 0xFB // 251 Terrain following (also Alt adjust)
#define SYM_CROSS_TRACK_ERROR 0xFC // 252 Cross track error
#define SYM_ADSB 0xFD // 253 ADBS
#define SYM_BLACKBOX 0xFE // 254 Blackbox
#define SYM_ADSB 0xFD // 253 ADSB

6
src/main/drivers/pinio.c
View file

@ -100,16 +100,14 @@ void pinioInit(void)
}
}
void pinioSet(int index, bool on)
void pinioSet(int index, bool newState)
{
const bool newState = on ^ pinioRuntime[index].inverted;
if (!pinioRuntime[index].io) {
return;
}
if (newState != pinioRuntime[index].state) {
IOWrite(pinioRuntime[index].io, newState);
IOWrite(pinioRuntime[index].io, newState ^ pinioRuntime[index].inverted);
pinioRuntime[index].state = newState;
}
}

2
src/main/drivers/pinio.h
View file

@ -38,4 +38,4 @@ extern const pinioHardware_t pinioHardware[];
extern const int pinioHardwareCount;
void pinioInit(void);
void pinioSet(int index, bool on);
void pinioSet(int index, bool newState);

3
src/main/drivers/pwm_output.c
View file

@ -172,6 +172,8 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timHw, resourceOwner
const IO_t io = IOGetByTag(timHw->tag);
IOInit(io, owner, RESOURCE_OUTPUT, allocatedOutputPortCount);
pwmOutConfigTimer(p, tch, hz, period, value);
if (enableOutput) {
IOConfigGPIOAF(io, IOCFG_AF_PP, timHw->alternateFunction);
}
@ -181,7 +183,6 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timHw, resourceOwner
IOLo(io);
}
pwmOutConfigTimer(p, tch, hz, period, value);
return p;
}

128
src/main/drivers/rangefinder/rangefinder_teraranger_evo.c Normal file
View file

@ -0,0 +1,128 @@
/*
* 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 "common/maths.h"
#if defined(USE_RANGEFINDER) && defined(USE_RANGEFINDER_TERARANGER_EVO_I2C)
#include "build/build_config.h"
#include "common/crc.h"
#include "drivers/time.h"
#include "drivers/bus_i2c.h"
#include "drivers/rangefinder/rangefinder.h"
#include "drivers/rangefinder/rangefinder_teraranger_evo.h"
#include "build/debug.h"
#define TERARANGER_EVO_DETECTION_CONE_DECIDEGREES 900
#define TERARANGER_EVO_DETECTION_CONE_EXTENDED_DECIDEGREES 900
#define TERARANGER_EVO_I2C_ADDRESS 0x31
#define TERARANGER_EVO_I2C_REGISTRY_TRIGGER_READING 0x00 // Write this command to the TeraRanger Evo and after a wait of approximately 500us read the 3 byte distance response
#define TERARANGER_EVO_I2C_REGISTRY_WHO_AM_I 0x01 // Write this value to TeraRanger Evo via I2C and the device responds with 0xA
#define TERARANGER_EVO_I2C_REGISTRY_CHANGE_BASE_ADDR 0xA2 // This command assigns a base address that will be memorised by the TerRanger Evo ie. power cycling the Evo will not restore the default I2C address.
#define TERARANGER_EVO_I2C_ANSWER_WHO_AM_I 0xA1
#define TERARANGER_EVO_VALUE_TOO_CLOSE 0x0000
#define TERARANGER_EVO_VALUE_OUT_OF_RANGE 0xffff
static int16_t minimumReadingIntervalMs = 50;
uint8_t triggerValue[0];
volatile int32_t teraRangerMeasurementCm;
static uint32_t timeOfLastMeasurementMs;
static uint8_t dataBuff[3];
static void teraRangerInit(rangefinderDev_t *rangefinder){
busWriteBuf(rangefinder->busDev, TERARANGER_EVO_I2C_REGISTRY_TRIGGER_READING, triggerValue, 1);
}
void teraRangerUpdate(rangefinderDev_t *rangefinder){
if (busReadBuf(rangefinder->busDev, TERARANGER_EVO_I2C_REGISTRY_TRIGGER_READING, dataBuff, 3)) {
teraRangerMeasurementCm = MILLIMETERS_TO_CENTIMETERS(((int32_t)dataBuff[0] << 8 | (int32_t)dataBuff[1]));
if(dataBuff[2] == crc8_update(0, &dataBuff, 2)){
if (teraRangerMeasurementCm == TERARANGER_EVO_VALUE_TOO_CLOSE || teraRangerMeasurementCm == TERARANGER_EVO_VALUE_OUT_OF_RANGE) {
teraRangerMeasurementCm = RANGEFINDER_OUT_OF_RANGE;
}
}
} else {
teraRangerMeasurementCm = RANGEFINDER_HARDWARE_FAILURE;
}
const timeMs_t timeNowMs = millis();
if (timeNowMs > timeOfLastMeasurementMs + minimumReadingIntervalMs) {
// measurement repeat interval should be greater than minimumReadingIntervalMs
// to avoid interference between connective measurements.
timeOfLastMeasurementMs = timeNowMs;
busWriteBuf(rangefinder->busDev, TERARANGER_EVO_I2C_ADDRESS, triggerValue, 1);
}
}
int32_t teraRangerGetDistance(rangefinderDev_t *rangefinder){
UNUSED(rangefinder);
return teraRangerMeasurementCm;
}
static bool deviceDetect(busDevice_t * busDev){
for (int retry = 0; retry < 5; retry++) {
uint8_t whoIamResult;
delay(150);
bool ack = busRead(busDev, TERARANGER_EVO_I2C_REGISTRY_WHO_AM_I, &whoIamResult);
if (ack && whoIamResult == TERARANGER_EVO_I2C_ANSWER_WHO_AM_I) {
return true;
}
};
return false;
}
bool teraRangerDetect(rangefinderDev_t *rangefinder){
rangefinder->busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_TERARANGER_EVO_I2C, 0, OWNER_RANGEFINDER);
if (rangefinder->busDev == NULL) {
return false;
}
if (!deviceDetect(rangefinder->busDev)) {
busDeviceDeInit(rangefinder->busDev);
return false;
}
rangefinder->delayMs = RANGEFINDER_TERA_EVO_TASK_PERIOD_MS;
rangefinder->maxRangeCm = RANGEFINDER_TERA_EVO_MAX_RANGE_CM;
rangefinder->detectionConeDeciDegrees = TERARANGER_EVO_DETECTION_CONE_DECIDEGREES;
rangefinder->detectionConeExtendedDeciDegrees = TERARANGER_EVO_DETECTION_CONE_EXTENDED_DECIDEGREES;
rangefinder->init = &teraRangerInit;
rangefinder->update = &teraRangerUpdate;
rangefinder->read = &teraRangerGetDistance;
return true;
}
#endif

29
src/main/drivers/rangefinder/rangefinder_teraranger_evo.h Normal file
View file

@ -0,0 +1,29 @@
/*
* This file is part of INAV.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute 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.
*
* This file 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 this program. If not, see http://www.gnu.org/licenses/.
*/
#pragma once
#define RANGEFINDER_TERA_EVO_TASK_PERIOD_MS 70
#define RANGEFINDER_TERA_EVO_MAX_RANGE_CM 600 // max distance depends on model https://www.terabee.com/sensors-modules/lidar-tof-range-finders/#individual-distance-measurement-sensors
bool teraRangerDetect(rangefinderDev_t *dev);

1
src/main/drivers/system.h
View file

@ -21,7 +21,6 @@
#include <stdbool.h>
void systemInit(void);
void systemClockSetup(uint8_t cpuUnderclock);
typedef enum {
FAILURE_DEVELOPER = 0,

6
src/main/drivers/system_at32f43x.c
View file

@ -114,12 +114,6 @@ uint32_t systemBootloaderAddress(void)
//return system_isr_vector_table_base;
}
void systemClockSetup(uint8_t cpuUnderclock)
{
(void)cpuUnderclock;
// This is a stub
}
void systemInit(void)
{
//config system clock to 288mhz usb 48mhz

6
src/main/drivers/system_stm32f4xx.c
View file

@ -143,12 +143,6 @@ uint32_t systemBootloaderAddress(void)
return 0x1FFF0000;
}
void systemClockSetup(uint8_t cpuUnderclock)
{
(void)cpuUnderclock;
// This is a stub
}
void systemInit(void)
{
SetSysClock();

6
src/main/drivers/system_stm32f7xx.c
View file

@ -66,12 +66,6 @@ uint32_t systemBootloaderAddress(void)
return 0x1FF00000;
}
void systemClockSetup(uint8_t cpuUnderclock)
{
(void)cpuUnderclock;
// This is a stub
}
void systemInit(void)
{
checkForBootLoaderRequest();

6
src/main/drivers/system_stm32h7xx.c
View file

@ -60,12 +60,6 @@ uint32_t systemBootloaderAddress(void)
#endif
}
void systemClockSetup(uint8_t cpuUnderclock)
{
(void)cpuUnderclock;
// This is a stub
}
void systemInit(void)
{
checkForBootLoaderRequest();

1
src/main/fc/cli.c
View file

@ -3359,6 +3359,7 @@ static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask)
cliPrintLinef("profile %d\r\n", getConfigProfile() + 1);
dumpAllValues(PROFILE_VALUE, dumpMask);
dumpAllValues(CONTROL_RATE_VALUE, dumpMask);
dumpAllValues(EZ_TUNE_VALUE, dumpMask);
}
static void cliBatteryProfile(char *cmdline)

3
src/main/fc/config.c
View file

@ -115,9 +115,6 @@ PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
#endif
#ifdef USE_I2C
.i2c_speed = SETTING_I2C_SPEED_DEFAULT,
#endif
#ifdef USE_UNDERCLOCK
.cpuUnderclock = SETTING_CPU_UNDERCLOCK_DEFAULT,
#endif
.throttle_tilt_compensation_strength = SETTING_THROTTLE_TILT_COMP_STR_DEFAULT, // 0-100, 0 - disabled
.craftName = SETTING_NAME_DEFAULT,

3
src/main/fc/config.h
View file

@ -76,9 +76,6 @@ typedef struct systemConfig_s {
#endif
#ifdef USE_I2C
uint8_t i2c_speed;
#endif
#ifdef USE_UNDERCLOCK
uint8_t cpuUnderclock;
#endif
uint8_t throttle_tilt_compensation_strength; // the correction that will be applied at throttle_correction_angle.
char craftName[MAX_NAME_LENGTH + 1];

16
src/main/fc/fc_core.c
View file

@ -237,7 +237,7 @@ static void updateArmingStatus(void)
/* CHECK: pitch / roll sticks centered when NAV_LAUNCH_MODE enabled */
if (isNavLaunchEnabled()) {
if (isRollPitchStickDeflected(rcControlsConfig()->control_deadband)) {
if (isRollPitchStickDeflected(CONTROL_DEADBAND)) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED);
} else {
DISABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED);
@ -307,14 +307,6 @@ static void updateArmingStatus(void)
DISABLE_ARMING_FLAG(ARMING_DISABLED_BOXFAILSAFE);
}
/* CHECK: BOXKILLSWITCH */
if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_BOXKILLSWITCH);
}
else {
DISABLE_ARMING_FLAG(ARMING_DISABLED_BOXKILLSWITCH);
}
/* CHECK: Do not allow arming if Servo AutoTrim is enabled */
if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM)) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
@ -513,7 +505,7 @@ bool emergInflightRearmEnabled(void)
timeMs_t currentTimeMs = millis();
emergRearmStabiliseTimeout = 0;
if ((lastDisarmReason != DISARM_SWITCH && lastDisarmReason != DISARM_KILLSWITCH) ||
if ((lastDisarmReason != DISARM_SWITCH) ||
(currentTimeMs > US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS)) {
return false;
}
@ -1020,6 +1012,10 @@ float getFlightTime(void)
return US2S(flightTime);
}
void resetFlightTime(void) {
flightTime = 0;
}
float getArmTime(void)
{
return US2S(armTime);

2
src/main/fc/fc_core.h
View file

@ -27,7 +27,6 @@ typedef enum disarmReason_e {
DISARM_STICKS = 2,
DISARM_SWITCH_3D = 3,
DISARM_SWITCH = 4,
DISARM_KILLSWITCH = 5,
DISARM_FAILSAFE = 6,
DISARM_NAVIGATION = 7,
DISARM_LANDING = 8,
@ -46,6 +45,7 @@ bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm);
bool areSensorsCalibrating(void);
float getFlightTime(void);
void resetFlightTime(void);
float getArmTime(void);
void fcReboot(bool bootLoader);

9
src/main/fc/fc_init.c
View file

@ -229,13 +229,6 @@ void init(void)
readEEPROM();
resumeRxSignal();
#ifdef USE_UNDERCLOCK
// Re-initialize system clock to their final values (if necessary)
systemClockSetup(systemConfig()->cpuUnderclock);
#else
systemClockSetup(false);
#endif
#ifdef USE_I2C
i2cSetSpeed(systemConfig()->i2c_speed);
#endif
@ -256,7 +249,7 @@ void init(void)
EXTIInit();
#endif
#ifdef USE_SPEKTRUM_BIND
#if defined(USE_SPEKTRUM_BIND) && defined(USE_SERIALRX_SPEKTRUM)
if (rxConfig()->receiverType == RX_TYPE_SERIAL) {
switch (rxConfig()->serialrx_provider) {
case SERIALRX_SPEKTRUM1024:

95
src/main/fc/fc_msp.c
View file

@ -505,6 +505,14 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU32(dst, 0); //Input reversing is not required since it can be done on mixer level
}
break;
case MSP2_INAV_SERVO_CONFIG:
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
sbufWriteU16(dst, servoParams(i)->min);
sbufWriteU16(dst, servoParams(i)->max);
sbufWriteU16(dst, servoParams(i)->middle);
sbufWriteU8(dst, servoParams(i)->rate);
}
break;
case MSP_SERVO_MIX_RULES:
for (int i = 0; i < MAX_SERVO_RULES; i++) {
sbufWriteU8(dst, customServoMixers(i)->targetChannel);
@ -671,11 +679,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, getRSSI());
break;
case MSP_ARMING_CONFIG:
sbufWriteU8(dst, 0);
sbufWriteU8(dst, armingConfig()->disarm_kill_switch);
break;
case MSP_LOOP_TIME:
sbufWriteU16(dst, gyroConfig()->looptime);
break;
@ -770,7 +773,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, PWM_RANGE_MIDDLE);
sbufWriteU16(dst, 0); // Was min_throttle
sbufWriteU16(dst, motorConfig()->maxthrottle);
sbufWriteU16(dst, getMaxThrottle());
sbufWriteU16(dst, motorConfig()->mincommand);
sbufWriteU16(dst, currentBatteryProfile->failsafe_throttle);
@ -811,7 +814,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, PWM_RANGE_MIDDLE);
sbufWriteU16(dst, 0); //Was min_throttle
sbufWriteU16(dst, motorConfig()->maxthrottle);
sbufWriteU16(dst, getMaxThrottle());
sbufWriteU16(dst, motorConfig()->mincommand);
sbufWriteU16(dst, currentBatteryProfile->failsafe_throttle);
@ -896,13 +899,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, currentBatteryProfile->capacity.unit);
break;
case MSP_MOTOR_PINS:
// FIXME This is hardcoded and should not be.
for (int i = 0; i < 8; i++) {
sbufWriteU8(dst, i + 1);
}
break;
#ifdef USE_GPS
case MSP_RAW_GPS:
sbufWriteU8(dst, gpsSol.fixType);
@ -1273,7 +1269,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, accelerometerConfig()->acc_notch_cutoff);
sbufWriteU16(dst, 0); //Was gyroConfig()->gyro_stage2_lowpass_hz
break;
break;
case MSP_PID_ADVANCED:
sbufWriteU16(dst, 0); // pidProfile()->rollPitchItermIgnoreRate
@ -1283,7 +1279,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, 0); //BF: pidProfile()->vbatPidCompensation
sbufWriteU8(dst, 0); //BF: pidProfile()->setpointRelaxRatio
sbufWriteU8(dst, 0);
sbufWriteU16(dst, pidProfile()->pidSumLimit);
sbufWriteU16(dst, 0); //Was pidsum limit
sbufWriteU8(dst, 0); //BF: pidProfile()->itermThrottleGain
/*
@ -1301,7 +1297,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, pidProfile()->heading_hold_rate_limit);
sbufWriteU8(dst, HEADING_HOLD_ERROR_LPF_FREQ);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, gyroConfig()->gyro_lpf);
sbufWriteU8(dst, GYRO_LPF_256HZ);
sbufWriteU8(dst, accelerometerConfig()->acc_lpf_hz);
sbufWriteU8(dst, 0); //reserved
sbufWriteU8(dst, 0); //reserved
@ -1421,7 +1417,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_p * 100); // 2 inav_w_xy_gps_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_v * 100); // 2 inav_w_xy_gps_v float as value * 100
sbufWriteU8(dst, gpsConfigMutable()->gpsMinSats); // 1
sbufWriteU8(dst, positionEstimationConfig()->use_gps_velned); // 1 inav_use_gps_velned ON/OFF
sbufWriteU8(dst, 1); // 1 inav_use_gps_velned ON/OFF
break;
@ -1657,6 +1653,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, ezTune()->aggressiveness);
sbufWriteU8(dst, ezTune()->rate);
sbufWriteU8(dst, ezTune()->expo);
sbufWriteU8(dst, ezTune()->snappiness);
}
break;
#endif
@ -1829,14 +1826,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break;
#endif
case MSP_SET_ARMING_CONFIG:
if (dataSize == 2) {
sbufReadU8(src); //Swallow the first byte, used to be auto_disarm_delay
armingConfigMutable()->disarm_kill_switch = !!sbufReadU8(src);
} else
return MSP_RESULT_ERROR;
break;
case MSP_SET_LOOP_TIME:
if (sbufReadU16Safe(&tmp_u16, src))
gyroConfigMutable()->looptime = tmp_u16;
@ -1972,7 +1961,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
sbufReadU16(src); // midrc
sbufReadU16(src); //Was min_throttle
motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
sbufReadU16(src); //Was maxThrottle
motorConfigMutable()->mincommand = constrain(sbufReadU16(src), 0, PWM_RANGE_MAX);
currentBatteryProfileMutable->failsafe_throttle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
@ -2020,7 +2009,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
sbufReadU16(src); // midrc
sbufReadU16(src); // was min_throttle
motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
sbufReadU16(src); // was maxThrottle
motorConfigMutable()->mincommand = constrain(sbufReadU16(src), 0, PWM_RANGE_MAX);
currentBatteryProfileMutable->failsafe_throttle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
@ -2150,6 +2139,22 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
}
break;
case MSP2_INAV_SET_SERVO_CONFIG:
if (dataSize != 8) {
return MSP_RESULT_ERROR;
}
tmp_u8 = sbufReadU8(src);
if (tmp_u8 >= MAX_SUPPORTED_SERVOS) {
return MSP_RESULT_ERROR;
} else {
servoParamsMutable(tmp_u8)->min = sbufReadU16(src);
servoParamsMutable(tmp_u8)->max = sbufReadU16(src);
servoParamsMutable(tmp_u8)->middle = sbufReadU16(src);
servoParamsMutable(tmp_u8)->rate = sbufReadU8(src);
servoComputeScalingFactors(tmp_u8);
}
break;
case MSP_SET_SERVO_MIX_RULE:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 9) && (tmp_u8 < MAX_SERVO_RULES)) {
@ -2328,7 +2333,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
sbufReadU8(src); //BF: pidProfileMutable()->vbatPidCompensation
sbufReadU8(src); //BF: pidProfileMutable()->setpointRelaxRatio
sbufReadU8(src);
pidProfileMutable()->pidSumLimit = sbufReadU16(src);
sbufReadU16(src); // Was pidsumLimit
sbufReadU8(src); //BF: pidProfileMutable()->itermThrottleGain
/*
@ -2349,7 +2354,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
pidProfileMutable()->heading_hold_rate_limit = sbufReadU8(src);
sbufReadU8(src); //HEADING_HOLD_ERROR_LPF_FREQ
sbufReadU16(src); //Legacy yaw_jump_prevention_limit
gyroConfigMutable()->gyro_lpf = sbufReadU8(src);
sbufReadU8(src); // was gyro lpf
accelerometerConfigMutable()->acc_lpf_hz = sbufReadU8(src);
sbufReadU8(src); //reserved
sbufReadU8(src); //reserved
@ -2490,7 +2495,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
positionEstimationConfigMutable()->w_xy_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_xy_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
gpsConfigMutable()->gpsMinSats = constrain(sbufReadU8(src), 5, 10);
positionEstimationConfigMutable()->use_gps_velned = constrain(sbufReadU8(src), 0, 1);
sbufReadU8(src); // was positionEstimationConfigMutable()->use_gps_velned
} else
return MSP_RESULT_ERROR;
break;
@ -3260,21 +3265,25 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP2_INAV_EZ_TUNE_SET:
{
if (dataSize == 10) {
ezTuneMutable()->enabled = sbufReadU8(src);
ezTuneMutable()->filterHz = sbufReadU16(src);
ezTuneMutable()->axisRatio = sbufReadU8(src);
ezTuneMutable()->response = sbufReadU8(src);
ezTuneMutable()->damping = sbufReadU8(src);
ezTuneMutable()->stability = sbufReadU8(src);
ezTuneMutable()->aggressiveness = sbufReadU8(src);
ezTuneMutable()->rate = sbufReadU8(src);
ezTuneMutable()->expo = sbufReadU8(src);
ezTuneUpdate();
} else {
if (dataSize < 10 || dataSize > 11) {
return MSP_RESULT_ERROR;
}
ezTuneMutable()->enabled = sbufReadU8(src);
ezTuneMutable()->filterHz = sbufReadU16(src);
ezTuneMutable()->axisRatio = sbufReadU8(src);
ezTuneMutable()->response = sbufReadU8(src);
ezTuneMutable()->damping = sbufReadU8(src);
ezTuneMutable()->stability = sbufReadU8(src);
ezTuneMutable()->aggressiveness = sbufReadU8(src);
ezTuneMutable()->rate = sbufReadU8(src);
ezTuneMutable()->expo = sbufReadU8(src);
if (dataSize == 11) {
ezTuneMutable()->snappiness = sbufReadU8(src);
}
ezTuneUpdate();
}
break;

