mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-25 01:05:21 +03:00
Merge branch 'master' into dzikuvx-gyro-alpha-beta-gamma
This commit is contained in:
Pawel Spychalski (DzikuVx)
commit
b38e19ebf7
15 changed files with 320 additions and 104 deletions
|
|
@ -432,6 +432,7 @@
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| osd_snr_alarm | 4 | -20 | 10 | Value below which Crossfire SNR Alarm pops-up. (dB) |
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||||
| osd_stats_energy_unit | MAH | | | Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour) |
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| osd_stats_min_voltage_unit | BATTERY | | | Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats. |
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| osd_telemetry | OFF | | | To enable OSD telemetry for antenna tracker. Possible values are `OFF`, `ON` and `TEST` |
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| osd_temp_label_align | LEFT | | | Allows to chose between left and right alignment for the OSD temperature sensor labels. Valid values are `LEFT` and `RIGHT` |
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| osd_time_alarm | 10 | 0 | 600 | Value above which to make the OSD flight time indicator blink (minutes) |
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| osd_units | METRIC | | | IMPERIAL, METRIC, UK |
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|
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@ -500,6 +501,9 @@
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| smartport_fuel_unit | MAH | | | S.Port telemetry only: Unit of the value sent with the `FUEL` ID (FrSky D-Series always sends percent). [PERCENT/MAH/MWH] |
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| smartport_master_halfduplex | ON | | | |
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| smartport_master_inverted | OFF | | | |
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| smith_predictor_delay | 0 | 0 | 8 | Expected delay of the gyro signal. In milliseconds |
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| smith_predictor_lpf_hz | 50 | 1 | 500 | Cutoff frequency for the Smith Predictor Low Pass Filter |
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| smith_predictor_strength | 0.5 | 0 | 1 | The strength factor of a Smith Predictor of PID measurement. In percents |
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| spektrum_sat_bind | `SPEKTRUM_SAT_BIND_DISABLED` | SPEKTRUM_SAT_BIND_DISABLED | SPEKTRUM_SAT_BIND_MAX | 0 = disabled. Used to bind the spektrum satellite to RX |
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| srxl2_baud_fast | ON | | | |
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| srxl2_unit_id | 1 | 0 | 15 | |
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@ -320,6 +320,8 @@ main_sources(COMMON_SRC
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flight/imu.h
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flight/kalman.c
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flight/kalman.h
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flight/smith_predictor.c
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flight/smith_predictor.h
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flight/mixer.c
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flight/mixer.h
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flight/pid.c
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@ -84,5 +84,6 @@ typedef enum {
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DEBUG_IMU2,
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DEBUG_ALTITUDE,
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DEBUG_GYRO_ALPHA_BETA_GAMMA,
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DEBUG_SMITH_PREDICTOR,
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DEBUG_COUNT
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} debugType_e;
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@ -119,8 +119,9 @@
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#define SYM_RPM 0x8B // 139 RPM
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#define SYM_WAYPOINT 0x8C // 140 Waypoint
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#define SYM_AZIMUTH 0x8D // 141 Azimuth
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// 0x8E // 142 -
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// 0x8F // 143 -
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#define SYM_TELEMETRY_0 0x8E // 142 Antenna tracking telemetry
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#define SYM_TELEMETRY_1 0x8F // 143 Antenna tracking telemetry
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#define SYM_BATT_FULL 0x90 // 144 Battery full
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#define SYM_BATT_5 0x91 // 145 Battery
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@ -75,6 +75,9 @@ tables:
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- name: osd_video_system
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values: ["AUTO", "PAL", "NTSC"]
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enum: videoSystem_e
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- name: osd_telemetry
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values: ["OFF", "ON","TEST"]
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enum: osd_telemetry_e
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- name: osd_alignment
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values: ["LEFT", "RIGHT"]
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enum: osd_alignment_e
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@ -91,7 +94,7 @@ tables:
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"VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
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"ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
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"IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "FW_D", "IMU2", "ALTITUDE",
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"DEBUG_GYRO_ALPHA_BETA_GAMMA"]
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"GYRO_ALPHA_BETA_GAMMA", "SMITH_PREDICTOR"]
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- name: async_mode
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values: ["NONE", "GYRO", "ALL"]
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- name: aux_operator
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@ -2080,6 +2083,27 @@ groups:
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field: fixedWingLevelTrim
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min: -10
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max: 10
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- name: smith_predictor_strength