8
src/main/fc/fc_msp_box.c
View file

@ -76,7 +76,6 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ .boxId = BOXTURNASSIST, .boxName = "TURN ASSIST", .permanentId = 35 },
{ .boxId = BOXNAVLAUNCH, .boxName = "NAV LAUNCH", .permanentId = 36 },
{ .boxId = BOXAUTOTRIM, .boxName = "SERVO AUTOTRIM", .permanentId = 37 },
{ .boxId = BOXKILLSWITCH, .boxName = "KILLSWITCH", .permanentId = 38 },
{ .boxId = BOXCAMERA1, .boxName = "CAMERA CONTROL 1", .permanentId = 39 },
{ .boxId = BOXCAMERA2, .boxName = "CAMERA CONTROL 2", .permanentId = 40 },
{ .boxId = BOXCAMERA3, .boxName = "CAMERA CONTROL 3", .permanentId = 41 },
@ -214,15 +213,12 @@ void initActiveBoxIds(void)
ADD_ACTIVE_BOX(BOXFPVANGLEMIX);
}
bool navReadyAltControl = sensors(SENSOR_BARO);
bool navReadyAltControl = getHwBarometerStatus() != HW_SENSOR_NONE;
#ifdef USE_GPS
navReadyAltControl = navReadyAltControl || (feature(FEATURE_GPS) && (STATE(AIRPLANE) || positionEstimationConfig()->use_gps_no_baro));
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS);
if (STATE(MULTIROTOR)) {
navReadyPosControl = navReadyPosControl && getHwCompassStatus() != HW_SENSOR_NONE;
}
if (STATE(ALTITUDE_CONTROL) && navReadyAltControl && (navReadyPosControl || navFlowDeadReckoning)) {
ADD_ACTIVE_BOX(BOXNAVPOSHOLD);
@ -320,7 +316,6 @@ void initActiveBoxIds(void)
}
#endif
ADD_ACTIVE_BOX(BOXKILLSWITCH);
ADD_ACTIVE_BOX(BOXFAILSAFE);
#if defined(USE_RCDEVICE) || defined(USE_MSP_DISPLAYPORT)
@ -405,7 +400,6 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
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);

16
src/main/fc/rc_controls.c
View file

@ -75,24 +75,23 @@ stickPositions_e rcStickPositions;
FASTRAM int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 3);
PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 4);
PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
.deadband = SETTING_DEADBAND_DEFAULT,
.yaw_deadband = SETTING_YAW_DEADBAND_DEFAULT,
.pos_hold_deadband = SETTING_POS_HOLD_DEADBAND_DEFAULT,
.control_deadband = SETTING_CONTROL_DEADBAND_DEFAULT,
.alt_hold_deadband = SETTING_ALT_HOLD_DEADBAND_DEFAULT,
.mid_throttle_deadband = SETTING_3D_DEADBAND_THROTTLE_DEFAULT,
.airmodeHandlingType = SETTING_AIRMODE_TYPE_DEFAULT,
.airmodeThrottleThreshold = SETTING_AIRMODE_THROTTLE_THRESHOLD_DEFAULT,
);
PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 2);
PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 3);
PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
.fixed_wing_auto_arm = SETTING_FIXED_WING_AUTO_ARM_DEFAULT,
.disarm_kill_switch = SETTING_DISARM_KILL_SWITCH_DEFAULT,
.disarm_always = SETTING_DISARM_ALWAYS_DEFAULT,
.switchDisarmDelayMs = SETTING_SWITCH_DISARM_DELAY_DEFAULT,
.prearmTimeoutMs = SETTING_PREARM_TIMEOUT_DEFAULT,
);
@ -104,7 +103,7 @@ bool areSticksInApModePosition(uint16_t ap_mode)
bool areSticksDeflected(void)
{
return (ABS(rcCommand[ROLL]) > rcControlsConfig()->control_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->control_deadband) || (ABS(rcCommand[YAW]) > rcControlsConfig()->control_deadband);
return (ABS(rcCommand[ROLL]) > CONTROL_DEADBAND) || (ABS(rcCommand[PITCH]) > CONTROL_DEADBAND) || (ABS(rcCommand[YAW]) > CONTROL_DEADBAND);
}
bool isRollPitchStickDeflected(uint8_t deadband)
@ -232,7 +231,7 @@ void processRcStickPositions(bool isThrottleLow)
if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) {
const timeMs_t disarmDelay = currentTimeMs - rcDisarmTimeMs;
if (disarmDelay > armingConfig()->switchDisarmDelayMs) {
if (armingConfig()->disarm_kill_switch || isThrottleLow) {
if (armingConfig()->disarm_always || isThrottleLow) {
disarm(DISARM_SWITCH);
}
}
@ -241,11 +240,6 @@ void processRcStickPositions(bool isThrottleLow)
rcDisarmTimeMs = currentTimeMs;
}
}
// KILLSWITCH disarms instantly
if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
disarm(DISARM_KILLSWITCH);
}
}
if (rcDelayCommand != 20) {

5
src/main/fc/rc_controls.h
View file

@ -19,7 +19,7 @@
#include "config/parameter_group.h"
#define AIRMODE_THROTTLE_THRESHOLD 1300
#define CONTROL_DEADBAND 10 // Used to check if sticks are centered
typedef enum rc_alias {
ROLL = 0,
@ -85,7 +85,6 @@ typedef struct rcControlsConfig_s {
uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
uint8_t yaw_deadband; // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
uint8_t pos_hold_deadband; // Deadband for position hold
uint8_t control_deadband; // General deadband to check if sticks are deflected, us PWM.
uint8_t alt_hold_deadband; // Defines the neutral zone of throttle stick during altitude hold
uint16_t mid_throttle_deadband; // default throttle deadband from MIDRC
uint8_t airmodeHandlingType; // Defaults to ANTI_WINDUP triggered at sticks centered
@ -96,7 +95,7 @@ PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
typedef struct armingConfig_s {
bool fixed_wing_auto_arm; // Auto-arm fixed wing aircraft on throttle up and never disarm
bool disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value
bool disarm_always; // Disarm motors regardless of throttle value
uint16_t switchDisarmDelayMs; // additional delay between ARM box going off and actual disarm
uint16_t prearmTimeoutMs; // duration for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout.
} armingConfig_t;

6
src/main/fc/rc_curves.c
View file

@ -39,7 +39,7 @@ int16_t lookupThrottleRCMid; // THROTTLE curve mid point
void generateThrottleCurve(const controlRateConfig_t *controlRateConfig)
{
const int minThrottle = getThrottleIdleValue();
lookupThrottleRCMid = minThrottle + (int32_t)(motorConfig()->maxthrottle - minThrottle) * controlRateConfig->throttle.rcMid8 / 100; // [MINTHROTTLE;MAXTHROTTLE]
lookupThrottleRCMid = minThrottle + (int32_t)(getMaxThrottle() - minThrottle) * controlRateConfig->throttle.rcMid8 / 100; // [MINTHROTTLE;MAXTHROTTLE]
for (int i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
const int16_t tmp = 10 * i - controlRateConfig->throttle.rcMid8;
@ -49,7 +49,7 @@ void generateThrottleCurve(const controlRateConfig_t *controlRateConfig)
if (tmp < 0)
y = controlRateConfig->throttle.rcMid8;
lookupThrottleRC[i] = 10 * controlRateConfig->throttle.rcMid8 + tmp * (100 - controlRateConfig->throttle.rcExpo8 + (int32_t) controlRateConfig->throttle.rcExpo8 * (tmp * tmp) / (y * y)) / 10;
lookupThrottleRC[i] = minThrottle + (int32_t) (motorConfig()->maxthrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
lookupThrottleRC[i] = minThrottle + (int32_t) (getMaxThrottle() - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
}
}
@ -62,7 +62,7 @@ int16_t rcLookup(int32_t stickDeflection, uint8_t expo)
uint16_t rcLookupThrottle(uint16_t absoluteDeflection)
{
if (absoluteDeflection > 999)
return motorConfig()->maxthrottle;
return getMaxThrottle();
const uint8_t lookupStep = absoluteDeflection / 100;
return lookupThrottleRC[lookupStep] + (absoluteDeflection - lookupStep * 100) * (lookupThrottleRC[lookupStep + 1] - lookupThrottleRC[lookupStep]) / 100;

1
src/main/fc/rc_modes.h
View file

@ -49,7 +49,6 @@ typedef enum {
BOXAIRMODE = 20,
BOXHOMERESET = 21,
BOXGCSNAV = 22,
BOXKILLSWITCH = 23, // old HEADING LOCK
BOXSURFACE = 24,
BOXFLAPERON = 25,
BOXTURNASSIST = 26,

3
src/main/fc/runtime_config.c
View file

@ -34,7 +34,7 @@ static EXTENDED_FASTRAM uint32_t enabledSensors = 0;
#if !defined(CLI_MINIMAL_VERBOSITY)
const char *armingDisableFlagNames[]= {
"FS", "ANGLE", "CAL", "OVRLD", "NAV", "COMPASS",
"ACC", "ARMSW", "HWFAIL", "BOXFS", "KILLSW", "RX",
"ACC", "ARMSW", "HWFAIL", "BOXFS", "RX",
"THR", "CLI", "CMS", "OSD", "ROLL/PITCH", "AUTOTRIM", "OOM",
"SETTINGFAIL", "PWMOUT", "NOPREARM", "DSHOTBEEPER", "LANDED"
};
@ -50,7 +50,6 @@ const armingFlag_e armDisableReasonsChecklist[] = {
ARMING_DISABLED_NAVIGATION_UNSAFE,
ARMING_DISABLED_ARM_SWITCH,
ARMING_DISABLED_BOXFAILSAFE,
ARMING_DISABLED_BOXKILLSWITCH,
ARMING_DISABLED_THROTTLE,
ARMING_DISABLED_CLI,
ARMING_DISABLED_CMS_MENU,

5
src/main/fc/runtime_config.h
View file

@ -34,7 +34,7 @@ typedef enum {
ARMING_DISABLED_ARM_SWITCH = (1 << 14),
ARMING_DISABLED_HARDWARE_FAILURE = (1 << 15),
ARMING_DISABLED_BOXFAILSAFE = (1 << 16),
ARMING_DISABLED_BOXKILLSWITCH = (1 << 17),
ARMING_DISABLED_RC_LINK = (1 << 18),
ARMING_DISABLED_THROTTLE = (1 << 19),
ARMING_DISABLED_CLI = (1 << 20),
@ -53,7 +53,7 @@ typedef enum {
ARMING_DISABLED_SYSTEM_OVERLOADED | ARMING_DISABLED_NAVIGATION_UNSAFE |
ARMING_DISABLED_COMPASS_NOT_CALIBRATED | ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED |
ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_HARDWARE_FAILURE | ARMING_DISABLED_BOXFAILSAFE |
ARMING_DISABLED_BOXKILLSWITCH | ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI |
ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI |
ARMING_DISABLED_CMS_MENU | ARMING_DISABLED_OSD_MENU | ARMING_DISABLED_ROLLPITCH_NOT_CENTERED |
ARMING_DISABLED_SERVO_AUTOTRIM | ARMING_DISABLED_OOM | ARMING_DISABLED_INVALID_SETTING |
ARMING_DISABLED_PWM_OUTPUT_ERROR | ARMING_DISABLED_NO_PREARM | ARMING_DISABLED_DSHOT_BEEPER |
@ -105,6 +105,7 @@ typedef enum {
TURTLE_MODE = (1 << 15),
SOARING_MODE = (1 << 16),
ANGLEHOLD_MODE = (1 << 17),
NAV_FW_AUTOLAND = (1 << 18),
} flightModeFlags_e;
extern uint32_t flightModeFlags;