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description: "The strength factor of a Smith Predictor of PID measurement. In percents"
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default_value: 0.5
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field: smithPredictorStrength
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condition: USE_SMITH_PREDICTOR
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min: 0
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max: 1
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- name: smith_predictor_delay
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description: "Expected delay of the gyro signal. In milliseconds"
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default_value: 0
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field: smithPredictorDelay
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condition: USE_SMITH_PREDICTOR
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min: 0
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max: 8
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- name: smith_predictor_lpf_hz
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description: "Cutoff frequency for the Smith Predictor Low Pass Filter"
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default_value: 50
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field: smithPredictorFilterHz
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condition: USE_SMITH_PREDICTOR
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min: 1
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max: 500
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- name: PG_PID_AUTOTUNE_CONFIG
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type: pidAutotuneConfig_t
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@ -2922,6 +2946,12 @@ groups:
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headers: ["io/osd.h", "drivers/osd.h"]
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condition: USE_OSD
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members:
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- name: osd_telemetry
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description: "To enable OSD telemetry for antenna tracker. Possible values are `OFF`, `ON` and `TEST`"
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table: osd_telemetry
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field: telemetry
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type: uint8_t
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default_value: "OFF"
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- name: osd_video_system
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description: "Video system used. Possible values are `AUTO`, `PAL` and `NTSC`"
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default_value: "AUTO"
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@ -48,6 +48,7 @@ FILE_COMPILE_FOR_SPEED
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#include "flight/rpm_filter.h"
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#include "flight/secondary_imu.h"
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#include "flight/kalman.h"
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#include "flight/smith_predictor.h"
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#include "io/gps.h"
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@ -109,6 +110,8 @@ typedef struct {
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bool itermFreezeActive;
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biquadFilter_t rateTargetFilter;
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smithPredictor_t smithPredictor;
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} pidState_t;
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STATIC_FASTRAM bool pidFiltersConfigured = false;
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@ -159,7 +162,7 @@ static EXTENDED_FASTRAM filterApplyFnPtr dTermLpf2FilterApplyFn;
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static EXTENDED_FASTRAM bool levelingEnabled = false;
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static EXTENDED_FASTRAM float fixedWingLevelTrim;
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PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 1);
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PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 2);
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PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
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.bank_mc = {
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@ -297,6 +300,12 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
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#endif
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.fixedWingLevelTrim = SETTING_FW_LEVEL_PITCH_TRIM_DEFAULT,
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#ifdef USE_SMITH_PREDICTOR
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.smithPredictorStrength = SETTING_SMITH_PREDICTOR_STRENGTH_DEFAULT,
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.smithPredictorDelay = SETTING_SMITH_PREDICTOR_DELAY_DEFAULT,
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.smithPredictorFilterHz = SETTING_SMITH_PREDICTOR_LPF_HZ_DEFAULT,
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#endif
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);
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bool pidInitFilters(void)
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@ -349,6 +358,30 @@ bool pidInitFilters(void)
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}
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}
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#ifdef USE_SMITH_PREDICTOR
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smithPredictorInit(
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&pidState[FD_ROLL].smithPredictor,
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pidProfile()->smithPredictorDelay,
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pidProfile()->smithPredictorStrength,
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pidProfile()->smithPredictorFilterHz,
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getLooptime()
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);
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smithPredictorInit(
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&pidState[FD_PITCH].smithPredictor,
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pidProfile()->smithPredictorDelay,
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pidProfile()->smithPredictorStrength,
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pidProfile()->smithPredictorFilterHz,
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getLooptime()