153
src/main/fc/settings.yaml
View file

@ -1,13 +1,11 @@
tables:
- name: alignment
values: ["DEFAULT", "CW0", "CW90", "CW180", "CW270", "CW0FLIP", "CW90FLIP", "CW180FLIP", "CW270FLIP"]
- name: gyro_lpf
values: ["256HZ", "188HZ", "98HZ", "42HZ", "20HZ", "10HZ"]
- name: acc_hardware
values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX", "FAKE"]
enum: accelerationSensor_e
- name: rangefinder_hardware
values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE"]
values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE", "TERARANGER_EVO"]
enum: rangefinderType_e
- name: mag_hardware
values: ["NONE", "AUTO", "HMC5883", "AK8975", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]
@ -68,9 +66,6 @@ tables:
- name: osd_stats_energy_unit
values: ["MAH", "WH"]
enum: osd_stats_energy_unit_e
- name: osd_stats_min_voltage_unit
values: ["BATTERY", "CELL"]
enum: osd_stats_min_voltage_unit_e
- name: osd_video_system
values: ["AUTO", "PAL", "NTSC", "HDZERO", "DJIWTF", "AVATAR", "BF43COMPAT", "BFHDCOMPAT"]
enum: videoSystem_e
@ -182,7 +177,7 @@ tables:
values: ["OFF", "ON", "FS"]
enum: rthTrackbackMode_e
- name: dynamic_gyro_notch_mode
values: ["2D", "3D_R", "3D_P", "3D_Y", "3D_RP", "3D_RY", "3D_PY", "3D"]
values: ["2D", "3D"]
enum: dynamicGyroNotchMode_e
- name: nav_fw_wp_turn_smoothing
values: ["OFF", "ON", "ON-CUT"]
@ -220,32 +215,17 @@ groups:
description: "This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). A very conservative value of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible."
default_value: 1000
max: 9000
- name: gyro_hardware_lpf
description: "Hardware lowpass filter for gyro. This value should never be changed without a very strong reason! If you have to set gyro lpf below 256HZ, it means the frame is vibrating too much, and that should be fixed first."
default_value: "256HZ"
field: gyro_lpf
table: gyro_lpf
- name: gyro_anti_aliasing_lpf_hz
description: "Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz"
default_value: 250
field: gyro_anti_aliasing_lpf_hz
max: 1000
- name: gyro_anti_aliasing_lpf_type
description: "Specifies the type of the software LPF of the gyro signals."
default_value: "PT1"
field: gyro_anti_aliasing_lpf_type
table: filter_type
- name: gyro_main_lpf_hz
description: "Software based gyro main lowpass filter. Value is cutoff frequency (Hz)"
default_value: 60
field: gyro_main_lpf_hz
min: 0
max: 500
- name: gyro_main_lpf_type
description: "Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation."
default_value: BIQUAD
field: gyro_main_lpf_type
table: filter_type
- name: gyro_use_dyn_lpf
description: "Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position."
default_value: OFF
@ -303,6 +283,7 @@ groups:
min: 1
max: 1000
- name: gyro_to_use
description: "On multi-gyro targets, allows to choose which gyro to use. 0 = first gyro, 1 = second gyro"
condition: USE_DUAL_GYRO
min: 0
max: 2
@ -385,10 +366,12 @@ groups:
headers: ["sensors/acceleration.h"]
members:
- name: acc_notch_hz
description: "Frequency of the software notch filter to remove mechanical vibrations from the accelerometer measurements. Value is center frequency (Hz)"
min: 0
max: 255
default_value: 0
- name: acc_notch_cutoff
description: "Frequency of the software notch filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz)"
min: 1
max: 255
default_value: 1
@ -468,6 +451,7 @@ groups:
default_value: NONE
table: opflow_hardware
- name: opflow_scale
description: "Optical flow module scale factor"
min: 0
max: 10000
default_value: 10.5
@ -591,10 +575,12 @@ groups:
default_value: "NONE"
table: pitot_hardware
- name: pitot_lpf_milli_hz
description: "Pitot tube lowpass filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay"
min: 0
max: 10000
default_value: 350
- name: pitot_scale
description: "Pitot tube scale factor"
min: 0
max: 100
default_value: 1.0
@ -644,6 +630,7 @@ groups:
max: RSSI_VISIBLE_VALUE_MAX
- name: sbus_sync_interval
field: sbusSyncInterval
description: "SBUS sync interval in us. Default value is 3000us. Lower values may cause issues with some receivers."
min: 500
max: 10000
default_value: 3000
@ -745,12 +732,6 @@ groups:
type: motorConfig_t
headers: ["flight/mixer.h"]
members:
- name: max_throttle
description: "This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK for everyone (legacy). For modern ESCs, higher values (c. 2000) may be more appropriate. If you have brushed motors, the value should be set to 2000."
default_value: 1850
field: maxthrottle
min: PWM_RANGE_MIN
max: PWM_RANGE_MAX
- name: min_command
description: "This is the PWM value sent to ESCs when they are not armed. If ESCs beep slowly when powered up, try decreasing this value. It can also be used for calibrating all ESCs at once."
default_value: 1000
@ -1197,8 +1178,6 @@ groups:
field: mixer_config.tailsitterOrientationOffset
type: bool
- name: PG_REVERSIBLE_MOTORS_CONFIG
type: reversibleMotorsConfig_t
members:
@ -1366,6 +1345,7 @@ groups:
min: MANUAL_RATE_MIN
max: MANUAL_RATE_MAX
- name: fpv_mix_degrees
description: "The tilt angle of the FPV camera in degrees, used by the FPV ANGLE MIX mode"
field: misc.fpvCamAngleDegrees
min: 0
max: 50
@ -1488,8 +1468,8 @@ groups:
description: "Auto-arm fixed wing aircraft on throttle above min_check, and disarming with stick commands are disabled, so power cycle is required to disarm. Requires enabled motorstop and no arm switch configured."
default_value: OFF
type: bool
- name: disarm_kill_switch
description: "Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel."
- name: disarm_always
description: "Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low."
default_value: ON
type: bool
- name: switch_disarm_delay
@ -1575,6 +1555,12 @@ groups:
field: expo
min: 0
max: 200
- name: ez_snappiness
description: "EzTune snappiness"
default_value: 0
field: snappiness
min: 0
max: 100
- name: PG_RPM_FILTER_CONFIG
headers: ["flight/rpm_filter.h"]
@ -1682,12 +1668,12 @@ groups:
members:
- name: deadband
description: "These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle."
default_value: 5
default_value: 2
min: 0
max: 32
- name: yaw_deadband
description: "These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle."
default_value: 5
default_value: 2
min: 0
max: 100
- name: pos_hold_deadband
@ -1695,11 +1681,6 @@ groups:
default_value: 10
min: 2
max: 250
- name: control_deadband
description: "Stick deadband in [r/c points], applied after r/c deadband and expo. Used to check if sticks are centered."
default_value: 10
min: 2
max: 250
- name: alt_hold_deadband
description: "Defines the deadband of throttle during alt_hold [r/c points]"
default_value: 50
@ -1965,18 +1946,6 @@ groups:
field: fixedWingYawItermBankFreeze
min: 0
max: 90
- name: pidsum_limit
description: "A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help"
default_value: 500
field: pidSumLimit
min: PID_SUM_LIMIT_MIN
max: PID_SUM_LIMIT_MAX
- name: pidsum_limit_yaw
description: "A limitation to overall amount of correction Flight PID can request on each axis (Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help"
default_value: 350
field: pidSumLimitYaw
min: PID_SUM_LIMIT_MIN
max: PID_SUM_LIMIT_MAX
- name: iterm_windup
description: "Used to prevent Iterm accumulation on during maneuvers. Iterm will be dampened when motors are reaching it's limit (when requested motor correction range is above percentage specified by this parameter)"
default_value: 50
@ -2053,6 +2022,7 @@ groups:
max: 255
default_value: 100
- name: nav_mc_vel_xy_ff
description: "FF gain of Position-Rate (Velocity to Acceleration)"
field: bank_mc.pid[PID_VEL_XY].FF
min: 0
max: 255
@ -2064,6 +2034,7 @@ groups:
min: 0
max: 255
- name: nav_mc_vel_xy_dterm_lpf_hz
description: "D-term low pass filter cutoff frequency for horizontal velocity PID controller (Multirotor). It allows to smooth the PosHold CRUISE, WP and RTH when Multirotor is traveling at full speed. Dterm is not attenuated at low speeds, breaking and accelerating."
field: navVelXyDTermLpfHz
min: 0
max: 100
@ -2153,33 +2124,39 @@ groups:
min: PID_SUM_LIMIT_MIN
max: PID_SUM_LIMIT_MAX
- name: mc_iterm_relax
description: "Iterm relax type. When enabled, Iterm will be relaxed when stick is centered. This will help to reduce bounceback and followthrough on multirotors. It is recommended to enable this feature on all multirotors."
field: iterm_relax
table: iterm_relax
default_value: RP
- name: mc_iterm_relax_cutoff
description: "Iterm relax cutoff frequency."
field: iterm_relax_cutoff
min: 1
max: 100
default_value: 15
- name: d_boost_min
description: "D-term multiplier when pilot provides rapid stick input. Lower values give sharper response to stick input, higher values give smoother response."
field: dBoostMin
condition: USE_D_BOOST
min: 0
max: 1
default_value: 0.5
- name: d_boost_max
description: "D-term multiplier when rapid external conditions are detected. Lower values give sharper response to stick input, higher values give smoother response by scaling D-gains up."
field: dBoostMax
condition: USE_D_BOOST
min: 1
max: 3
default_value: 1.25
- name: d_boost_max_at_acceleration
description: "Acceleration threshold for D-term multiplier. When acceleration is above this value, D-term multiplier is set to `d_boost_max`"
field: dBoostMaxAtAlleceleration
condition: USE_D_BOOST
min: 1000
max: 16000
default_value: 7500
- name: d_boost_gyro_delta_lpf_hz
description: "Cutoff frequency for the low pass filter applied to the gyro delta signal used for D-term boost. Lower value will produce a smoother D-term boost signal, but it will be more delayed."
field: dBoostGyroDeltaLpfHz
condition: USE_D_BOOST
min: 10
@ -2193,7 +2170,7 @@ groups:
min: 1
max: 20
- name: antigravity_accelerator
description: ""
description: "Multiplier for Antigravity gain. The bigger is the difference between actual and filtered throttle input, the bigger Antigravity gain"
default_value: 1
field: antigravityAccelerator
condition: USE_ANTIGRAVITY
@ -2288,11 +2265,6 @@ groups:
field: gravity_calibration_tolerance
min: 0
max: 255
- name: inav_use_gps_velned
description: "Defined if INAV should use velocity data provided by GPS module for doing position and speed estimation. If set to OFF INAV will fallback to calculating velocity from GPS coordinates. Using native velocity data may improve performance on some GPS modules. Some GPS modules introduce significant delay and using native velocity may actually result in much worse performance."
default_value: ON
field: use_gps_velned
type: bool
- name: inav_use_gps_no_baro
field: use_gps_no_baro
type: bool
@ -2325,21 +2297,25 @@ groups:
min: 0
max: 1000
- name: inav_w_z_surface_p
description: "Weight of rangefinder measurements in estimated altitude. Setting is used on both airplanes and multirotors when rangefinder is present and Surface mode enabled"
field: w_z_surface_p
min: 0
max: 100
default_value: 3.5
- name: inav_w_z_surface_v
description: "Weight of rangefinder measurements in estimated climb rate. Setting is used on both airplanes and multirotors when rangefinder is present and Surface mode enabled"
field: w_z_surface_v
min: 0
max: 100
default_value: 6.1
- name: inav_w_xy_flow_p
description: "Weight of optical flow measurements in estimated UAV position."
field: w_xy_flow_p
min: 0
max: 100
default_value: 1.0
- name: inav_w_xy_flow_v
description: "Weight of optical flow measurements in estimated UAV speed."
field: w_xy_flow_v
min: 0
max: 100
@ -2505,7 +2481,7 @@ groups:
min: 10
max: 2000
- name: nav_min_ground_speed
description: "Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s."
description: "Minimum ground speed for navigation flight modes [m/s]. Currently, this only affects fixed wing. Default 7 m/s."
default_value: 7
field: general.min_ground_speed
min: 6
@ -2867,10 +2843,10 @@ groups:
min: 100
max: 10000
- name: nav_fw_launch_accel
description: "Forward acceleration threshold for bungee launch of throw launch [cm/s/s], 1G = 981 cm/s/s"
description: "Forward acceleration threshold for bungee launch or throw launch [cm/s/s], 1G = 981 cm/s/s"
default_value: 1863
field: fw.launch_accel_thresh
min: 1000
min: 1500
max: 20000
- name: nav_fw_launch_max_angle
description: "Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]"
@ -2890,6 +2866,13 @@ groups:
field: fw.launch_idle_motor_timer
min: 0
max: 60000
- name: nav_fw_launch_wiggle_to_wake_idle
description: "Trigger the idle throttle by wiggling the plane. 0 = disabled. 1 and 2 signify 1 or 2 yaw wiggles to activate. 1 wiggle has a higher detection point, for airplanes without a tail. 2 wiggles has a lower detection point, but requires the repeated action. This is intended for larger models and airplanes with tails."
field: fw.launch_wiggle_wake_idle
type: uint8_t
default_value: 0
min: 0
max: 2
- name: nav_fw_launch_motor_delay
description: "Delay between detected launch and launch sequence start and throttling up (ms)"
default_value: 500
@ -3068,35 +3051,41 @@ groups:
max: INT16_MAX
- name: mavlink_ext_status_rate
field: mavlink.extended_status_rate
description: "Rate of the extended status message for MAVLink telemetry"
type: uint8_t
min: 0
max: 255
default_value: 2
- name: mavlink_rc_chan_rate
description: "Rate of the RC channels message for MAVLink telemetry"
field: mavlink.rc_channels_rate
type: uint8_t
min: 0
max: 255
default_value: 5
- name: mavlink_pos_rate
description: "Rate of the position message for MAVLink telemetry"
field: mavlink.position_rate
type: uint8_t
min: 0
max: 255
default_value: 2
- name: mavlink_extra1_rate
description: "Rate of the extra1 message for MAVLink telemetry"
field: mavlink.extra1_rate
type: uint8_t
min: 0
max: 255
default_value: 10
- name: mavlink_extra2_rate
description: "Rate of the extra2 message for MAVLink telemetry"
field: mavlink.extra2_rate
type: uint8_t
min: 0
max: 255
default_value: 2
- name: mavlink_extra3_rate
description: "Rate of the extra3 message for MAVLink telemetry"
field: mavlink.extra3_rate
type: uint8_t
min: 0
@ -3110,16 +3099,6 @@ groups:
max: 2
default_value: 2
- name: PG_LED_STRIP_CONFIG
type: ledStripConfig_t
headers: ["common/color.h", "io/ledstrip.h"]
condition: USE_LED_STRIP
members:
- name: ledstrip_visual_beeper
description: ""
default_value: OFF
type: bool
- name: PG_OSD_CONFIG
type: osdConfig_t
headers: ["io/osd.h", "drivers/osd.h"]
@ -3162,18 +3141,17 @@ groups:
field: stats_energy_unit
table: osd_stats_energy_unit
type: uint8_t
- name: osd_stats_min_voltage_unit
description: "Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats."
default_value: "BATTERY"
field: stats_min_voltage_unit
table: osd_stats_min_voltage_unit
type: uint8_t
- name: osd_stats_page_auto_swap_time
description: "Auto swap display time interval between disarm stats pages (seconds). Reverts to manual control when Roll stick used to change pages. Disabled when set to 0."
default_value: 3
field: stats_page_auto_swap_time
min: 0
max: 10
- name: osd_stats_show_metric_efficiency
description: "Enabling this option will show metric efficiency statistics on the post flight stats screen. In addition to the efficiency statistics in your chosen units."
default_value: OFF
type: bool
field: stats_show_metric_efficiency
- name: osd_rssi_alarm
description: "Value below which to make the OSD RSSI indicator blink"
default_value: 20
@ -3434,16 +3412,19 @@ groups:
min: 0
max: 3
- name: osd_left_sidebar_scroll
description: "Scroll type for the left sidebar"
field: left_sidebar_scroll
table: osd_sidebar_scroll
type: uint8_t
default_value: NONE
- name: osd_right_sidebar_scroll
description: "Scroll type for the right sidebar"
field: right_sidebar_scroll
table: osd_sidebar_scroll
type: uint8_t
default_value: NONE
- name: osd_sidebar_scroll_arrows
description: "Show arrows for scrolling the sidebars"
field: sidebar_scroll_arrows
type: bool
default_value: OFF
@ -3454,6 +3435,7 @@ groups:
min: 1
max: 2
- name: osd_coordinate_digits
description: "Number of digits for the coordinates displayed in the OSD [8-11]."
field: coordinate_digits
min: 8
max: 11
@ -3490,6 +3472,12 @@ groups:
condition: USE_WIND_ESTIMATOR
field: estimations_wind_compensation
type: bool
- name: osd_estimations_wind_mps
description: "Wind speed estimation in m/s"
default_value: OFF
condition: USE_WIND_ESTIMATOR
field: estimations_wind_mps
type: bool
- name: osd_failsafe_switch_layout
description: "If enabled the OSD automatically switches to the first layout during failsafe"
@ -3735,12 +3723,6 @@ groups:
default_value: "400KHZ"
condition: USE_I2C
table: i2c_speed
- name: cpu_underclock
description: "This option is only available on certain architectures (F3 CPUs at the moment). It makes CPU clock lower to reduce interference to long-range RC systems working at 433MHz"
default_value: OFF
field: cpuUnderclock
condition: USE_UNDERCLOCK
type: bool
- name: debug_mode
description: "Defines debug values exposed in debug variables (developer / debugging setting)"
default_value: "NONE"
@ -3892,6 +3874,7 @@ groups:
table: vtx_low_power_disarm
type: uint8_t
- name: vtx_pit_mode_chan
description: "Pit mode channel."
field: pitModeChan
min: VTX_SETTINGS_MIN_CHANNEL
max: VTX_SETTINGS_MAX_CHANNEL
@ -3996,12 +3979,6 @@ groups:
headers: ["io/osd_dji_hd.h"]
condition: USE_DJI_HD_OSD
members:
- name: dji_workarounds
description: "Enables workarounds for different versions of MSP protocol used"
field: proto_workarounds
min: 0
max: UINT8_MAX
default_value: 1
- name: dji_use_name_for_messages
description: "Re-purpose the craft name field for messages."
default_value: ON

4
src/main/flight/dynamic_lpf.c
View file

@ -41,8 +41,8 @@ void dynamicLpfGyroTask(void) {
return;
}
const float throttleConstrained = (float) constrain(rcCommand[THROTTLE], getThrottleIdleValue(), motorConfig()->maxthrottle);
const float throttle = scaleRangef(throttleConstrained, getThrottleIdleValue(), motorConfig()->maxthrottle, 0.0f, 1.0f);
const float throttleConstrained = (float) constrain(rcCommand[THROTTLE], getThrottleIdleValue(), getMaxThrottle());
const float throttle = scaleRangef(throttleConstrained, getThrottleIdleValue(), getMaxThrottle(), 0.0f, 1.0f);
const float cutoffFreq = dynLpfCutoffFreq(throttle, gyroConfig()->gyroDynamicLpfMinHz, gyroConfig()->gyroDynamicLpfMaxHz, gyroConfig()->gyroDynamicLpfCurveExpo);
DEBUG_SET(DEBUG_DYNAMIC_GYRO_LPF, 0, cutoffFreq);

13
src/main/flight/ez_tune.c
View file

@ -34,7 +34,9 @@
#include "sensors/gyro.h"
#include "fc/controlrate_profile.h"
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(ezTuneSettings_t, ezTune, PG_EZ_TUNE, 0);
#include "rx/rx.h"
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(ezTuneSettings_t, ezTune, PG_EZ_TUNE, 1);
PG_RESET_TEMPLATE(ezTuneSettings_t, ezTune,
.enabled = SETTING_EZ_ENABLED_DEFAULT,
@ -46,6 +48,7 @@ PG_RESET_TEMPLATE(ezTuneSettings_t, ezTune,
.aggressiveness = SETTING_EZ_AGGRESSIVENESS_DEFAULT,
.rate = SETTING_EZ_RATE_DEFAULT,
.expo = SETTING_EZ_EXPO_DEFAULT,
.snappiness = SETTING_EZ_SNAPPINESS_DEFAULT,
);
#define EZ_TUNE_PID_RP_DEFAULT { 40, 75, 23, 100 }
@ -70,6 +73,9 @@ static float getYawPidScale(float input) {
void ezTuneUpdate(void) {
if (ezTune()->enabled) {
//Enforce RC auto smoothing
rxConfigMutable()->autoSmooth = 1;
// Setup filtering
//Set Dterm LPF
pidProfileMutable()->dterm_lpf_hz = MAX(ezTune()->filterHz - 5, 50);
@ -77,11 +83,9 @@ void ezTuneUpdate(void) {
//Set main gyro filter
gyroConfigMutable()->gyro_main_lpf_hz = ezTune()->filterHz;
gyroConfigMutable()->gyro_main_lpf_type = FILTER_PT1;
//Set anti-aliasing filter
gyroConfigMutable()->gyro_anti_aliasing_lpf_hz = SETTING_GYRO_ANTI_ALIASING_LPF_HZ_DEFAULT;
gyroConfigMutable()->gyro_anti_aliasing_lpf_type = FILTER_PT1;
//Enable Smith predictor
pidProfileMutable()->smithPredictorDelay = computePt1FilterDelayMs(ezTune()->filterHz);
@ -139,5 +143,8 @@ void ezTuneUpdate(void) {
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcExpo8 = scaleRange(ezTune()->rate, 0, 200, 40, 100);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcYawExpo8 = scaleRange(ezTune()->rate, 0, 200, 40, 100);
//D-Boost snappiness
pidProfileMutable()->dBoostMin = scaleRangef(ezTune()->snappiness, 0, 100, 1.0f, 0.0f);
}
}