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);
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smithPredictorInit(
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&pidState[FD_YAW].smithPredictor,
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pidProfile()->smithPredictorDelay,
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pidProfile()->smithPredictorStrength,
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pidProfile()->smithPredictorFilterHz,
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getLooptime()
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);
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#endif
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pidFiltersConfigured = true;
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return true;
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@ -1052,6 +1085,13 @@ void FAST_CODE pidController(float dT)
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pidState[axis].gyroRate = gyroKalmanUpdate(axis, pidState[axis].gyroRate, pidState[axis].rateTarget);
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}
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#endif
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#ifdef USE_SMITH_PREDICTOR
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DEBUG_SET(DEBUG_SMITH_PREDICTOR, axis, pidState[axis].gyroRate);
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pidState[axis].gyroRate = applySmithPredictor(axis, &pidState[axis].smithPredictor, pidState[axis].gyroRate);
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DEBUG_SET(DEBUG_SMITH_PREDICTOR, axis + 3, pidState[axis].gyroRate);
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#endif
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DEBUG_SET(DEBUG_PID_MEASUREMENT, axis, pidState[axis].gyroRate);
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}
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@ -161,6 +161,11 @@ typedef struct pidProfile_s {
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#endif
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float fixedWingLevelTrim;
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#ifdef USE_SMITH_PREDICTOR
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float smithPredictorStrength;
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float smithPredictorDelay;
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uint16_t smithPredictorFilterHz;
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#endif
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} pidProfile_t;
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typedef struct pidAutotuneConfig_s {
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70
src/main/flight/smith_predictor.c
Normal file
70
src/main/flight/smith_predictor.c
Normal file
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@ -0,0 +1,70 @@
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/*
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* This file is part of INAV Project.
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*
|
||||
* 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/.
|
||||
*
|
||||
* This code is a derivative of work done in EmuFlight Project https://github.com/emuflight/EmuFlight
|
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*
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*/
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#include "platform.h"
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#ifdef USE_SMITH_PREDICTOR
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#include <stdbool.h>
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#include "common/axis.h"
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#include "common/utils.h"
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#include "flight/smith_predictor.h"
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#include "build/debug.h"
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FUNCTION_COMPILE_FOR_SPEED
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float applySmithPredictor(uint8_t axis, smithPredictor_t *predictor, float sample) {
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UNUSED(axis);
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if (predictor->enabled) {
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predictor->data[predictor->idx] = sample;
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predictor->idx++;
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if (predictor->idx > predictor->samples) {
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predictor->idx = 0;
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}
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// filter the delayed data to help reduce the overall noise this prediction adds
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float delayed = pt1FilterApply(&predictor->smithPredictorFilter, predictor->data[predictor->idx]);
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float delayCompensatedSample = predictor->smithPredictorStrength * (sample - delayed);
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sample += delayCompensatedSample;
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}
|
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return sample;
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}
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FUNCTION_COMPILE_FOR_SIZE
|
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void smithPredictorInit(smithPredictor_t *predictor, float delay, float strength, uint16_t filterLpfHz, uint32_t looptime) {
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if (delay > 0.1) {
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predictor->enabled = true;
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predictor->samples = (delay * 1000) / looptime;
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predictor->idx = 0;
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predictor->smithPredictorStrength = strength;
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pt1FilterInit(&predictor->smithPredictorFilter, filterLpfHz, looptime * 1e-6f);
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} else {
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predictor->enabled = false;
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}
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}
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#endif
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45
src/main/flight/smith_predictor.h
Normal file
45
src/main/flight/smith_predictor.h
Normal file
|
|
@ -0,0 +1,45 @@
|
|||
/*
|
||||
* This file is part of INAV Project.
|
||||
*
|
||||
* 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/.
|
||||
*
|
||||
* This code is a derivative of work done in EmuFlight Project https://github.com/emuflight/EmuFlight
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/filter.h"
|
||||
|
||||
#define MAX_SMITH_SAMPLES 64
|
||||
|
||||
typedef struct smithPredictor_s {
|
||||
bool enabled;
|
||||
uint8_t samples;
|
||||
uint8_t idx;
|
||||
float data[MAX_SMITH_SAMPLES + 1];
|
||||
pt1Filter_t smithPredictorFilter;
|
||||
float smithPredictorStrength;
|
||||
} smithPredictor_t;
|
||||
|
||||
float applySmithPredictor(uint8_t axis, smithPredictor_t *predictor, float sample);
|
||||
void smithPredictorInit(smithPredictor_t *predictor, float delay, float strength, uint16_t filterLpfHz, uint32_t looptime);
|
||||
|
|
@ -1183,6 +1183,67 @@ static void osdDrawRadar(uint16_t *drawn, uint32_t *usedScale)
|
|||
osdDrawMap(reference, 0, SYM_ARROW_UP, GPS_distanceToHome, poiDirection, SYM_HOME, drawn, usedScale);
|
||||
}
|
||||
|
||||
static uint16_t crc_accumulate(uint8_t data, uint16_t crcAccum)
|
||||
{
|
||||
uint8_t tmp;
|
||||
tmp = data ^ (uint8_t)(crcAccum & 0xff);
|
||||
tmp ^= (tmp << 4);
|
||||
crcAccum = (crcAccum >> 8) ^ (tmp << 8) ^ (tmp << 3) ^ (tmp >> 4);
|
||||
return crcAccum;
|
||||
}
|
||||
|
||||
|
||||
static void osdDisplayTelemetry(void)
|
||||
{
|
||||
uint32_t trk_data;
|
||||
uint16_t trk_crc = 0;
|
||||
char trk_buffer[31];
|
||||
static int16_t trk_elevation = 127;
|
||||
static uint16_t trk_bearing = 0;
|
||||
|
||||
if (ARMING_FLAG(ARMED)) {
|
||||
if (STATE(GPS_FIX)){
|
||||
if (GPS_distanceToHome > 5) {
|
||||
trk_bearing = GPS_directionToHome;
|
||||
trk_bearing += 360 + 180;
|
||||
trk_bearing %= 360;
|
||||
int32_t alt = CENTIMETERS_TO_METERS(osdGetAltitude());
|
||||
float at = atan2(alt, GPS_distanceToHome);
|
||||
trk_elevation = (float)at * 57.2957795; // 57.2957795 = 1 rad
|
||||
trk_elevation += 37; // because elevation in telemetry should be from -37 to 90
|
||||
if (trk_elevation < 0) {
|
||||
trk_elevation = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else{
|
||||
trk_elevation = 127;
|
||||
trk_bearing = 0;
|
||||
}
|
||||
|
||||
trk_data = 0; // bit 0 - packet type 0 = bearing/elevation, 1 = 2 byte data packet
|
||||
trk_data = trk_data | (uint32_t)(0x7F & trk_elevation) << 1; // bits 1-7 - elevation angle to target. NOTE number is abused. constrained value of -37 to 90 sent as 0 to 127.
|
||||
trk_data = trk_data | (uint32_t)trk_bearing << 8; // bits 8-17 - bearing angle to target. 0 = true north. 0 to 360
|
||||
trk_crc = crc_accumulate(0xFF & trk_data, trk_crc); // CRC First Byte bits 0-7
|
||||
trk_crc = crc_accumulate(0xFF & trk_bearing, trk_crc); // CRC Second Byte bits 8-15
|
||||
trk_crc = crc_accumulate(trk_bearing >> 8, trk_crc); // CRC Third Byte bits 16-17
|
||||
trk_data = trk_data | (uint32_t)trk_crc << 17; // bits 18-29 CRC & 0x3FFFF
|
||||
|
||||
for (uint8_t t_ctr = 0; t_ctr < 30; t_ctr++) { // Prepare screen buffer and write data line.