1
src/main/flight/ez_tune.h
View file

@ -36,6 +36,7 @@ typedef struct ezTuneSettings_s {
uint8_t aggressiveness;
uint8_t rate;
uint8_t expo;
uint8_t snappiness;
} ezTuneSettings_t;
PG_DECLARE_PROFILE(ezTuneSettings_t, ezTune);

4
src/main/flight/failsafe.c
View file

@ -242,6 +242,10 @@ static void failsafeActivate(failsafePhase_e newPhase)
ENABLE_FLIGHT_MODE(FAILSAFE_MODE);
failsafeState.landingShouldBeFinishedAt = millis() + failsafeConfig()->failsafe_off_delay * MILLIS_PER_TENTH_SECOND;
#ifdef USE_FW_AUTOLAND
posControl.fwLandState.landAborted = false;
#endif
failsafeState.events++;
}

45
src/main/flight/mixer.c
View file

@ -57,6 +57,9 @@
#include "sensors/battery.h"
#define MAX_THROTTLE 2000
#define MAX_THROTTLE_ROVER 1850
FASTRAM int16_t motor[MAX_SUPPORTED_MOTORS];
FASTRAM int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
static float motorMixRange;
@ -83,12 +86,11 @@ PG_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig,
.neutral = SETTING_3D_NEUTRAL_DEFAULT
);
PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 10);
PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 11);
PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
.motorPwmProtocol = SETTING_MOTOR_PWM_PROTOCOL_DEFAULT,
.motorPwmRate = SETTING_MOTOR_PWM_RATE_DEFAULT,
.maxthrottle = SETTING_MAX_THROTTLE_DEFAULT,
.mincommand = SETTING_MIN_COMMAND_DEFAULT,
.motorPoleCount = SETTING_MOTOR_POLES_DEFAULT, // Most brushless motors that we use are 14 poles
);
@ -106,7 +108,7 @@ void pgResetFn_timerOverrides(timerOverride_t *instance)
int getThrottleIdleValue(void)
{
if (!throttleIdleValue) {
throttleIdleValue = motorConfig()->mincommand + (((motorConfig()->maxthrottle - motorConfig()->mincommand) / 100.0f) * currentBatteryProfile->motor.throttleIdle);
throttleIdleValue = motorConfig()->mincommand + (((getMaxThrottle() - motorConfig()->mincommand) / 100.0f) * currentBatteryProfile->motor.throttleIdle);
}
return throttleIdleValue;
@ -242,11 +244,11 @@ void mixerResetDisarmedMotors(void)
if (feature(FEATURE_REVERSIBLE_MOTORS)) {
motorZeroCommand = reversibleMotorsConfig()->neutral;
throttleRangeMin = throttleDeadbandHigh;
throttleRangeMax = motorConfig()->maxthrottle;
throttleRangeMax = getMaxThrottle();
} else {
motorZeroCommand = motorConfig()->mincommand;
throttleRangeMin = throttleIdleValue;
throttleRangeMax = motorConfig()->maxthrottle;
throttleRangeMax = getMaxThrottle();
}
reversibleMotorsThrottleState = MOTOR_DIRECTION_FORWARD;
@ -357,7 +359,7 @@ static void applyTurtleModeToMotors(void) {
motorOutputNormalised = MIN(1.0f, flipPower * motorOutputNormalised);
motor[i] = (int16_t)scaleRangef(motorOutputNormalised, 0, 1, motorConfig()->mincommand, motorConfig()->maxthrottle);
motor[i] = (int16_t)scaleRangef(motorOutputNormalised, 0, 1, motorConfig()->mincommand, getMaxThrottle());
}
} else {
// Disarmed mode
@ -407,7 +409,7 @@ void FAST_CODE writeMotors(void)
throttleIdleValue,
DSHOT_DISARM_COMMAND,
motorConfig()->mincommand,
motorConfig()->maxthrottle,
getMaxThrottle(),
DSHOT_MIN_THROTTLE,
DSHOT_MAX_THROTTLE,
true
@ -424,7 +426,7 @@ void FAST_CODE writeMotors(void)
throttleRangeMin,
throttleRangeMax,
reversibleMotorsConfig()->deadband_high,
motorConfig()->maxthrottle,
getMaxThrottle(),
true
);
} else {
@ -551,7 +553,7 @@ void FAST_CODE mixTable(void)
#ifdef USE_PROGRAMMING_FRAMEWORK
if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_THROTTLE)) {
throttleRangeMin = throttleIdleValue;
throttleRangeMax = motorConfig()->maxthrottle;
throttleRangeMax = getMaxThrottle();
mixerThrottleCommand = constrain(logicConditionValuesByType[LOGIC_CONDITION_OVERRIDE_THROTTLE], throttleRangeMin, throttleRangeMax);
} else
#endif
@ -562,7 +564,7 @@ void FAST_CODE mixTable(void)
* Throttle is above deadband, FORWARD direction
*/
reversibleMotorsThrottleState = MOTOR_DIRECTION_FORWARD;
throttleRangeMax = motorConfig()->maxthrottle;
throttleRangeMax = getMaxThrottle();
throttleRangeMin = throttleDeadbandHigh;
DISABLE_STATE(SET_REVERSIBLE_MOTORS_FORWARD);
} else if (rcCommand[THROTTLE] <= throttleDeadbandLow) {
@ -591,7 +593,7 @@ void FAST_CODE mixTable(void)
} else {
mixerThrottleCommand = rcCommand[THROTTLE];
throttleRangeMin = throttleIdleValue;
throttleRangeMax = motorConfig()->maxthrottle;
throttleRangeMax = getMaxThrottle();
// Throttle scaling to limit max throttle when battery is full
#ifdef USE_PROGRAMMING_FRAMEWORK
@ -630,7 +632,7 @@ void FAST_CODE mixTable(void)
motor[i] = rpyMix[i] + constrain(mixerThrottleCommand * currentMixer[i].throttle, throttleMin, throttleMax);
if (failsafeIsActive()) {
motor[i] = constrain(motor[i], motorConfig()->mincommand, motorConfig()->maxthrottle);
motor[i] = constrain(motor[i], motorConfig()->mincommand, getMaxThrottle());
} else {
motor[i] = constrain(motor[i], throttleRangeMin, throttleRangeMax);
}
@ -652,7 +654,7 @@ int16_t getThrottlePercent(bool useScaled)
int16_t thr = constrain(mixerThrottleCommand, PWM_RANGE_MIN, PWM_RANGE_MAX);
if (useScaled) {
thr = (thr - throttleIdleValue) * 100 / (motorConfig()->maxthrottle - throttleIdleValue);
thr = (thr - throttleIdleValue) * 100 / (getMaxThrottle() - throttleIdleValue);
} else {
thr = (rxGetChannelValue(THROTTLE) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN);
}
@ -667,7 +669,7 @@ uint16_t setDesiredThrottle(uint16_t throttle, bool allowMotorStop)
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
return throttle;
}
return constrain(throttle, throttleIdleValue, motorConfig()->maxthrottle);
return constrain(throttle, throttleIdleValue, getMaxThrottle());
}
motorStatus_e getMotorStatus(void)
@ -725,3 +727,18 @@ bool areMotorsRunning(void)
return false;
}
uint16_t getMaxThrottle() {
static uint16_t throttle = 0;
if (throttle == 0) {
if (STATE(ROVER) || STATE(BOAT)) {
throttle = MAX_THROTTLE_ROVER;
} else {
throttle = MAX_THROTTLE;
}
}
return throttle;
}

5
src/main/flight/mixer.h
View file

@ -81,7 +81,6 @@ PG_DECLARE(reversibleMotorsConfig_t, reversibleMotorsConfig);
typedef struct motorConfig_s {
// PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000
uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz)
uint8_t motorPwmProtocol;
@ -130,4 +129,6 @@ void stopMotorsNoDelay(void);
void stopPwmAllMotors(void);
void loadPrimaryMotorMixer(void);
bool areMotorsRunning(void);
bool areMotorsRunning(void);
uint16_t getMaxThrottle(void);

35
src/main/flight/pid.c
View file

@ -99,7 +99,6 @@ typedef struct {
biquadFilter_t dBoostGyroLpf;
float dBoostTargetAcceleration;
#endif
uint16_t pidSumLimit;
filterApply4FnPtr ptermFilterApplyFn;
bool itermLimitActive;
bool itermFreezeActive;
@ -170,7 +169,7 @@ static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
static EXTENDED_FASTRAM float fixedWingLevelTrim;
static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController;
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 6);
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 7);
PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
.bank_mc = {
@ -264,8 +263,6 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
.max_angle_inclination[FD_ROLL] = SETTING_MAX_ANGLE_INCLINATION_RLL_DEFAULT,
.max_angle_inclination[FD_PITCH] = SETTING_MAX_ANGLE_INCLINATION_PIT_DEFAULT,
.pidSumLimit = SETTING_PIDSUM_LIMIT_DEFAULT,
.pidSumLimitYaw = SETTING_PIDSUM_LIMIT_YAW_DEFAULT,
.pidItermLimitPercent = SETTING_PID_ITERM_LIMIT_PERCENT_DEFAULT,
.fixedWingReferenceAirspeed = SETTING_FW_REFERENCE_AIRSPEED_DEFAULT,
@ -466,8 +463,8 @@ static float calculateMultirotorTPAFactor(void)
// TPA should be updated only when TPA is actually set
if (currentControlRateProfile->throttle.dynPID == 0 || rcCommand[THROTTLE] < currentControlRateProfile->throttle.pa_breakpoint) {
tpaFactor = 1.0f;
} else if (rcCommand[THROTTLE] < motorConfig()->maxthrottle) {
tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (rcCommand[THROTTLE] - currentControlRateProfile->throttle.pa_breakpoint) / (float)(motorConfig()->maxthrottle - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f;
} else if (rcCommand[THROTTLE] < getMaxThrottle()) {
tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (rcCommand[THROTTLE] - currentControlRateProfile->throttle.pa_breakpoint) / (float)(getMaxThrottle() - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f;
} else {
tpaFactor = (100 - currentControlRateProfile->throttle.dynPID) / 100.0f;
}
@ -594,7 +591,7 @@ static float computePidLevelTarget(flight_dynamics_index_t axis) {
// Automatically pitch down if the throttle is manually controlled and reduced bellow cruise throttle
#ifdef USE_FW_AUTOLAND
if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle() && !isFwLandInProgess()) {
if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle() && !FLIGHT_MODE(NAV_FW_AUTOLAND)) {
#else
if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle()) {
#endif
@ -772,12 +769,14 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
applyItermLimiting(pidState);
const uint16_t limit = getPidSumLimit(axis);
if (pidProfile()->pidItermLimitPercent != 0){
float itermLimit = pidState->pidSumLimit * pidProfile()->pidItermLimitPercent * 0.01f;
float itermLimit = limit * pidProfile()->pidItermLimitPercent * 0.01f;
pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -itermLimit, +itermLimit);
}
axisPID[axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf + newDTerm, -pidState->pidSumLimit, +pidState->pidSumLimit);
axisPID[axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf + newDTerm, -limit, +limit);
if (FLIGHT_MODE(SOARING_MODE) && axis == FD_PITCH && calculateRollPitchCenterStatus() == CENTERED) {
if (!angleFreefloatDeadband(DEGREES_TO_DECIDEGREES(navConfig()->fw.soaring_pitch_deadband), FD_PITCH)) {
@ -787,7 +786,7 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
#ifdef USE_AUTOTUNE_FIXED_WING
if (FLIGHT_MODE(AUTO_TUNE) && !FLIGHT_MODE(MANUAL_MODE)) {
autotuneFixedWingUpdate(axis, rateTarget, pidState->gyroRate, constrainf(newPTerm + newFFTerm, -pidState->pidSumLimit, +pidState->pidSumLimit));
autotuneFixedWingUpdate(axis, rateTarget, pidState->gyroRate, constrainf(newPTerm + newFFTerm, -limit, +limit));
}
#endif
@ -836,9 +835,11 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
*/
const float newCDTerm = rateTargetDeltaFiltered * pidState->kCD;
const uint16_t limit = getPidSumLimit(axis);
// TODO: Get feedback from mixer on available correction range for each axis
const float newOutput = newPTerm + newDTerm + pidState->errorGyroIf + newCDTerm;
const float newOutputLimited = constrainf(newOutput, -pidState->pidSumLimit, +pidState->pidSumLimit);
const float newOutputLimited = constrainf(newOutput, -limit, +limit);
float itermErrorRate = applyItermRelax(axis, rateTarget, rateError);
@ -850,7 +851,7 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
+ ((newOutputLimited - newOutput) * pidState->kT * antiWindupScaler * dT);
if (pidProfile()->pidItermLimitPercent != 0){
float itermLimit = pidState->pidSumLimit * pidProfile()->pidItermLimitPercent * 0.01f;
float itermLimit = limit * pidProfile()->pidItermLimitPercent * 0.01f;
pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -itermLimit, +itermLimit);
}
@ -1284,14 +1285,12 @@ void pidInit(void)
pidState[axis].axis = axis;
if (axis == FD_YAW) {
pidState[axis].pidSumLimit = pidProfile()->pidSumLimitYaw;
if (yawLpfHz) {
pidState[axis].ptermFilterApplyFn = (filterApply4FnPtr) pt1FilterApply4;
} else {
pidState[axis].ptermFilterApplyFn = (filterApply4FnPtr) nullFilterApply4;
}
} else {
pidState[axis].pidSumLimit = pidProfile()->pidSumLimit;
pidState[axis].ptermFilterApplyFn = (filterApply4FnPtr) nullFilterApply4;
}
}
@ -1408,3 +1407,11 @@ float getFixedWingLevelTrim(void)
{
return STATE(AIRPLANE) ? fixedWingLevelTrim : 0;
}
uint16_t getPidSumLimit(const flight_dynamics_index_t axis) {
if (axis == FD_YAW) {
return STATE(MULTIROTOR) ? 400 : 500;
} else {
return 500;
}
}

3
src/main/flight/pid.h
View file

@ -115,8 +115,6 @@ typedef struct pidProfile_s {
int16_t max_angle_inclination[ANGLE_INDEX_COUNT]; // Max possible inclination (roll and pitch axis separately
uint16_t pidSumLimit;
uint16_t pidSumLimitYaw;
uint16_t pidItermLimitPercent;
// Airplane-specific parameters
@ -221,3 +219,4 @@ bool isFixedWingLevelTrimActive(void);
void updateFixedWingLevelTrim(timeUs_t currentTimeUs);
float getFixedWingLevelTrim(void);
bool isAngleHoldLevel(void);
uint16_t getPidSumLimit(const flight_dynamics_index_t axis);

2
src/main/flight/pid_autotune.c
View file

@ -171,7 +171,7 @@ void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRa
float gainFF = tuneCurrent[axis].gainFF;
float maxDesiredRate = maxRateSetting;
const float pidSumLimit = (axis == FD_YAW) ? pidProfile()->pidSumLimitYaw : pidProfile()->pidSumLimit;
const float pidSumLimit = getPidSumLimit(axis);
const float absDesiredRate = fabsf(desiredRate);
const float absReachedRate = fabsf(reachedRate);
const float absPidOutput = fabsf(pidOutput);

27
src/main/flight/secondary_dynamic_gyro_notch.c
View file

@ -44,46 +44,25 @@ void secondaryDynamicGyroNotchFiltersInit(secondaryDynamicGyroNotchState_t *stat
state->enabled = gyroConfig()->dynamicGyroNotchMode != DYNAMIC_NOTCH_MODE_2D;
state->looptime = getLooptime();
if (
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_R ||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RP ||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RY ||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D
) {
if (gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D) {
/*
* Enable ROLL filter
*/
biquadFilterInit(&state->filters[FD_ROLL], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
state->filtersApplyFn[FD_ROLL] = (filterApplyFnPtr)biquadFilterApplyDF1;
}
if (
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_P ||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RP ||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_PY ||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D
) {
/*
* Enable PITCH filter
*/
biquadFilterInit(&state->filters[FD_PITCH], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
state->filtersApplyFn[FD_PITCH] = (filterApplyFnPtr)biquadFilterApplyDF1;
}
if (
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_Y ||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_PY ||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RY ||
gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D
) {
/*
* Enable YAW filter
*/
biquadFilterInit(&state->filters[FD_YAW], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
state->filtersApplyFn[FD_YAW] = (filterApplyFnPtr)biquadFilterApplyDF1;
}
}
void secondaryDynamicGyroNotchFiltersUpdate(secondaryDynamicGyroNotchState_t *state, int axis, float frequency[]) {

7
src/main/io/displayport_msp_bf_compat.c
View file

@ -293,13 +293,12 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
case SYM_THR:
return BF_SYM_THR;
/*
case SYM_TEMP_F:
return BF_SYM_TEMP_F;
return BF_SYM_F;
case SYM_TEMP_C:
return BF_SYM_TEMP_C;
*/
return BF_SYM_C;
case SYM_BLANK:
return BF_SYM_BLANK;
/*

2
src/main/io/ledstrip.c
View file

@ -73,7 +73,7 @@
#include "telemetry/telemetry.h"
PG_REGISTER_WITH_RESET_FN(ledStripConfig_t, ledStripConfig, PG_LED_STRIP_CONFIG, 1);
PG_REGISTER_WITH_RESET_FN(ledStripConfig_t, ledStripConfig, PG_LED_STRIP_CONFIG, 2);
static bool ledStripInitialised = false;
static bool ledStripEnabled = true;