|
||||
if (trk_data & (uint32_t)1 << t_ctr){
|
||||
trk_buffer[29 - t_ctr] = SYM_TELEMETRY_0;
|
||||
}
|
||||
else{
|
||||
trk_buffer[29 - t_ctr] = SYM_TELEMETRY_1;
|
||||
}
|
||||
}
|
||||
trk_buffer[30] = 0;
|
||||
displayWrite(osdDisplayPort, 0, 0, trk_buffer);
|
||||
if (osdConfig()->telemetry>1){
|
||||
displayWrite(osdDisplayPort, 0, 3, trk_buffer); // Test display because normal telemetry line is not visible
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
static void osdFormatPidControllerOutput(char *buff, const char *label, const pidController_t *pidController, uint8_t scale, bool showDecimal) {
|
||||
|
|
@ -1710,7 +1771,7 @@ static bool osdDrawSingleElement(uint8_t item)
|
|||
else if (FLIGHT_MODE(MANUAL_MODE))
|
||||
p = "MANU";
|
||||
else if (FLIGHT_MODE(NAV_RTH_MODE))
|
||||
p = "RTH ";
|
||||
p = isWaypointMissionRTHActive() ? "WRTH" : "RTH ";
|
||||
else if (FLIGHT_MODE(NAV_POSHOLD_MODE))
|
||||
p = "HOLD";
|
||||
else if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE))
|
||||
|
|
@ -2691,8 +2752,11 @@ void osdDrawNextElement(void)
|
|||
elementIndex = osdIncElementIndex(elementIndex);
|
||||
} while(!osdDrawSingleElement(elementIndex) && index != elementIndex);
|
||||
|
||||
// Draw artificial horizon last
|
||||
// Draw artificial horizon + tracking telemtry last
|
||||
osdDrawSingleElement(OSD_ARTIFICIAL_HORIZON);
|
||||
if (osdConfig()->telemetry>0){
|
||||
osdDisplayTelemetry();
|
||||
}
|
||||
}
|
||||
|
||||
PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
|
||||
|
|
@ -3612,6 +3676,11 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
|
|||
}
|
||||
} else {
|
||||
if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
|
||||
if (isWaypointMissionRTHActive()) {
|
||||
// if RTH activated whilst WP mode selected, remind pilot to cancel WP mode to exit RTH
|
||||
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL);
|
||||
}
|
||||
|
||||
if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) {
|
||||
// Countdown display for remaining Waypoints
|
||||
tfp_sprintf(messageBuf, "TO WP %u/%u", posControl.activeWaypointIndex + 1, posControl.waypointCount);
|
||||
|
|
|
|||
2
src/main/io/osd.h
Executable file → Normal file
2
src/main/io/osd.h
Executable file → Normal file
|
|
@ -87,6 +87,7 @@
|
|||
#define OSD_MSG_HOLDING_WAYPOINT "HOLDING WAYPOINT"
|
||||
#define OSD_MSG_TO_WP "TO WP"
|
||||
#define OSD_MSG_PREPARE_NEXT_WP "PREPARING FOR NEXT WAYPOINT"
|
||||
#define OSD_MSG_WP_RTH_CANCEL "CANCEL WP MODE TO EXIT RTH"
|
||||
#define OSD_MSG_EMERG_LANDING "EMERGENCY LANDING"
|
||||
#define OSD_MSG_LANDING "LANDING"
|
||||
#define OSD_MSG_LOITERING_HOME "LOITERING AROUND HOME"
|
||||
|
|
@ -368,6 +369,7 @@ typedef struct osdConfig_s {
|
|||
uint8_t pan_servo_index; // Index of the pan servo used for home direction offset
|
||||
int8_t pan_servo_pwm2centideg; // Centidegrees of servo rotation per us pwm
|
||||
uint8_t crsf_lq_format;
|
||||
uint8_t telemetry; // use telemetry on displayed pixel line 0
|
||||
|
||||
} osdConfig_t;
|
||||
|
||||
|
|
|
|||
137
src/main/navigation/navigation.c
Executable file → Normal file
137
src/main/navigation/navigation.c
Executable file → Normal file
|
|
@ -238,6 +238,7 @@ void calculateNewCruiseTarget(fpVector3_t * origin, int32_t yaw, int32_t distanc
|
|||
static bool isWaypointPositionReached(const fpVector3_t * pos, const bool isWaypointHome);
|
||||
static void mapWaypointToLocalPosition(fpVector3_t * localPos, const navWaypoint_t * waypoint);
|
||||
static navigationFSMEvent_t nextForNonGeoStates(void);
|
||||
static bool isWaypointMissionValid(void);
|
||||
|
||||
void initializeRTHSanityChecker(const fpVector3_t * pos);
|
||||
bool validateRTHSanityChecker(void);
|
||||
|
|
@ -273,7 +274,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME(navi
|
|||
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_NEXT(navigationFSMState_t previousState);
|
||||
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED(navigationFSMState_t previousState);
|
||||
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navigationFSMState_t previousState);
|
||||
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME(navigationFSMState_t previousState);
|
||||
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE(navigationFSMState_t previousState);
|
||||
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS(navigationFSMState_t previousState);
|
||||
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED(navigationFSMState_t previousState);
|
||||
|
|
@ -665,11 +665,12 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
|
|||
.mwState = MW_NAV_STATE_PROCESS_NEXT,
|
||||
.mwError = MW_NAV_ERROR_NONE,
|
||||
.onEvent = {
|
||||
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_WAYPOINT_PRE_ACTION, // re-process the state (for JUMP)
|
||||
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_IN_PROGRESS,
|
||||
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED] = NAV_STATE_WAYPOINT_FINISHED,
|
||||
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_WAYPOINT_PRE_ACTION, // re-process the state (for JUMP)
|
||||
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_IN_PROGRESS,
|
||||
[NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED] = NAV_STATE_WAYPOINT_FINISHED,
|
||||
}
|
||||
},
|
||||
|
||||
|
|
@ -703,19 +704,18 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
|
|||
.mwState = MW_NAV_STATE_PROCESS_NEXT,
|
||||
.mwError = MW_NAV_ERROR_NONE,
|
||||
.onEvent = {
|
||||
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_WAYPOINT_REACHED, // re-process state
|
||||
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_NEXT,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME] = NAV_STATE_WAYPOINT_HOLD_TIME,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED] = NAV_STATE_WAYPOINT_FINISHED,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND] = NAV_STATE_WAYPOINT_RTH_LAND,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOVER_ABOVE_HOME] = NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE,
|
||||
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_WAYPOINT_REACHED, // re-process state
|
||||
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_NEXT,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME] = NAV_STATE_WAYPOINT_HOLD_TIME,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED] = NAV_STATE_WAYPOINT_FINISHED,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND] = NAV_STATE_WAYPOINT_RTH_LAND,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE,
|
||||
}
|
||||
},
|
||||
|
||||
|
|
@ -794,27 +794,6 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
|
|||
}
|
||||
},
|
||||
|
||||
[NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME] = {
|
||||
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_HOVER_ABOVE_HOME,
|
||||
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME,
|
||||
.timeoutMs = 10,
|
||||
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
|
||||
.mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
|
||||
.mwState = MW_NAV_STATE_HOVER_ABOVE_HOME,
|
||||
.mwError = MW_NAV_ERROR_NONE,
|
||||
.onEvent = {
|
||||
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME, // re-process state
|
||||
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_WAYPOINT_FINISHED,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE,
|
||||
[NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE,
|
||||
}
|
||||
},
|
||||
|
||||
/** EMERGENCY LANDING ************************************************/
|
||||
[NAV_STATE_EMERGENCY_LANDING_INITIALIZE] = {
|
||||
.persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE,
|
||||
|
|
@ -1331,30 +1310,21 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LAND
|
|||
|
||||
// If position ok OR within valid timeout - continue
|
||||