1
src/main/io/ledstrip.h
View file

@ -153,7 +153,6 @@ typedef struct ledStripConfig_s {
hsvColor_t colors[LED_CONFIGURABLE_COLOR_COUNT];
modeColorIndexes_t modeColors[LED_MODE_COUNT];
specialColorIndexes_t specialColors;
uint8_t ledstrip_visual_beeper; // suppress LEDLOW mode if beeper is on
} ledStripConfig_t;
PG_DECLARE(ledStripConfig_t, ledStripConfig);

1039
src/main/io/osd.c
View file

File diff suppressed because it is too large Load diff

10
src/main/io/osd.h
View file

@ -75,7 +75,6 @@
#define OSD_MSG_PITOT_FAIL "PITOT METER FAILURE"
#define OSD_MSG_HW_FAIL "HARDWARE FAILURE"
#define OSD_MSG_FS_EN "FAILSAFE MODE ENABLED"
#define OSD_MSG_KILL_SW_EN "KILLSWITCH MODE ENABLED"
#define OSD_MSG_NO_RC_LINK "NO RC LINK"
#define OSD_MSG_THROTTLE_NOT_LOW "THROTTLE IS NOT LOW"
#define OSD_MSG_ROLLPITCH_OFFCENTER "ROLLPITCH NOT CENTERED"
@ -286,6 +285,7 @@ typedef enum {
OSD_CUSTOM_ELEMENT_3,
OSD_ADSB_WARNING,
OSD_ADSB_INFO,
OSD_BLACKBOX,
OSD_ITEM_COUNT // MUST BE LAST
} osd_items_e;
@ -304,11 +304,6 @@ typedef enum {
OSD_STATS_ENERGY_UNIT_WH,
} osd_stats_energy_unit_e;
typedef enum {
OSD_STATS_MIN_VOLTAGE_UNIT_BATTERY,
OSD_STATS_MIN_VOLTAGE_UNIT_CELL,
} osd_stats_min_voltage_unit_e;
typedef enum {
OSD_CROSSHAIRS_STYLE_DEFAULT,
OSD_CROSSHAIRS_STYLE_AIRCRAFT,
@ -418,11 +413,12 @@ typedef struct osdConfig_s {
uint8_t units; // from osd_unit_e
uint8_t stats_energy_unit; // from osd_stats_energy_unit_e
uint8_t stats_min_voltage_unit; // from osd_stats_min_voltage_unit_e
uint8_t stats_page_auto_swap_time; // stats page auto swap interval time (seconds)
bool stats_show_metric_efficiency; // If true, show metric efficiency as well as for the selected units
#ifdef USE_WIND_ESTIMATOR
bool estimations_wind_compensation; // use wind compensation for estimated remaining flight/distance
bool estimations_wind_mps; // wind speed estimation in m/s
#endif
uint8_t coordinate_digits;
bool osd_failsafe_switch_layout;

59
src/main/io/osd_dji_hd.c
View file

@ -122,11 +122,10 @@
* but reuse the packet decoder to minimize code duplication
*/
PG_REGISTER_WITH_RESET_TEMPLATE(djiOsdConfig_t, djiOsdConfig, PG_DJI_OSD_CONFIG, 2);
PG_REGISTER_WITH_RESET_TEMPLATE(djiOsdConfig_t, djiOsdConfig, PG_DJI_OSD_CONFIG, 3);
PG_RESET_TEMPLATE(djiOsdConfig_t, djiOsdConfig,
.use_name_for_messages = SETTING_DJI_USE_NAME_FOR_MESSAGES_DEFAULT,
.esc_temperature_source = SETTING_DJI_ESC_TEMP_SOURCE_DEFAULT,
.proto_workarounds = SETTING_DJI_WORKAROUNDS_DEFAULT,
.messageSpeedSource = SETTING_DJI_MESSAGE_SPEED_SOURCE_DEFAULT,
.rssi_source = SETTING_DJI_RSSI_SOURCE_DEFAULT,
.useAdjustments = SETTING_DJI_USE_ADJUSTMENTS_DEFAULT,
@ -505,8 +504,6 @@ static char * osdArmingDisabledReasonMessage(void)
// return OSD_MESSAGE_STR("HARDWARE FAILURE");
case ARMING_DISABLED_BOXFAILSAFE:
return OSD_MESSAGE_STR("FAILSAFE ENABLED");
case ARMING_DISABLED_BOXKILLSWITCH:
return OSD_MESSAGE_STR("KILLSWITCH ENABLED");
case ARMING_DISABLED_RC_LINK:
return OSD_MESSAGE_STR("NO RC LINK");
case ARMING_DISABLED_THROTTLE:
@ -1063,6 +1060,10 @@ static bool djiFormatMessages(char *buff)
if (FLIGHT_MODE(MANUAL_MODE)) {
messages[messageCount++] = "(MANUAL)";
}
if (FLIGHT_MODE(NAV_FW_AUTOLAND)) {
messages[messageCount++] = "(LAND)";
}
}
}
// Pick one of the available messages. Each message lasts
@ -1345,12 +1346,11 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
break;
case DJI_MSP_ESC_SENSOR_DATA:
if (djiOsdConfig()->proto_workarounds & DJI_OSD_USE_NON_STANDARD_MSP_ESC_SENSOR_DATA) {
// Version 1.00.06 of DJI firmware is not using the standard MSP_ESC_SENSOR_DATA
{
uint16_t protoRpm = 0;
int16_t protoTemp = 0;
#if defined(USE_ESC_SENSOR)
#if defined(USE_ESC_SENSOR)
if (STATE(ESC_SENSOR_ENABLED) && getMotorCount() > 0) {
uint32_t motorRpmAcc = 0;
int32_t motorTempAcc = 0;
@ -1364,7 +1364,7 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
protoRpm = motorRpmAcc / getMotorCount();
protoTemp = motorTempAcc / getMotorCount();
}
#endif
#endif
switch (djiOsdConfig()->esc_temperature_source) {
// This is ESC temperature (as intended)
@ -1389,47 +1389,6 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
sbufWriteU8(dst, protoTemp);
sbufWriteU16(dst, protoRpm);
}
else {
// Use standard MSP_ESC_SENSOR_DATA message
sbufWriteU8(dst, getMotorCount());
for (int i = 0; i < getMotorCount(); i++) {
uint16_t motorRpm = 0;
int16_t motorTemp = 0;
// If ESC_SENSOR is enabled, pull the telemetry data and get motor RPM
#if defined(USE_ESC_SENSOR)
if (STATE(ESC_SENSOR_ENABLED)) {
const escSensorData_t * escSensor = getEscTelemetry(i);
motorRpm = escSensor->rpm;
motorTemp = escSensor->temperature;
}
#endif
// Now populate temperature field (which we may override for different purposes)
switch (djiOsdConfig()->esc_temperature_source) {
// This is ESC temperature (as intended)
case DJI_OSD_TEMP_ESC:
// No-op, temperature is already set to ESC
break;
// Re-purpose the field for core temperature
case DJI_OSD_TEMP_CORE:
getIMUTemperature(&motorTemp);
motorTemp = motorTemp / 10;
break;
// Re-purpose the field for baro temperature
case DJI_OSD_TEMP_BARO:
getBaroTemperature(&motorTemp);
motorTemp = motorTemp / 10;
break;
}
// Add data for this motor to the packet
sbufWriteU8(dst, motorTemp);
sbufWriteU16(dst, motorRpm);
}
}
break;
case DJI_MSP_OSD_CONFIG:
@ -1452,7 +1411,7 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
sbufWriteU16(dst, 0); // BF: gyroConfig()->gyro_soft_notch_hz_2
sbufWriteU16(dst, 1); // BF: gyroConfig()->gyro_soft_notch_cutoff_2
sbufWriteU8(dst, 0); // BF: currentPidProfile->dterm_filter_type
sbufWriteU8(dst, gyroConfig()->gyro_lpf); // BF: gyroConfig()->gyro_hardware_lpf);
sbufWriteU8(dst, GYRO_LPF_256HZ); // BF: gyroConfig()->gyro_hardware_lpf);
sbufWriteU8(dst, 0); // BF: DEPRECATED: gyro_32khz_hardware_lpf
sbufWriteU16(dst, gyroConfig()->gyro_main_lpf_hz); // BF: gyroConfig()->gyro_lowpass_hz);
sbufWriteU16(dst, 0); // BF: gyroConfig()->gyro_lowpass2_hz);

1
src/main/io/osd_dji_hd.h
View file

@ -84,7 +84,6 @@ enum djiOsdProtoWorkarounds_e {
typedef struct djiOsdConfig_s {
uint8_t use_name_for_messages;
uint8_t esc_temperature_source;
uint8_t proto_workarounds;
uint8_t messageSpeedSource;
uint8_t rssi_source;
uint8_t useAdjustments;

5
src/main/msp/msp_protocol.h
View file

@ -163,9 +163,6 @@
#define MSP_SONAR_ALTITUDE 58 //out message get surface altitude [cm]
#define MSP_ARMING_CONFIG 61 //out message Returns auto_disarm_delay and disarm_kill_switch parameters
#define MSP_SET_ARMING_CONFIG 62 //in message Sets auto_disarm_delay and disarm_kill_switch parameters
//
// Baseflight MSP commands (if enabled they exist in Cleanflight)
//
@ -207,7 +204,6 @@
#define MSP_FILTER_CONFIG 92
#define MSP_SET_FILTER_CONFIG 93
#define MSP_PID_ADVANCED 94
#define MSP_SET_PID_ADVANCED 95
@ -248,7 +244,6 @@
#define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_ACTIVEBOXES 113 //out message Active box flags (full width, more than 32 bits)
#define MSP_MISC 114 //out message powermeter trig
#define MSP_MOTOR_PINS 115 //out message which pins are in use for motors & servos, for GUI
#define MSP_BOXNAMES 116 //out message the aux switch names
#define MSP_PIDNAMES 117 //out message the PID names
#define MSP_WP 118 //out message get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold

2
src/main/msp/msp_protocol_v2_inav.h
View file

@ -111,3 +111,5 @@
#define MSP2_INAV_CUSTOM_OSD_ELEMENTS 0x2100
#define MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS 0x2101
#define MSP2_INAV_SERVO_CONFIG 0x2200
#define MSP2_INAV_SET_SERVO_CONFIG 0x2201