if ((posControl.flags.estPosStatus >= EST_USABLE) || !checkForPositionSensorTimeout()) {
|
||||
|
||||
// Wait until target heading is reached (with 15 deg margin for error)
|
||||
if (STATE(FIXED_WING_LEGACY)) {
|
||||
// Wait until target heading is reached for MR (with 15 deg margin for error), or continue for Fixed Wing
|
||||
if ((ABS(wrap_18000(posControl.rthState.homePosition.yaw - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) || STATE(FIXED_WING_LEGACY)) {
|
||||
resetLandingDetector();
|
||||
updateClimbRateToAltitudeController(0, ROC_TO_ALT_RESET);
|
||||
return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME;
|
||||
return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME; // success = land
|
||||
}
|
||||
else if (!validateRTHSanityChecker()) {
|
||||
// Continue to check for RTH sanity during pre-landing hover
|
||||
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
|
||||
}
|
||||
else {
|
||||
if (ABS(wrap_18000(posControl.rthState.homePosition.yaw - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) {
|
||||
resetLandingDetector();
|
||||
updateClimbRateToAltitudeController(0, ROC_TO_ALT_RESET);
|
||||
return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME;
|
||||
}
|
||||
else if (!validateRTHSanityChecker()) {
|
||||
// Continue to check for RTH sanity during pre-landing hover
|
||||
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
|
||||
}
|
||||
else {
|
||||
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_FINAL);
|
||||
setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
|
||||
return NAV_FSM_EVENT_NONE;
|
||||
}
|
||||
fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_FINAL);
|
||||
setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
|
||||
return NAV_FSM_EVENT_NONE;
|
||||
}
|
||||
|
||||
} else {
|
||||
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
|
||||
}
|
||||
|
|
@ -1549,10 +1519,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(nav
|
|||
return nextForNonGeoStates();
|
||||
|
||||
case NAV_WP_ACTION_RTH:
|
||||
posControl.rthState.rthInitialDistance = posControl.homeDistance;
|
||||
initializeRTHSanityChecker(&navGetCurrentActualPositionAndVelocity()->pos);
|
||||
calculateAndSetActiveWaypointToLocalPosition(rthGetHomeTargetPosition(RTH_HOME_ENROUTE_INITIAL));
|
||||
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_IN_PROGRESS
|
||||
return NAV_FSM_EVENT_SWITCH_TO_RTH;
|
||||
};
|
||||
|
||||
UNREACHABLE();
|
||||
|
|
@ -1598,21 +1565,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
|
|||
case NAV_WP_ACTION_JUMP:
|
||||
case NAV_WP_ACTION_SET_HEAD:
|
||||
case NAV_WP_ACTION_SET_POI:
|
||||
UNREACHABLE();
|
||||
|
||||
case NAV_WP_ACTION_RTH:
|
||||
if (isWaypointReached(&posControl.activeWaypoint, true) || isWaypointMissed(&posControl.activeWaypoint)) {
|
||||
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_REACHED
|
||||
}
|
||||
else {
|
||||
if(navConfig()->general.flags.rth_tail_first && !STATE(FIXED_WING_LEGACY))
|
||||
setDesiredPosition(&posControl.activeWaypoint.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING_TAIL_FIRST);
|
||||
else
|
||||
setDesiredPosition(&posControl.activeWaypoint.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING);
|
||||
setDesiredPosition(rthGetHomeTargetPosition(RTH_HOME_ENROUTE_PROPORTIONAL), 0, NAV_POS_UPDATE_Z);
|
||||
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms
|
||||
}
|
||||
break;
|
||||
UNREACHABLE();
|
||||
}
|
||||
}
|
||||
/* No pos sensor available for NAV_WAIT_FOR_GPS_TIMEOUT_MS - land */
|
||||
|
|
@ -1637,15 +1591,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_REACHED(naviga
|
|||
case NAV_WP_ACTION_JUMP:
|
||||
case NAV_WP_ACTION_SET_HEAD:
|
||||
case NAV_WP_ACTION_SET_POI:
|
||||
UNREACHABLE();
|
||||
|
||||
case NAV_WP_ACTION_RTH:
|
||||
if (posControl.waypointList[posControl.activeWaypointIndex].p1 != 0) {
|
||||