204
src/main/navigation/navigation.c
View file

@ -65,6 +65,7 @@
#include "sensors/boardalignment.h"
#include "sensors/battery.h"
#include "sensors/gyro.h"
#include "sensors/diagnostics.h"
#include "programming/global_variables.h"
#include "sensors/rangefinder.h"
@ -174,7 +175,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.land_detect_sensitivity = SETTING_NAV_LAND_DETECT_SENSITIVITY_DEFAULT, // Changes sensitivity of landing detection
.auto_disarm_delay = SETTING_NAV_AUTO_DISARM_DELAY_DEFAULT, // 2000 ms - time delay to disarm when auto disarm after landing enabled
.rth_linear_descent_start_distance = SETTING_NAV_RTH_LINEAR_DESCENT_START_DISTANCE_DEFAULT,
.cruise_yaw_rate = SETTING_NAV_CRUISE_YAW_RATE_DEFAULT, // 20dps
.cruise_yaw_rate = SETTING_NAV_CRUISE_YAW_RATE_DEFAULT, // 20dps
.rth_fs_landing_delay = SETTING_NAV_RTH_FS_LANDING_DELAY_DEFAULT, // Delay before landing in FS. 0 = immedate landing
},
@ -203,44 +204,44 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
// Fixed wing
.fw = {
.max_bank_angle = SETTING_NAV_FW_BANK_ANGLE_DEFAULT, // degrees
.max_manual_climb_rate = SETTING_NAV_FW_MANUAL_CLIMB_RATE_DEFAULT, // 3 m/s
.max_climb_angle = SETTING_NAV_FW_CLIMB_ANGLE_DEFAULT, // degrees
.max_dive_angle = SETTING_NAV_FW_DIVE_ANGLE_DEFAULT, // degrees
.cruise_speed = SETTING_NAV_FW_CRUISE_SPEED_DEFAULT, // cm/s
.max_bank_angle = SETTING_NAV_FW_BANK_ANGLE_DEFAULT, // degrees
.max_manual_climb_rate = SETTING_NAV_FW_MANUAL_CLIMB_RATE_DEFAULT, // 3 m/s
.max_climb_angle = SETTING_NAV_FW_CLIMB_ANGLE_DEFAULT, // degrees
.max_dive_angle = SETTING_NAV_FW_DIVE_ANGLE_DEFAULT, // degrees
.cruise_speed = SETTING_NAV_FW_CRUISE_SPEED_DEFAULT, // cm/s
.control_smoothness = SETTING_NAV_FW_CONTROL_SMOOTHNESS_DEFAULT,
.pitch_to_throttle_smooth = SETTING_NAV_FW_PITCH2THR_SMOOTHING_DEFAULT,
.pitch_to_throttle_thresh = SETTING_NAV_FW_PITCH2THR_THRESHOLD_DEFAULT,
.minThrottleDownPitchAngle = SETTING_FW_MIN_THROTTLE_DOWN_PITCH_DEFAULT,
.loiter_radius = SETTING_NAV_FW_LOITER_RADIUS_DEFAULT, // 75m
.loiter_radius = SETTING_NAV_FW_LOITER_RADIUS_DEFAULT, // 75m
.loiter_direction = SETTING_FW_LOITER_DIRECTION_DEFAULT,
//Fixed wing landing
.land_dive_angle = SETTING_NAV_FW_LAND_DIVE_ANGLE_DEFAULT, // 2 degrees dive by default
.land_dive_angle = SETTING_NAV_FW_LAND_DIVE_ANGLE_DEFAULT, // 2 degrees dive by default
// Fixed wing launch
.launch_velocity_thresh = SETTING_NAV_FW_LAUNCH_VELOCITY_DEFAULT, // 3 m/s
.launch_accel_thresh = SETTING_NAV_FW_LAUNCH_ACCEL_DEFAULT, // cm/s/s (1.9*G)
.launch_time_thresh = SETTING_NAV_FW_LAUNCH_DETECT_TIME_DEFAULT, // 40ms
.launch_motor_timer = SETTING_NAV_FW_LAUNCH_MOTOR_DELAY_DEFAULT, // ms
.launch_idle_motor_timer = SETTING_NAV_FW_LAUNCH_IDLE_MOTOR_DELAY_DEFAULT, // ms
.launch_motor_spinup_time = SETTING_NAV_FW_LAUNCH_SPINUP_TIME_DEFAULT, // ms, time to gredually increase throttle from idle to launch
.launch_end_time = SETTING_NAV_FW_LAUNCH_END_TIME_DEFAULT, // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode
.launch_min_time = SETTING_NAV_FW_LAUNCH_MIN_TIME_DEFAULT, // ms, min time in launch mode
.launch_timeout = SETTING_NAV_FW_LAUNCH_TIMEOUT_DEFAULT, // ms, timeout for launch procedure
.launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT, // cm, altitude where to consider launch ended
.launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT, // 18 degrees
.launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT, // 45 deg
.launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT,// OFF
.launch_land_abort_deadband = SETTING_NAV_FW_LAUNCH_LAND_ABORT_DEADBAND_DEFAULT, // 100 us
.launch_velocity_thresh = SETTING_NAV_FW_LAUNCH_VELOCITY_DEFAULT, // 3 m/s
.launch_accel_thresh = SETTING_NAV_FW_LAUNCH_ACCEL_DEFAULT, // cm/s/s (1.9*G)
.launch_time_thresh = SETTING_NAV_FW_LAUNCH_DETECT_TIME_DEFAULT, // 40ms
.launch_motor_timer = SETTING_NAV_FW_LAUNCH_MOTOR_DELAY_DEFAULT, // ms
.launch_idle_motor_timer = SETTING_NAV_FW_LAUNCH_IDLE_MOTOR_DELAY_DEFAULT, // ms
.launch_wiggle_wake_idle = SETTING_NAV_FW_LAUNCH_WIGGLE_TO_WAKE_IDLE_DEFAULT, // uint8_t
.launch_motor_spinup_time = SETTING_NAV_FW_LAUNCH_SPINUP_TIME_DEFAULT, // ms, time to greaually increase throttle from idle to launch
.launch_end_time = SETTING_NAV_FW_LAUNCH_END_TIME_DEFAULT, // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode
.launch_min_time = SETTING_NAV_FW_LAUNCH_MIN_TIME_DEFAULT, // ms, min time in launch mode
.launch_timeout = SETTING_NAV_FW_LAUNCH_TIMEOUT_DEFAULT, // ms, timeout for launch procedure
.launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT, // cm, altitude where to consider launch ended
.launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT, // 18 degrees
.launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT, // 45 deg
.launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT, // OFF
.launch_land_abort_deadband = SETTING_NAV_FW_LAUNCH_LAND_ABORT_DEADBAND_DEFAULT, // 100 us
.allow_manual_thr_increase = SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE_DEFAULT,
.useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT,
.yawControlDeadband = SETTING_NAV_FW_YAW_DEADBAND_DEFAULT,
.soaring_pitch_deadband = SETTING_NAV_FW_SOARING_PITCH_DEADBAND_DEFAULT,// pitch angle mode deadband when Saoring mode enabled
.wp_tracking_accuracy = SETTING_NAV_FW_WP_TRACKING_ACCURACY_DEFAULT, // 0, improves course tracking accuracy during FW WP missions
.wp_tracking_max_angle = SETTING_NAV_FW_WP_TRACKING_MAX_ANGLE_DEFAULT, // 60 degs
.wp_turn_smoothing = SETTING_NAV_FW_WP_TURN_SMOOTHING_DEFAULT, // 0, smooths turns during FW WP mode missions
.soaring_pitch_deadband = SETTING_NAV_FW_SOARING_PITCH_DEADBAND_DEFAULT, // pitch angle mode deadband when Saoring mode enabled
.wp_tracking_accuracy = SETTING_NAV_FW_WP_TRACKING_ACCURACY_DEFAULT, // 0, improves course tracking accuracy during FW WP missions
.wp_tracking_max_angle = SETTING_NAV_FW_WP_TRACKING_MAX_ANGLE_DEFAULT, // 60 degs
.wp_turn_smoothing = SETTING_NAV_FW_WP_TURN_SMOOTHING_DEFAULT, // 0, smooths turns during FW WP mode missions
}
);
@ -1044,13 +1045,14 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}
},
/** Advanced Fixed Wing Autoland **/
#ifdef USE_FW_AUTOLAND
[NAV_STATE_FW_LANDING_CLIMB_TO_LOITER] = {
.persistentId = NAV_PERSISTENT_ID_FW_LANDING_CLIMB_TO_LOITER,
.onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
.mapToFlightModes = NAV_FW_AUTOLAND,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
@ -1070,8 +1072,8 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_FW_LANDING_LOITER,
.onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_LOITER,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
.mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
.mapToFlightModes = NAV_FW_AUTOLAND,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
@ -1091,8 +1093,8 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_FW_LANDING_APPROACH,
.onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_WP,
.mapToFlightModes = NAV_FW_AUTOLAND,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
@ -1113,7 +1115,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_GLIDE,
.timeoutMs = 10,
.stateFlags = NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_COURSE_HOLD_MODE,
.mapToFlightModes = NAV_FW_AUTOLAND,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
@ -1134,7 +1136,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_FLARE,
.timeoutMs = 10,
.stateFlags = NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_COURSE_HOLD_MODE,
.mapToFlightModes = NAV_FW_AUTOLAND,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
@ -1147,8 +1149,8 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.persistentId = NAV_PERSISTENT_ID_FW_LANDING_ABORT,
.onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_ABORT,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
.mapToFlightModes = NAV_FW_AUTOLAND,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwError = MW_NAV_ERROR_NONE,
.onEvent = {
@ -1677,7 +1679,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
/* If position sensors unavailable - land immediately (wait for timeout on GPS)
* Continue to check for RTH sanity during landing */
if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || !validateRTHSanityChecker()) {
if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || (previousState != NAV_STATE_WAYPOINT_REACHED && !validateRTHSanityChecker())) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
@ -1687,7 +1689,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
#ifdef USE_FW_AUTOLAND
if (STATE(AIRPLANE)) {
int8_t missionIdx = -1, shIdx = -1, missionFwLandConfigStartIdx = 8;
int8_t missionIdx = -1, shIdx = -1, missionFwLandConfigStartIdx = 8, approachSettingIdx = -1;
#ifdef USE_MULTI_MISSION
missionIdx = posControl.loadedMultiMissionIndex - 1;
#endif
@ -1696,18 +1698,23 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
shIdx = posControl.safehomeState.index;
missionFwLandConfigStartIdx = MAX_SAFE_HOMES;
#endif
if (!posControl.fwLandState.landAborted && (shIdx >= 0 || missionIdx >= 0) && (fwAutolandApproachConfig(shIdx)->landApproachHeading1 != 0 || fwAutolandApproachConfig(shIdx)->landApproachHeading2 != 0)) {
if (previousState == NAV_STATE_WAYPOINT_REACHED && missionIdx >= 0) {
approachSettingIdx = missionFwLandConfigStartIdx + missionIdx;
} else if (shIdx >= 0) {
approachSettingIdx = shIdx;
}
if (!posControl.fwLandState.landAborted && approachSettingIdx >= 0 && (fwAutolandApproachConfig(approachSettingIdx)->landApproachHeading1 != 0 || fwAutolandApproachConfig(approachSettingIdx)->landApproachHeading2 != 0)) {
if (previousState == NAV_STATE_WAYPOINT_REACHED) {
posControl.fwLandState.landPos = posControl.activeWaypoint.pos;
posControl.fwLandState.approachSettingIdx = missionFwLandConfigStartIdx + missionIdx;
posControl.fwLandState.landWp = true;
} else {
posControl.fwLandState.landPos = posControl.safehomeState.nearestSafeHome;
posControl.fwLandState.approachSettingIdx = shIdx;
posControl.fwLandState.landWp = false;
}
posControl.fwLandState.approachSettingIdx = approachSettingIdx;
posControl.fwLandState.landAltAgl = fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->isSeaLevelRef ? fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->landAlt - GPS_home.alt : fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->landAlt;
posControl.fwLandState.landAproachAltAgl = fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->isSeaLevelRef ? fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->approachAlt - GPS_home.alt : fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->approachAlt;
return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING;
@ -1779,6 +1786,12 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_INITIALIZE(nav
resetPositionController();
resetAltitudeController(false); // Make sure surface tracking is not enabled - WP uses global altitude, not AGL
#ifdef USE_FW_AUTOLAND
if (previousState != NAV_STATE_FW_LANDING_ABORT) {
posControl.fwLandState.landAborted = false;
}
#endif
if (posControl.activeWaypointIndex == posControl.startWpIndex || posControl.wpMissionRestart) {
/* Use p3 as the volatile jump counter, allowing embedded, rearmed jumps
Using p3 minimises the risk of saving an invalid counter if a mission is aborted */
@ -1988,11 +2001,20 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navig
{
UNUSED(previousState);
#ifdef USE_FW_AUTOLAND
if (posControl.fwLandState.landAborted) {
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED;
}
#endif
const navigationFSMEvent_t landEvent = navOnEnteringState_NAV_STATE_RTH_LANDING(previousState);
#ifdef USE_FW_AUTOLAND
if (landEvent == NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING) {
return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING;
} else if (landEvent == NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME) {
} else
#endif
if (landEvent == NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME) {
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED;
} else if (landEvent == NAV_FSM_EVENT_SUCCESS) {
// Landing controller returned success - invoke RTH finishing state and finish the waypoint
@ -2322,7 +2344,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH(nav
if (isLandingDetected()) {
posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
disarm(DISARM_LANDING);
//disarm(DISARM_LANDING);
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
@ -2366,14 +2388,14 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_GLIDE(naviga
return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT;
}
if (getLandAltitude() <= posControl.fwLandState.landAltAgl + navFwAutolandConfig()->flareAltitude) {
if (getHwRangefinderStatus() == HW_SENSOR_OK && getLandAltitude() <= posControl.fwLandState.landAltAgl + navFwAutolandConfig()->flareAltitude) {
posControl.fwLandState.landState = FW_AUTOLAND_STATE_FLARE;
return NAV_FSM_EVENT_SUCCESS;
}
if (isLandingDetected()) {
posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
disarm(DISARM_LANDING);
//disarm(DISARM_LANDING);
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}
@ -2387,7 +2409,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_FLARE(naviga
if (isLandingDetected()) {
posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
disarm(DISARM_LANDING);
//disarm(DISARM_LANDING);
return NAV_FSM_EVENT_SUCCESS;
}
setDesiredPosition(NULL, posControl.cruise.course, NAV_POS_UPDATE_HEADING);
@ -2993,7 +3015,7 @@ void setHomePosition(const fpVector3_t * pos, int32_t heading, navSetWaypointFla
updateDesiredRTHAltitude();
// Reset RTH sanity checker for new home position if RTH active
if (FLIGHT_MODE(NAV_RTH_MODE)) {
if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_FW_AUTOLAND) ) {
initializeRTHSanityChecker();
}
@ -3115,7 +3137,7 @@ void updateHomePosition(void)
static bool isHomeResetAllowed = false;
// If pilot so desires he may reset home position to current position
if (IS_RC_MODE_ACTIVE(BOXHOMERESET)) {
if (isHomeResetAllowed && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && (posControl.flags.estPosStatus >= EST_USABLE)) {
if (isHomeResetAllowed && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_FW_AUTOLAND) && !FLIGHT_MODE(NAV_WP_MODE) && (posControl.flags.estPosStatus >= EST_USABLE)) {
homeUpdateFlags = 0;
homeUpdateFlags = STATE(GPS_FIX_HOME) ? (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING) : (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
setHome = true;
@ -3935,6 +3957,7 @@ bool isNavHoldPositionActive(void)
// Also hold position during emergency landing if position valid
return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) ||
FLIGHT_MODE(NAV_POSHOLD_MODE) ||
(posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER || posControl.navState == NAV_STATE_FW_LANDING_LOITER) ||
navigationIsExecutingAnEmergencyLanding();
}
@ -3974,7 +3997,9 @@ bool isWaypointNavTrackingActive(void)
// is set from current position not previous WP. Works for WP Restart intermediate WP as well as first mission WP.
// (NAV_WP_MODE flag isn't set until WP initialisation is finished, i.e. after calculateAndSetActiveWaypoint called)
return FLIGHT_MODE(NAV_WP_MODE) || (posControl.flags.rthTrackbackActive && rth_trackback.activePointIndex != rth_trackback.lastSavedIndex);
return FLIGHT_MODE(NAV_WP_MODE)
|| posControl.navState == NAV_STATE_FW_LANDING_APPROACH
|| (posControl.flags.rthTrackbackActive && rth_trackback.activePointIndex != rth_trackback.lastSavedIndex);
}
/*-----------------------------------------------------------
@ -4039,7 +4064,7 @@ void applyWaypointNavigationAndAltitudeHold(void)
posControl.flags.verticalPositionDataConsumed = false;
#ifdef USE_FW_AUTOLAND
if (!isFwLandInProgess()) {
if (!FLIGHT_MODE(NAV_FW_AUTOLAND)) {
posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
}
#endif
@ -4080,7 +4105,7 @@ void applyWaypointNavigationAndAltitudeHold(void)
void switchNavigationFlightModes(void)
{
const flightModeFlags_e enabledNavFlightModes = navGetMappedFlightModes(posControl.navState);
const flightModeFlags_e disabledFlightModes = (NAV_ALTHOLD_MODE | NAV_RTH_MODE | NAV_POSHOLD_MODE | NAV_WP_MODE | NAV_LAUNCH_MODE | NAV_COURSE_HOLD_MODE) & (~enabledNavFlightModes);
const flightModeFlags_e disabledFlightModes = (NAV_ALTHOLD_MODE | NAV_RTH_MODE | NAV_FW_AUTOLAND | NAV_POSHOLD_MODE | NAV_WP_MODE | NAV_LAUNCH_MODE | NAV_COURSE_HOLD_MODE) & (~enabledNavFlightModes);
DISABLE_FLIGHT_MODE(disabledFlightModes);
ENABLE_FLIGHT_MODE(enabledNavFlightModes);
}
@ -4192,22 +4217,6 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
}
posControl.rthSanityChecker.rthSanityOK = true;
/* WP mission activation control:
* canActivateWaypoint & waypointWasActivated are used to prevent WP mission
* auto restarting after interruption by Manual or RTH modes.
* WP mode must be deselected before it can be reactivated again. */
static bool waypointWasActivated = false;
const bool isWpMissionLoaded = isWaypointMissionValid();
bool canActivateWaypoint = isWpMissionLoaded && !posControl.flags.wpMissionPlannerActive; // Block activation if using WP Mission Planner
if (waypointWasActivated && !FLIGHT_MODE(NAV_WP_MODE)) {
canActivateWaypoint = false;
if (!IS_RC_MODE_ACTIVE(BOXNAVWP)) {
canActivateWaypoint = true;
waypointWasActivated = false;
}
}
/* Airplane specific modes */
if (STATE(AIRPLANE)) {
// LAUNCH mode has priority over any other NAV mode
@ -4247,14 +4256,36 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
return NAV_FSM_EVENT_SWITCH_TO_RTH;
}
/* Pilot-triggered RTH, also fall-back for WP if there is no mission loaded.
* WP prevented from falling back to RTH if WP mission planner is active */
const bool wpRthFallbackIsActive = IS_RC_MODE_ACTIVE(BOXNAVWP) && !isWpMissionLoaded && !posControl.flags.wpMissionPlannerActive;
/* WP mission activation control:
* canActivateWaypoint & waypointWasActivated are used to prevent WP mission
* auto restarting after interruption by Manual or RTH modes.
* WP mode must be deselected before it can be reactivated again
* WP Mode also inhibited when Mission Planner is active */
static bool waypointWasActivated = false;
bool canActivateWaypoint = isWaypointMissionValid();
bool wpRthFallbackIsActive = false;
if (IS_RC_MODE_ACTIVE(BOXMANUAL) || posControl.flags.wpMissionPlannerActive) {
canActivateWaypoint = false;
} else {
if (waypointWasActivated && !FLIGHT_MODE(NAV_WP_MODE)) {
canActivateWaypoint = false;
if (!IS_RC_MODE_ACTIVE(BOXNAVWP)) {
canActivateWaypoint = true;
waypointWasActivated = false;
}
}
wpRthFallbackIsActive = IS_RC_MODE_ACTIVE(BOXNAVWP) && !canActivateWaypoint;
}
/* Pilot-triggered RTH, also fall-back for WP if no mission is loaded.
* Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss
* Without this loss of any of the canActivateNavigation && canActivateAltHold
* will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back
* logic kicking in (waiting for GPS on airplanes, switch to emergency landing etc) */
if (IS_RC_MODE_ACTIVE(BOXNAVRTH) || wpRthFallbackIsActive) {
// Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss
// Without this loss of any of the canActivateNavigation && canActivateAltHold
// will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back
// logic kicking in (waiting for GPS on airplanes, switch to emergency landing etc)
if (isExecutingRTH || (canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
return NAV_FSM_EVENT_SWITCH_TO_RTH;
}
@ -4268,11 +4299,11 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
// Pilot-activated waypoint mission. Fall-back to RTH if no mission loaded.
// Also check multimission mission change status before activating WP mode.
#ifdef USE_MULTI_MISSION
if (updateWpMissionChange() && IS_RC_MODE_ACTIVE(BOXNAVWP) && canActivateWaypoint) {
if (updateWpMissionChange() && IS_RC_MODE_ACTIVE(BOXNAVWP)) {
#else
if (IS_RC_MODE_ACTIVE(BOXNAVWP) && canActivateWaypoint) {
if (IS_RC_MODE_ACTIVE(BOXNAVWP)) {
#endif
if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateWaypoint && canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
waypointWasActivated = true;
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT;
}
@ -4767,7 +4798,7 @@ void abortForcedRTH(void)
rthState_e getStateOfForcedRTH(void)
{
/* If forced RTH activated and in AUTO_RTH or EMERG state */
if (posControl.flags.forcedRTHActivated && (navGetStateFlags(posControl.navState) & (NAV_AUTO_RTH | NAV_CTL_EMERG | NAV_MIXERAT))) {
if (posControl.flags.forcedRTHActivated && ((navGetStateFlags(posControl.navState) & (NAV_AUTO_RTH | NAV_CTL_EMERG | NAV_MIXERAT)) || FLIGHT_MODE(NAV_FW_AUTOLAND))) {
if (posControl.navState == NAV_STATE_RTH_FINISHED || posControl.navState == NAV_STATE_EMERGENCY_LANDING_FINISHED) {
return RTH_HAS_LANDED;
}
@ -4849,6 +4880,12 @@ bool navigationIsFlyingAutonomousMode(void)
bool navigationRTHAllowsLanding(void)
{
#ifdef USE_FW_AUTOLAND
if (posControl.fwLandState.landAborted) {
return false;
}
#endif
// WP mission RTH landing setting
if (isWaypointMissionRTHActive() && isWaypointMissionValid()) {
return posControl.waypointList[posControl.startWpIndex + posControl.waypointCount - 1].p1 > 0;
@ -5006,15 +5043,6 @@ void resetFwAutolandApproach(int8_t idx)
}
}
bool isFwLandInProgess(void)
{
return posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER
|| posControl.navState == NAV_STATE_FW_LANDING_LOITER
|| posControl.navState == NAV_STATE_FW_LANDING_APPROACH
|| posControl.navState == NAV_STATE_FW_LANDING_GLIDE
|| posControl.navState == NAV_STATE_FW_LANDING_FLARE;
}
bool canFwLandCanceld(void)
{
return posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER

9
src/main/navigation/navigation.h
View file

@ -193,9 +193,9 @@ typedef enum {
} navRTHClimbFirst_e;
typedef enum { // keep aligned with fixedWingLaunchState_t
FW_LAUNCH_DETECTED = 4,
FW_LAUNCH_ABORTED = 9,
FW_LAUNCH_FLYING = 10,
FW_LAUNCH_DETECTED = 5,
FW_LAUNCH_ABORTED = 10,
FW_LAUNCH_FLYING = 11,
} navFwLaunchStatus_e;
typedef enum {
@ -234,7 +234,6 @@ typedef struct positionEstimationConfig_s {
uint8_t reset_altitude_type; // from nav_reset_type_e
uint8_t reset_home_type; // nav_reset_type_e
uint8_t gravity_calibration_tolerance; // Tolerance of gravity calibration (cm/s/s)
uint8_t use_gps_velned;
uint8_t allow_dead_reckoning;
uint16_t max_surface_altitude;
@ -367,6 +366,7 @@ typedef struct navConfig_s {
uint16_t launch_time_thresh; // Time threshold for launch detection (ms)
uint16_t launch_motor_timer; // Time to wait before setting launch_throttle (ms)
uint16_t launch_idle_motor_timer; // Time to wait before motor starts at_idle throttle (ms)
uint8_t launch_wiggle_wake_idle; // Activate the idle throttle by wiggling the plane. 0 = disabled, 1 or 2 specify the number of wiggles.
uint16_t launch_motor_spinup_time; // Time to speed-up motors from idle to launch_throttle (ESC desync prevention)
uint16_t launch_end_time; // Time to make the transition from launch angle to leveled and throttle transition from launch throttle to the stick position
uint16_t launch_min_time; // Minimum time in launch mode to prevent possible bump of the sticks from leaving launch mode early
@ -702,7 +702,6 @@ uint8_t getActiveWpNumber(void);
int32_t navigationGetHomeHeading(void);
#ifdef USE_FW_AUTOLAND
bool isFwLandInProgess(void);
bool canFwLandCanceld(void);
#endif

66
src/main/navigation/navigation_declination_gen.c
View file

@ -1,7 +1,7 @@
/* this file is automatically generated by src/utils/declination.py - DO NOT EDIT! */
/* Updated on 2019-05-16 19:59:45.672184 */
/* Updated on 2024-04-19 12:54:15.842704 */
#include <stdint.h>
@ -16,25 +16,25 @@
#define SAMPLING_MAX_LAT 90.00000f
static const float declination_table[19][37] = {
{149.21545f,139.21545f,129.21545f,119.21545f,109.21545f,99.21545f,89.21545f,79.21545f,69.21545f,59.21545f,49.21545f,39.21545f,29.21545f,19.21545f,9.21545f,-0.78455f,-10.78455f,-20.78455f,-30.78455f,-40.78455f,-50.78455f,-60.78455f,-70.78455f,-80.78455f,-90.78455f,-100.78455f,-110.78455f,-120.78455f,-130.78455f,-140.78455f,-150.78455f,-160.78455f,-170.78455f,179.21545f,169.21545f,159.21545f,149.21545f},
{129.49173f,117.24379f,106.10409f,95.92286f,86.51411f,77.69583f,69.30955f,61.22803f,53.35622f,45.62814f,38.00071f,30.44524f,22.93795f,15.45138f,7.94874f,0.38309f,-7.29841f,-15.14665f,-23.20230f,-31.49030f,-40.01947f,-48.78754f,-57.79007f,-67.03110f,-76.53295f,-86.34401f,-96.54357f,-107.24276f,-118.57946f,-130.70159f,-143.72988f,-157.69312f,-172.44642f,172.37735f,157.31228f,142.89420f,129.49173f},
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{1.14371f,5.95768f,10.55039f,14.56595f,17.51248f,18.77049f,17.56825f,12.99646f,4.54568f,-6.33792f,-15.91121f,-21.43028f,-22.88293f,-21.44177f,-18.22110f,-13.99911f,-9.28961f,-4.46489f,0.18470f,4.47851f,8.37200f,11.87759f,14.90388f,17.13814f,18.04159f,16.93503f,13.18748f,6.66358f,-1.56678f,-9.20492f,-14.20053f,-15.96059f,-14.99797f,-12.15657f,-8.19328f,-3.64820f,1.14371f},
{-0.35955f,4.92766f,9.99739f,14.51863f,17.99503f,19.64821f,18.23668f,11.99980f,-0.09657f,-14.74873f,-25.55246f,-30.33910f,-30.58104f,-28.00627f,-23.75441f,-18.51083f,-12.70165f,-6.61593f,-0.46628f,5.58665f,11.41580f,16.88997f,21.81133f,25.83916f,28.40134f,28.57592f,24.99531f,16.28607f,3.28542f,-9.10495f,-16.59733f,-19.05958f,-18.04316f,-14.91590f,-10.58486f,-5.61478f,-0.35955f},
{-5.35521f,-0.10619f,4.69597f,8.54683f,10.65268f,9.65875f,3.42678f,-9.71040f,-26.04578f,-37.63969f,-42.28407f,-42.02380f,-38.82980f,-33.88684f,-27.86664f,-21.16414f,-14.02720f,-6.62426f,0.91924f,8.49972f,16.02040f,23.37681f,30.43782f,37.01500f,42.80483f,47.26542f,49.32663f,46.69337f,34.75696f,10.85970f,-10.89085f,-20.36338f,-21.94791f,-19.71753f,-15.63466f,-10.66363f,-5.35521f},
{-166.99999f,-156.99999f,-146.99999f,-136.99999f,-126.99999f,-116.99999f,-106.99999f,-96.99999f,-86.99999f,-76.99999f,-66.99999f,-56.99999f,-46.99999f,-36.99999f,-26.99999f,-16.99999f,-6.99999f,3.00001f,13.00001f,23.00001f,33.00000f,43.00000f,53.00000f,63.00000f,73.00000f,83.00000f,93.00000f,103.00000f,113.00000f,123.00000f,133.00000f,143.00000f,153.00000f,163.00000f,173.00000f,-177.00000f,-167.00000f}
};
#else /* !NAV_AUTO_MAG_DECLINATION_PRECISE */
@ -45,19 +45,19 @@ static const float declination_table[19][37] = {
#define SAMPLING_MAX_LAT 60.00000f
static const int8_t declination_table[13][37] = {
{48,46,45,43,42,41,39,37,33,28,23,16,10,4,-1,-6,-10,-15,-20,-27,-34,-42,-50,-56,-62,-68,-72,-74,-75,-73,-61,-21,26,43,47,48,48},
{31,31,31,31,30,30,30,29,27,24,18,11,3,-4,-9,-13,-15,-18,-21,-27,-34,-41,-47,-52,-56,-57,-56,-52,-44,-30,-14,2,14,22,27,30,31},
{22,23,23,23,23,22,22,23,22,19,13,5,-4,-12,-17,-20,-22,-22,-23,-26,-31,-36,-42,-45,-46,-44,-39,-31,-21,-11,-3,4,10,15,19,21,22},
{17,17,18,18,17,17,17,17,16,13,8,-1,-10,-18,-23,-25,-26,-25,-22,-20,-21,-25,-30,-32,-31,-28,-23,-16,-9,-3,0,4,7,11,14,16,17},
{13,13,14,14,13,13,13,12,11,9,3,-5,-14,-20,-24,-25,-24,-21,-16,-11,-9,-11,-14,-17,-18,-16,-12,-8,-3,0,1,3,6,8,11,12,13},
{11,11,11,11,11,10,10,9,8,5,0,-8,-16,-21,-23,-22,-19,-15,-10,-5,-2,-2,-4,-7,-9,-8,-6,-4,-1,1,1,2,4,7,9,10,11},
{10,10,9,9,9,9,9,8,7,3,-3,-10,-16,-20,-20,-18,-13,-9,-5,-2,1,2,0,-2,-4,-4,-3,-2,0,0,0,1,3,5,7,9,10},
{9,9,9,9,9,9,8,8,5,1,-5,-11,-16,-18,-17,-14,-10,-5,-2,0,2,3,2,0,-1,-2,-2,-1,0,-1,-1,-1,0,3,6,8,9},
{8,9,9,10,10,10,10,8,5,0,-6,-12,-15,-16,-15,-11,-7,-3,-1,1,3,4,3,2,1,0,0,0,-1,-2,-3,-4,-2,0,3,6,8},
{6,9,10,11,12,12,11,9,5,-1,-8,-13,-15,-15,-13,-10,-6,-3,0,2,3,4,4,4,3,2,1,0,-1,-3,-6,-6,-6,-3,0,3,6},
{5,8,11,13,14,15,13,10,5,-2,-9,-14,-16,-16,-13,-10,-6,-3,0,3,4,6,6,6,6,5,4,2,-1,-5,-8,-9,-9,-7,-3,1,5},
{3,7,11,14,16,17,16,12,5,-4,-12,-17,-19,-18,-15,-12,-8,-4,0,3,5,8,9,10,10,10,7,4,-1,-7,-11,-12,-12,-9,-5,-1,3},
{3,7,12,16,18,19,18,13,4,-8,-18,-23,-25,-23,-20,-15,-11,-6,-1,3,7,11,14,16,18,17,14,8,0,-8,-13,-15,-14,-11,-7,-2,3}
{48,47,45,44,42,41,39,36,33,28,22,16,10,4,-1,-5,-10,-14,-20,-27,-35,-43,-50,-57,-63,-68,-72,-75,-76,-74,-62,-19,29,44,49,49,48},
{32,32,31,31,30,30,30,29,27,23,18,10,3,-4,-9,-12,-14,-17,-21,-27,-34,-42,-48,-53,-57,-58,-57,-52,-44,-30,-13,3,15,23,28,30,32},
{23,23,23,23,23,22,22,22,21,18,12,4,-5,-12,-17,-20,-21,-21,-22,-25,-31,-37,-42,-46,-46,-44,-39,-31,-21,-11,-3,4,10,15,19,21,23},
{17,18,18,18,17,17,17,16,16,13,7,-2,-11,-18,-22,-24,-24,-23,-21,-20,-22,-26,-30,-32,-31,-28,-22,-16,-9,-3,0,4,7,11,14,16,17},
{13,14,14,14,14,13,12,12,11,8,2,-7,-15,-21,-24,-24,-23,-20,-15,-10,-9,-11,-15,-18,-18,-16,-12,-7,-3,0,1,3,6,8,11,13,13},
{11,11,11,11,11,10,10,9,8,5,-1,-9,-17,-21,-23,-21,-18,-13,-8,-4,-2,-2,-5,-7,-9,-8,-6,-3,-1,1,1,2,4,6,9,11,11},
{10,10,9,9,9,9,8,8,6,2,-4,-11,-17,-20,-20,-17,-12,-8,-4,-1,1,2,0,-2,-4,-4,-3,-2,0,0,0,0,2,5,7,9,10},
{9,9,9,9,9,9,8,7,5,1,-5,-11,-16,-18,-16,-13,-8,-4,-1,1,3,3,2,0,-1,-1,-2,-1,-1,-1,-2,-2,0,3,6,8,9},
{8,9,9,10,10,10,9,7,4,-1,-7,-12,-15,-16,-14,-10,-6,-3,0,2,3,4,4,2,1,0,0,-1,-1,-2,-4,-4,-3,0,3,6,8},
{6,8,10,11,12,12,11,9,4,-1,-8,-13,-15,-15,-12,-9,-5,-2,1,3,4,5,5,4,3,2,1,0,-2,-4,-6,-7,-6,-4,0,3,6},
{4,7,10,13,14,14,13,10,5,-2,-9,-14,-16,-15,-12,-9,-5,-2,1,3,5,6,7,7,6,5,3,1,-2,-6,-9,-10,-9,-7,-3,0,4},
{2,7,11,14,16,17,15,12,5,-3,-11,-17,-18,-17,-14,-11,-6,-2,1,4,6,8,10,11,11,10,7,3,-2,-7,-11,-13,-12,-10,-6,-2,2},
{1,6,11,15,18,19,18,13,5,-6,-16,-21,-23,-21,-18,-14,-9,-4,0,4,8,12,15,17,18,17,13,7,-2,-9,-14,-16,-15,-12,-8,-4,1}
};
#endif

14
src/main/navigation/navigation_fixedwing.c
View file

@ -271,7 +271,7 @@ static int8_t loiterDirection(void) {
static void calculateVirtualPositionTarget_FW(float trackingPeriod)
{
if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) || posControl.navState == NAV_STATE_FW_LANDING_GLIDE || posControl.navState == NAV_STATE_FW_LANDING_FLARE) {
return;
}
@ -405,7 +405,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
static bool forceTurnDirection = false;
int32_t virtualTargetBearing;
if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) || posControl.navState == NAV_STATE_FW_LANDING_GLIDE || posControl.navState == NAV_STATE_FW_LANDING_FLARE) {
virtualTargetBearing = posControl.desiredState.yaw;
} else {
// We have virtual position target, calculate heading error
@ -643,15 +643,11 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
uint16_t correctedThrottleValue = constrain(currentBatteryProfile->nav.fw.cruise_throttle + throttleCorrection, currentBatteryProfile->nav.fw.min_throttle, currentBatteryProfile->nav.fw.max_throttle);
// Manual throttle increase
#ifdef USE_FW_AUTOLAND
if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE) && !isFwLandInProgess()) {
#else
if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE)) {
#endif
if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_FW_AUTOLAND)) {
if (rcCommand[THROTTLE] < PWM_RANGE_MIN + (PWM_RANGE_MAX - PWM_RANGE_MIN) * 0.95){
correctedThrottleValue += MAX(0, rcCommand[THROTTLE] - currentBatteryProfile->nav.fw.cruise_throttle);
} else {
correctedThrottleValue = motorConfig()->maxthrottle;
correctedThrottleValue = getMaxThrottle();
}
isAutoThrottleManuallyIncreased = (rcCommand[THROTTLE] > currentBatteryProfile->nav.fw.cruise_throttle);
} else {
@ -665,7 +661,6 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
// Advanced autoland
if (posControl.navState == NAV_STATE_FW_LANDING_GLIDE || posControl.navState == NAV_STATE_FW_LANDING_FLARE || STATE(LANDING_DETECTED)) {
// Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled
rcCommand[THROTTLE] = getThrottleIdleValue();
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
if (posControl.navState == NAV_STATE_FW_LANDING_GLIDE) {
@ -727,6 +722,7 @@ bool isFixedWingLandingDetected(void)
// Basic condition to start looking for landing
bool startCondition = (navGetCurrentStateFlags() & (NAV_CTL_LAND | NAV_CTL_EMERG))
|| FLIGHT_MODE(FAILSAFE_MODE)
|| FLIGHT_MODE(NAV_FW_AUTOLAND)
|| (!navigationIsControllingThrottle() && throttleStickIsLow());
if (!startCondition || posControl.flags.resetLandingDetector) {

84
src/main/navigation/navigation_fw_launch.c
View file

@ -49,6 +49,7 @@
#include "io/gps.h"
#include "sensors/battery.h"
#include "sensors/gyro.h"
#define SWING_LAUNCH_MIN_ROTATION_RATE DEGREES_TO_RADIANS(100) // expect minimum 100dps rotation rate
#define LAUNCH_MOTOR_IDLE_SPINUP_TIME 1500 // ms
@ -81,20 +82,22 @@ typedef enum {
typedef enum { // if changed update navFwLaunchStatus_e
FW_LAUNCH_STATE_WAIT_THROTTLE = 0,
FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT,
FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
FW_LAUNCH_STATE_MOTOR_IDLE,
FW_LAUNCH_STATE_WAIT_DETECTION,
FW_LAUNCH_STATE_DETECTED, // 4
FW_LAUNCH_STATE_DETECTED, // FW_LAUNCH_DETECTED = 5
FW_LAUNCH_STATE_MOTOR_DELAY,
FW_LAUNCH_STATE_MOTOR_SPINUP,
FW_LAUNCH_STATE_IN_PROGRESS,
FW_LAUNCH_STATE_FINISH,
FW_LAUNCH_STATE_ABORTED, // 9
FW_LAUNCH_STATE_FLYING, // 10
FW_LAUNCH_STATE_ABORTED, // FW_LAUNCH_ABORTED = 10
FW_LAUNCH_STATE_FLYING, // FW_LAUNCH_FLYING = 11
FW_LAUNCH_STATE_COUNT
} fixedWingLaunchState_t;
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs_t currentTimeUs);
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT(timeUs_t currentTimeUs);
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(timeUs_t currentTimeUs);
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE(timeUs_t currentTimeUs);
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_DETECTION(timeUs_t currentTimeUs);
@ -126,12 +129,22 @@ static const fixedWingLaunchStateDescriptor_t launchStateMachine[FW_LAUNCH_STATE
[FW_LAUNCH_STATE_WAIT_THROTTLE] = {
.onEntry = fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE,
.onEvent = {
[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT,
[FW_LAUNCH_EVENT_GOTO_DETECTION] = FW_LAUNCH_STATE_WAIT_DETECTION
},
.messageType = FW_LAUNCH_MESSAGE_TYPE_WAIT_THROTTLE
},
[FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT] = {
.onEntry = fwLaunchState_FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT,
.onEvent = {
[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_MOTOR_IDLE,
[FW_LAUNCH_EVENT_GOTO_DETECTION] = FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
[FW_LAUNCH_EVENT_THROTTLE_LOW] = FW_LAUNCH_STATE_WAIT_THROTTLE,
},
.messageType = FW_LAUNCH_MESSAGE_TYPE_WAIT_IDLE
},
[FW_LAUNCH_STATE_IDLE_MOTOR_DELAY] = {
.onEntry = fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
.onEvent = {
@ -243,6 +256,47 @@ static void applyThrottleIdleLogic(bool forceMixerIdle)
}
}
static bool hasIdleWakeWiggleSucceeded(timeUs_t currentTimeUs) {
static timeMs_t wiggleTime = 0;
static timeMs_t wigglesTime = 0;
static int8_t wiggleStageOne = 0;
static uint8_t wiggleCount = 0;
const bool isAircraftWithinLaunchAngle = (calculateCosTiltAngle() >= cos_approx(DEGREES_TO_RADIANS(navConfig()->fw.launch_max_angle)));
const uint8_t wiggleStrength = (navConfig()->fw.launch_wiggle_wake_idle == 1) ? 50 : 40;
int8_t wiggleDirection = 0;
int16_t yawRate = (int16_t)(gyroRateDps(YAW) * (4 / 16.4));
// Check to see if yaw rate has exceeded 50 dps. If so proceed to the next stage or continue to idle
if ((yawRate < -wiggleStrength || yawRate > wiggleStrength) && isAircraftWithinLaunchAngle) {
wiggleDirection = (yawRate > 0) ? 1 : -1;
if (wiggleStageOne == 0) {
wiggleStageOne = wiggleDirection;
wigglesTime = US2MS(currentTimeUs);
} else if (wiggleStageOne != wiggleDirection) {
wiggleStageOne = 0;
wiggleCount++;
if (wiggleCount == navConfig()->fw.launch_wiggle_wake_idle) {
return true;
}
}
wiggleTime = US2MS(currentTimeUs);
}
// If time between wiggle stages is > 100ms, or the time between two wiggles is > 1s. Reset the wiggle
if (
((wiggleStageOne != 0) && (US2MS(currentTimeUs) > (wiggleTime + 100))) ||
((wiggleCount != 0) && (US2MS(currentTimeUs) > (wigglesTime + 500)))
) {
wiggleStageOne = 0;
wiggleCount = 0;
}
return false;
}
static inline bool isLaunchMaxAltitudeReached(void)
{
return (navConfig()->fw.launch_max_altitude > 0) && (getEstimatedActualPosition(Z) >= navConfig()->fw.launch_max_altitude);
@ -300,6 +354,25 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs
return FW_LAUNCH_EVENT_NONE;
}
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT(timeUs_t currentTimeUs) {
if (throttleStickIsLow()) {
return FW_LAUNCH_EVENT_THROTTLE_LOW; // go back to FW_LAUNCH_STATE_WAIT_THROTTLE
}
if (navConfig()->fw.launch_wiggle_wake_idle == 0 || navConfig()->fw.launch_idle_motor_timer > 0 ) {
return FW_LAUNCH_EVENT_GOTO_DETECTION;
}
applyThrottleIdleLogic(true);
if (hasIdleWakeWiggleSucceeded(currentTimeUs)) {
idleMotorAboutToStart = false;
return FW_LAUNCH_EVENT_SUCCESS;
}
return FW_LAUNCH_EVENT_NONE;
}
static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(timeUs_t currentTimeUs)
{
if (throttleStickIsLow()) {
@ -308,10 +381,11 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(tim
applyThrottleIdleLogic(true);
if (currentStateElapsedMs(currentTimeUs) > navConfig()->fw.launch_idle_motor_timer) {
if ((currentStateElapsedMs(currentTimeUs) > navConfig()->fw.launch_idle_motor_timer) || (navConfig()->fw.launch_wiggle_wake_idle > 0 && hasIdleWakeWiggleSucceeded(currentTimeUs))) {
idleMotorAboutToStart = false;
return FW_LAUNCH_EVENT_SUCCESS;
}
// 5 second warning motor about to start at idle, changes Beeper sound
idleMotorAboutToStart = navConfig()->fw.launch_idle_motor_timer - currentStateElapsedMs(currentTimeUs) < 5000;

8
src/main/navigation/navigation_multicopter.c
View file

@ -114,7 +114,7 @@ static void updateAltitudeThrottleController_MC(timeDelta_t deltaMicros)
{
// Calculate min and max throttle boundaries (to compensate for integral windup)
const int16_t thrCorrectionMin = getThrottleIdleValue() - currentBatteryProfile->nav.mc.hover_throttle;
const int16_t thrCorrectionMax = motorConfig()->maxthrottle - currentBatteryProfile->nav.mc.hover_throttle;
const int16_t thrCorrectionMax = getMaxThrottle() - currentBatteryProfile->nav.mc.hover_throttle;
float velocity_controller = navPidApply2(&posControl.pids.vel[Z], posControl.desiredState.vel.z, navGetCurrentActualPositionAndVelocity()->vel.z, US2S(deltaMicros), thrCorrectionMin, thrCorrectionMax, 0);
@ -127,7 +127,7 @@ static void updateAltitudeThrottleController_MC(timeDelta_t deltaMicros)
bool adjustMulticopterAltitudeFromRCInput(void)
{
if (posControl.flags.isTerrainFollowEnabled) {
const float altTarget = scaleRangef(rcCommand[THROTTLE], getThrottleIdleValue(), motorConfig()->maxthrottle, 0, navConfig()->general.max_terrain_follow_altitude);
const float altTarget = scaleRangef(rcCommand[THROTTLE], getThrottleIdleValue(), getMaxThrottle(), 0, navConfig()->general.max_terrain_follow_altitude);
// In terrain follow mode we apply different logic for terrain control
if (posControl.flags.estAglStatus == EST_TRUSTED && altTarget > 10.0f) {
@ -151,7 +151,7 @@ bool adjustMulticopterAltitudeFromRCInput(void)
// Make sure we can satisfy max_manual_climb_rate in both up and down directions
if (rcThrottleAdjustment > 0) {
// Scaling from altHoldThrottleRCZero to maxthrottle
rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(motorConfig()->maxthrottle - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(getMaxThrottle() - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
}
else {
// Scaling from minthrottle to altHoldThrottleRCZero
@ -190,7 +190,7 @@ void setupMulticopterAltitudeController(void)
// Make sure we are able to satisfy the deadband
altHoldThrottleRCZero = constrain(altHoldThrottleRCZero,
getThrottleIdleValue() + rcControlsConfig()->alt_hold_deadband + 10,
motorConfig()->maxthrottle - rcControlsConfig()->alt_hold_deadband - 10);
getMaxThrottle() - rcControlsConfig()->alt_hold_deadband - 10);
// Force AH controller to initialize althold integral for pending takeoff on reset
// Signal for that is low throttle _and_ low actual altitude

7
src/main/navigation/navigation_pos_estimator.c
View file

@ -56,7 +56,7 @@
navigationPosEstimator_t posEstimator;
static float initialBaroAltitudeOffset = 0.0f;
PG_REGISTER_WITH_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, PG_POSITION_ESTIMATION_CONFIG, 5);
PG_REGISTER_WITH_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, PG_POSITION_ESTIMATION_CONFIG, 6);
PG_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig,
// Inertial position estimator parameters
@ -64,7 +64,6 @@ PG_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig,
.reset_altitude_type = SETTING_INAV_RESET_ALTITUDE_DEFAULT,
.reset_home_type = SETTING_INAV_RESET_HOME_DEFAULT,
.gravity_calibration_tolerance = SETTING_INAV_GRAVITY_CAL_TOLERANCE_DEFAULT, // 5 cm/s/s calibration error accepted (0.5% of gravity)
.use_gps_velned = SETTING_INAV_USE_GPS_VELNED_DEFAULT, // "Disabled" is mandatory with gps_dyn_model = Pedestrian
.use_gps_no_baro = SETTING_INAV_USE_GPS_NO_BARO_DEFAULT, // Use GPS altitude if no baro is available on all aircrafts
.allow_dead_reckoning = SETTING_INAV_ALLOW_DEAD_RECKONING_DEFAULT,
@ -229,7 +228,7 @@ void onNewGPSData(void)
/* Use VELNED provided by GPS if available, calculate from coordinates otherwise */
float gpsScaleLonDown = constrainf(cos_approx((ABS(gpsSol.llh.lat) / 10000000.0f) * 0.0174532925f), 0.01f, 1.0f);
if (!ARMING_FLAG(SIMULATOR_MODE_SITL) && positionEstimationConfig()->use_gps_velned && gpsSol.flags.validVelNE) {
if (!ARMING_FLAG(SIMULATOR_MODE_SITL) && gpsSol.flags.validVelNE) {
posEstimator.gps.vel.x = gpsSol.velNED[X];
posEstimator.gps.vel.y = gpsSol.velNED[Y];
}
@ -238,7 +237,7 @@ void onNewGPSData(void)
posEstimator.gps.vel.y = (posEstimator.gps.vel.y + (gpsScaleLonDown * DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR * (gpsSol.llh.lon - previousLon) / dT)) / 2.0f;
}
if (positionEstimationConfig()->use_gps_velned && gpsSol.flags.validVelD) {
if (gpsSol.flags.validVelD) {
posEstimator.gps.vel.z = -gpsSol.velNED[Z]; // NEU
}
else {

2
src/main/navigation/navigation_rover_boat.c
View file

@ -127,7 +127,7 @@ void applyRoverBoatPitchRollThrottleController(navigationFSMStateFlags_t navStat
rcCommand[YAW] = posControl.rcAdjustment[YAW];
}
rcCommand[THROTTLE] = constrain(currentBatteryProfile->nav.fw.cruise_throttle, motorConfig()->mincommand, motorConfig()->maxthrottle);
rcCommand[THROTTLE] = constrain(currentBatteryProfile->nav.fw.cruise_throttle, motorConfig()->mincommand, getMaxThrottle());
}
}
}

5
src/main/programming/logic_condition.c
View file

@ -483,8 +483,9 @@ static int logicConditionCompute(
}
break;
#ifdef LED_PIN
#ifdef USE_LED_STRIP
case LOGIC_CONDITION_LED_PIN_PWM:
if (operandA >=0 && operandA <= 100) {
ledPinStartPWM((uint8_t)operandA);
} else {
@ -768,7 +769,7 @@ static int logicConditionGetFlightOperandValue(int operand) {
case LOGIC_CONDITION_OPERAND_FLIGHT_IS_LANDING: // 0/1
#ifdef USE_FW_AUTOLAND
return ((navGetCurrentStateFlags() & NAV_CTL_LAND) || isFwLandInProgess()) ? 1 : 0;
return ((navGetCurrentStateFlags() & NAV_CTL_LAND) || FLIGHT_MODE(NAV_FW_AUTOLAND)) ? 1 : 0;
#else
return ((navGetCurrentStateFlags() & NAV_CTL_LAND)) ? 1 : 0;
#endif

2
src/main/rx/crsf.h
View file

@ -45,7 +45,6 @@ enum {
CRSF_FRAME_GPS_PAYLOAD_SIZE = 15,
CRSF_FRAME_VARIO_SENSOR_PAYLOAD_SIZE = 2,
CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
CRSF_FRAME_BAROVARIO_SENSOR_PAYLOAD_SIZE = 4,
CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
@ -87,7 +86,6 @@ typedef enum {
CRSF_FRAMETYPE_GPS = 0x02,
CRSF_FRAMETYPE_VARIO_SENSOR = 0x07,
CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
CRSF_FRAMETYPE_BAROVARIO_SENSOR = 0x09,
CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
CRSF_FRAMETYPE_ATTITUDE = 0x1E,

9
src/main/sensors/acceleration.c
View file

@ -529,6 +529,15 @@ float accGetMeasuredMaxG(void)
return acc.maxG;
}
void resetGForceStats(void) {
acc.maxG = 0.0f;
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
acc.extremes[axis].min = 100;
acc.extremes[axis].max = -100;
}
}
void accUpdate(void)
{
#ifdef USE_SIMULATOR

1
src/main/sensors/acceleration.h
View file

@ -86,6 +86,7 @@ void accGetMeasuredAcceleration(fpVector3_t *measuredAcc);
const acc_extremes_t* accGetMeasuredExtremes(void);
float accGetMeasuredMaxG(void);
void updateAccExtremes(void);
void resetGForceStats(void);
void accGetVibrationLevels(fpVector3_t *accVibeLevels);
float accGetVibrationLevel(void);
uint32_t accGetClipCount(void);

2
src/main/sensors/battery.c
View file

@ -66,7 +66,7 @@
#define ADCVREF 3300 // in mV (3300 = 3.3V)
#define VBATT_CELL_FULL_MAX_DIFF 10 // Max difference with cell max voltage for the battery to be considered full (10mV steps)
#define VBATT_PRESENT_THRESHOLD 100 // Minimum voltage to consider battery present
#define VBATT_PRESENT_THRESHOLD 220 // Minimum voltage to consider battery present
#define VBATT_STABLE_DELAY 40 // Delay after connecting battery to begin monitoring
#define VBATT_HYSTERESIS 10 // Batt Hysteresis of +/-100mV for changing battery state
#define VBATT_LPF_FREQ 1 // Battery voltage filtering cutoff

40
src/main/sensors/gyro.c
View file

@ -95,18 +95,15 @@ EXTENDED_FASTRAM secondaryDynamicGyroNotchState_t secondaryDynamicGyroNotchState
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 6);
PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 8);
PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_lpf = SETTING_GYRO_HARDWARE_LPF_DEFAULT,
.gyro_anti_aliasing_lpf_hz = SETTING_GYRO_ANTI_ALIASING_LPF_HZ_DEFAULT,
.gyro_anti_aliasing_lpf_type = SETTING_GYRO_ANTI_ALIASING_LPF_TYPE_DEFAULT,
.looptime = SETTING_LOOPTIME_DEFAULT,
#ifdef USE_DUAL_GYRO
.gyro_to_use = SETTING_GYRO_TO_USE_DEFAULT,
#endif
.gyro_main_lpf_hz = SETTING_GYRO_MAIN_LPF_HZ_DEFAULT,
.gyro_main_lpf_type = SETTING_GYRO_MAIN_LPF_TYPE_DEFAULT,
.useDynamicLpf = SETTING_GYRO_USE_DYN_LPF_DEFAULT,
.gyroDynamicLpfMinHz = SETTING_GYRO_DYN_LPF_MIN_HZ_DEFAULT,
.gyroDynamicLpfMaxHz = SETTING_GYRO_DYN_LPF_MAX_HZ_DEFAULT,
@ -233,24 +230,13 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHard
return gyroHardware;
}
static void initGyroFilter(filterApplyFnPtr *applyFn, filter_t state[], uint8_t type, uint16_t cutoff, uint32_t looptime)
static void initGyroFilter(filterApplyFnPtr *applyFn, filter_t state[], uint16_t cutoff, uint32_t looptime)
{
*applyFn = nullFilterApply;
if (cutoff > 0) {
switch (type)
{
case FILTER_PT1:
*applyFn = (filterApplyFnPtr)pt1FilterApply;
for (int axis = 0; axis < 3; axis++) {
pt1FilterInit(&state[axis].pt1, cutoff, US2S(looptime));
}
break;
case FILTER_BIQUAD:
*applyFn = (filterApplyFnPtr)biquadFilterApply;
for (int axis = 0; axis < 3; axis++) {
biquadFilterInitLPF(&state[axis].biquad, cutoff, looptime);
}
break;
*applyFn = (filterApplyFnPtr)pt1FilterApply;
for (int axis = 0; axis < 3; axis++) {
pt1FilterInit(&state[axis].pt1, cutoff, US2S(looptime));
}
}
}
@ -258,10 +244,10 @@ static void initGyroFilter(filterApplyFnPtr *applyFn, filter_t state[], uint8_t
static void gyroInitFilters(void)
{
//First gyro LPF running at full gyro frequency 8kHz
initGyroFilter(&gyroLpfApplyFn, gyroLpfState, gyroConfig()->gyro_anti_aliasing_lpf_type, gyroConfig()->gyro_anti_aliasing_lpf_hz, getGyroLooptime());
initGyroFilter(&gyroLpfApplyFn, gyroLpfState, gyroConfig()->gyro_anti_aliasing_lpf_hz, getGyroLooptime());
//Second gyro LPF runnig and PID frequency - this filter is dynamic when gyro_use_dyn_lpf = ON
initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyro_main_lpf_type, gyroConfig()->gyro_main_lpf_hz, getLooptime());
initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyro_main_lpf_hz, getLooptime());
#ifdef USE_GYRO_KALMAN
if (gyroConfig()->kalmanEnabled) {
@ -295,7 +281,7 @@ bool gyroInit(void)
sensorsSet(SENSOR_GYRO);
// Driver initialisation
gyroDev[0].lpf = gyroConfig()->gyro_lpf;
gyroDev[0].lpf = GYRO_LPF_256HZ;
gyroDev[0].requestedSampleIntervalUs = TASK_GYRO_LOOPTIME;
gyroDev[0].sampleRateIntervalUs = TASK_GYRO_LOOPTIME;
gyroDev[0].initFn(&gyroDev[0]);
@ -566,14 +552,8 @@ int16_t gyroRateDps(int axis)
}
void gyroUpdateDynamicLpf(float cutoffFreq) {
if (gyroConfig()->gyro_main_lpf_type == FILTER_PT1) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pt1FilterUpdateCutoff(&gyroLpf2State[axis].pt1, cutoffFreq);
}
} else if (gyroConfig()->gyro_main_lpf_type == FILTER_BIQUAD) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterUpdate(&gyroLpf2State[axis].biquad, cutoffFreq, getLooptime(), BIQUAD_Q, FILTER_LPF);
}
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pt1FilterUpdateCutoff(&gyroLpf2State[axis].pt1, cutoffFreq);
}
}

9
src/main/sensors/gyro.h
View file

@ -49,12 +49,6 @@ typedef enum {
typedef enum {
DYNAMIC_NOTCH_MODE_2D = 0,
DYNAMIC_NOTCH_MODE_R,
DYNAMIC_NOTCH_MODE_P,
DYNAMIC_NOTCH_MODE_Y,
DYNAMIC_NOTCH_MODE_RP,
DYNAMIC_NOTCH_MODE_RY,
DYNAMIC_NOTCH_MODE_PY,
DYNAMIC_NOTCH_MODE_3D
} dynamicGyroNotchMode_e;
@ -70,14 +64,11 @@ extern dynamicGyroNotchState_t dynamicGyroNotchState;
typedef struct gyroConfig_s {
uint16_t looptime; // imu loop time in us
uint8_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
uint16_t gyro_anti_aliasing_lpf_hz;
uint8_t gyro_anti_aliasing_lpf_type;
#ifdef USE_DUAL_GYRO
uint8_t gyro_to_use;
#endif
uint16_t gyro_main_lpf_hz;
uint8_t gyro_main_lpf_type;
uint8_t useDynamicLpf;
uint16_t gyroDynamicLpfMinHz;
uint16_t gyroDynamicLpfMaxHz;

9
src/main/sensors/rangefinder.c
View file

@ -41,6 +41,7 @@
#include "drivers/rangefinder/rangefinder_vl53l1x.h"
#include "drivers/rangefinder/rangefinder_virtual.h"
#include "drivers/rangefinder/rangefinder_us42.h"
#include "drivers/rangefinder/rangefinder_teraranger_evo.h"
#include "drivers/rangefinder/rangefinder_tof10120_i2c.h"
#include "fc/config.h"
@ -88,6 +89,14 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
#endif
break;
case RANGEFINDER_TERARANGER_EVO:
#if defined(USE_RANGEFINDER_TERARANGER_EVO_I2C)
if (teraRangerDetect(dev)) {
rangefinderHardware = RANGEFINDER_TERARANGER_EVO;
rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TERA_EVO_TASK_PERIOD_MS));
}
#endif
break;
case RANGEFINDER_VL53L0X:
#if defined(USE_RANGEFINDER_VL53L0X)
if (vl53l0xDetect(dev)) {

19
src/main/sensors/rangefinder.h
View file

@ -22,15 +22,16 @@
#include "drivers/rangefinder/rangefinder.h"
typedef enum {
RANGEFINDER_NONE = 0,
RANGEFINDER_SRF10 = 1,
RANGEFINDER_VL53L0X = 2,
RANGEFINDER_MSP = 3,
RANGEFINDER_BENEWAKE = 4,
RANGEFINDER_VL53L1X = 5,
RANGEFINDER_US42 = 6,
RANGEFINDER_TOF10102I2C = 7,
RANGEFINDER_FAKE = 8,
RANGEFINDER_NONE = 0,
RANGEFINDER_SRF10 = 1,
RANGEFINDER_VL53L0X = 2,
RANGEFINDER_MSP = 3,
RANGEFINDER_BENEWAKE = 4,
RANGEFINDER_VL53L1X = 5,
RANGEFINDER_US42 = 6,
RANGEFINDER_TOF10102I2C = 7,
RANGEFINDER_FAKE = 8,
RANGEFINDER_TERARANGER_EVO = 9,
} rangefinderType_e;
typedef struct rangefinderConfig_s {

3
src/main/target/AOCODARCF405AIO/target.h
View file

@ -142,7 +142,8 @@
#define SERIALRX_UART SERIAL_PORT_USART2
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
#define SERIALRX_PROVIDER SERIALRX_CRSF
#define CURRENT_METER_SCALE 500
#define CURRENT_METER_SCALE 589
#define CURRENT_METER_OFFSET -204
/*** Optical Flow & Lidar ***/
#define USE_RANGEFINDER

3
src/main/target/AOCODARCF4V3/CMakeLists.txt Normal file
View file

@ -0,0 +1,3 @@
target_stm32f405xg(AOCODARCF4V3_SD)
target_stm32f405xg(AOCODARCF4V3)

40
src/main/target/AOCODARCF4V3/config.c Normal file
View file

@ -0,0 +1,40 @@
/*
* 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 <stdint.h>
#include "platform.h"
#include "fc/fc_msp_box.h"
//#include "fc/config.h"
#include "io/piniobox.h"
#include "drivers/serial.h"
#include "io/serial.h"
void targetConfiguration(void)
{
pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
pinioBoxConfigMutable()->permanentId[2] = BOX_PERMANENT_ID_USER3;
// beeperConfigMutable()->pwmMode = true;
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].functionMask = FUNCTION_MSP;
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].msp_baudrateIndex = BAUD_115200;
serialConfigMutable()->portConfigs[4].functionMask = FUNCTION_VTX_TRAMP;
serialConfigMutable()->portConfigs[4].peripheral_baudrateIndex = BAUD_115200;
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_RX_SERIAL;
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_ESCSERIAL;
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_GPS;
}

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