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND;
|
||||
}
|
||||
else {
|
||||
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOVER_ABOVE_HOME;
|
||||
}
|
||||
UNREACHABLE();
|
||||
|
||||
case NAV_WP_ACTION_LAND:
|
||||
return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND;
|
||||
|
|
@ -1725,14 +1672,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED(navig
|
|||
}
|
||||
}
|
||||
|
||||
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME(navigationFSMState_t previousState)
|
||||
{
|
||||
UNUSED(previousState);
|
||||
|
||||
const navigationFSMEvent_t hoverEvent = navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(previousState);
|
||||
return hoverEvent;
|
||||
}
|
||||
|
||||
static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE(navigationFSMState_t previousState)
|
||||
{
|
||||
// TODO:
|
||||
|
|
@ -3656,6 +3595,11 @@ rthState_e getStateOfForcedRTH(void)
|
|||
}
|
||||
}
|
||||
|
||||
bool isWaypointMissionRTHActive(void)
|
||||
{
|
||||
return FLIGHT_MODE(NAV_RTH_MODE) && IS_RC_MODE_ACTIVE(BOXNAVWP) && !(IS_RC_MODE_ACTIVE(BOXNAVRTH) || posControl.flags.forcedRTHActivated);
|
||||
}
|
||||
|
||||
bool navigationIsExecutingAnEmergencyLanding(void)
|
||||
{
|
||||
return navGetCurrentStateFlags() & NAV_CTL_EMERG;
|
||||
|
|
@ -3681,9 +3625,12 @@ bool navigationIsFlyingAutonomousMode(void)
|
|||
|
||||
bool navigationRTHAllowsLanding(void)
|
||||
{
|
||||
if (posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_LAND)
|
||||
return true;
|
||||
// WP mission RTH landing setting
|
||||
if (isWaypointMissionRTHActive() && isWaypointMissionValid()) {
|
||||
return posControl.waypointList[posControl.waypointCount - 1].p1 > 0;
|
||||
}
|
||||
|
||||
// normal RTH landing setting
|
||||
navRTHAllowLanding_e allow = navConfig()->general.flags.rth_allow_landing;
|
||||
return allow == NAV_RTH_ALLOW_LANDING_ALWAYS ||
|
||||
(allow == NAV_RTH_ALLOW_LANDING_FS_ONLY && FLIGHT_MODE(FAILSAFE_MODE));
|
||||
|
|
|
|||
|
|
@ -520,6 +520,7 @@ bool navigationIsExecutingAnEmergencyLanding(void);
|
|||
* or if it's NAV_RTH_ALLOW_LANDING_FAILSAFE and failsafe mode is active.
|
||||
*/
|
||||
bool navigationRTHAllowsLanding(void);
|
||||
bool isWaypointMissionRTHActive(void);
|
||||
|
||||
bool isNavLaunchEnabled(void);
|
||||
bool isFixedWingLaunchDetected(void);
|
||||
|
|
|
|||
|
|
@ -141,7 +141,6 @@ typedef enum {
|
|||
NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND = NAV_FSM_EVENT_STATE_SPECIFIC_1,
|
||||
NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED = NAV_FSM_EVENT_STATE_SPECIFIC_2,
|
||||
NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME = NAV_FSM_EVENT_STATE_SPECIFIC_3,
|
||||
NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOVER_ABOVE_HOME,
|
||||
|
||||
NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD,
|
||||
NAV_FSM_EVENT_SWITCH_TO_CRUISE,
|
||||
|
|
@ -200,7 +199,7 @@ typedef enum {
|
|||
|
||||
NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME = 35,
|
||||
NAV_PERSISTENT_ID_RTH_HOVER_ABOVE_HOME = 36,
|
||||
NAV_PERSISTENT_ID_WAYPOINT_HOVER_ABOVE_HOME = 37,
|
||||
NAV_PERSISTENT_ID_UNUSED_4 = 37, // was NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME
|
||||
|
||||
} navigationPersistentId_e;
|
||||
|
||||
|
|
@ -232,7 +231,6 @@ typedef enum {
|
|||
NAV_STATE_WAYPOINT_NEXT,
|
||||
NAV_STATE_WAYPOINT_FINISHED,
|
||||
NAV_STATE_WAYPOINT_RTH_LAND,
|
||||
NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME,
|
||||
|
||||
NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
|
||||
NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
|
||||
|
|
|
|||
|
|
@ -87,6 +87,7 @@
|
|||
#define USE_ALPHA_BETA_GAMMA_FILTER
|
||||
#define USE_DYNAMIC_FILTERS
|
||||
#define USE_GYRO_KALMAN
|
||||
#define USE_SMITH_PREDICTOR
|
||||
#define USE_EXTENDED_CMS_MENUS
|
||||
#define USE_HOTT_TEXTMODE
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue