mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-24 00:35:34 +03:00
Merge remote-tracking branch 'origin/master' into dzikuvx-new-msp-frames-for-servos
This commit is contained in:
Pawel Spychalski (DzikuVx)
commit
bf9bcdf3c2
67 changed files with 1788 additions and 957 deletions
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|
@ -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
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done
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||||
rm -f ${filename}.pdf
|
||||
gimli -f ${filename}.md -stylesheet override.css \
|
||||
-w '--toc --title "Cleanflight Manual" --footer-right "[page]" --toc-depth 1'
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-w '--toc --title "INAV Manual" --footer-right "[page]" --toc-depth 1'
|
||||
rm ${filename}.md
|
||||
popd >/dev/null
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else
|
||||
|
|
|
|||
|
|
@ -47,7 +47,7 @@ function(arm_none_eabi_gcc_install)
|
|||
host_uname_machine(machine)
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if(machine STREQUAL "x86_64" OR machine STREQUAL "amd64")
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set(dist ${arm_none_eabi_darwin_amd64})
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elseif(machine STREQUAL "aarch64")
|
||||
elseif(machine STREQUAL "aarch64" OR machine STREQUAL "arm64")
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set(dist ${arm_none_eabi_darwin_aarch64})
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else()
|
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message("-- no precompiled ${arm_none_eabi_triplet} toolchain for machine ${machine}")
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|
|
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@ -23,7 +23,7 @@ Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the
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| Data | Type | Notes |
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|------|------|-------|
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| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
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||||
| 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) |
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| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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|
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@ -45,7 +45,7 @@ sending this message for all auxiliary slots.
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| Data | Type | Notes |
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|------|------|-------|
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| sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 |
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| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
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||||
| permanentId | uint8 | See [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for a definition of the permanent ids |
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| auxChannelIndex | uint8 | The Aux channel number (indexed from 0) |
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| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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@ -157,5 +157,5 @@ INAV.
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|||
|
||||
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.
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|
|
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|||
|
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@ -70,7 +70,7 @@ Now, there are two ways to [configure CF](Configuration.md); via the Configurat
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* Verify the range of each channel goes from ~1000 to ~2000. See also [controls](Controls.md). and `rx_min_usec` and `rx_max_usec`.
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* You can also set EXPO here instead of your Tx.
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* Click Save!
|
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* 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.
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||||
|
||||
|
|
|
|||
339
docs/OSD.md
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
|
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## OSD Elements
|
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Here are the OSD Elements provided by INAV.
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| ID | Element | Added |
|
||||
|-----|--------------------------------------------------|--------|
|
||||
| 0 | OSD_RSSI_VALUE | 1.0.0 |
|
||||
| 1 | OSD_MAIN_BATT_VOLTAGE | 1.0.0 |
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||||
| 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.
|
||||
|
||||
|
||||
# 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.
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -752,16 +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
|
||||
|
|
@ -1572,16 +1562,6 @@ 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
|
||||
|
|
@ -1612,16 +1592,6 @@ 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)
|
||||
|
|
@ -1632,16 +1602,6 @@ 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
|
||||
|
||||
On multi-gyro targets, allows to choose which gyro to use. 0 = first gyro, 1 = second gyro
|
||||
|
|
@ -2964,11 +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 |
|
||||
|
||||
---
|
||||
|
||||
|
|
@ -3122,6 +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]
|
||||
|
|
@ -4362,6 +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
|
||||
|
|
@ -4882,16 +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.
|
||||
|
|
@ -4902,6 +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.
|
||||
|
|
|
|||
|
|
@ -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.
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +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
|
||||
|
|
|
|||
36
readme.md
36
readme.md
|
|
@ -1,6 +1,6 @@
|
|||
# INAV - navigation capable flight controller
|
||||
|
||||
# PSA
|
||||
# F411 PSA
|
||||
|
||||
> INAV no longer accepts targets based on STM32 F411 MCU.
|
||||
|
||||
|
|
@ -8,11 +8,32 @@
|
|||
|
||||
|
||||
|
||||
# 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
|
||||
|
||||
|
|
@ -22,14 +43,15 @@
|
|||
* 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.
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
|
|
|||
|
|
@ -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.
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
|
|
|||
|
|
@ -422,7 +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
|
||||
|
|
|
|||
|
|
@ -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)
|
||||
|
|
|
|||
|
|
@ -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)
|
||||
|
|
|
|||
|
|
@ -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.
|
||||
|
|
|
|||
|
|
@ -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)
|
||||
|
|
|
|||
|
|
@ -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)
|
||||
|
|
|
|||
|
|
@ -135,6 +135,7 @@ typedef enum {
|
|||
DEVHW_VL53L1X,
|
||||
DEVHW_US42,
|
||||
DEVHW_TOF10120_I2C,
|
||||
DEVHW_TERARANGER_EVO_I2C,
|
||||
|
||||
/* Other hardware */
|
||||
DEVHW_MS4525, // Pitot meter
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
128
src/main/drivers/rangefinder/rangefinder_teraranger_evo.c
Normal file
128
src/main/drivers/rangefinder/rangefinder_teraranger_evo.c
Normal 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
29
src/main/drivers/rangefinder/rangefinder_teraranger_evo.h
Normal 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);
|
||||
|
|
@ -499,18 +499,6 @@ bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm)
|
|||
return counter >= EMERGENCY_ARMING_MIN_ARM_COUNT;
|
||||
}
|
||||
|
||||
uint16_t emergencyInFlightRearmTimeMS(void)
|
||||
{
|
||||
uint16_t rearmMS = 0;
|
||||
|
||||
if (STATE(IN_FLIGHT_EMERG_REARM)) {
|
||||
timeMs_t currentTimeMs = millis();
|
||||
rearmMS = (uint16_t)((US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS) - currentTimeMs);
|
||||
}
|
||||
|
||||
return rearmMS;
|
||||
}
|
||||
|
||||
bool emergInflightRearmEnabled(void)
|
||||
{
|
||||
/* Emergency rearm allowed within 5s timeout period after disarm if craft still flying */
|
||||
|
|
@ -884,6 +872,7 @@ static void applyThrottleTiltCompensation(void)
|
|||
|
||||
void taskMainPidLoop(timeUs_t currentTimeUs)
|
||||
{
|
||||
|
||||
cycleTime = getTaskDeltaTime(TASK_SELF);
|
||||
dT = (float)cycleTime * 0.000001f;
|
||||
|
||||
|
|
@ -902,8 +891,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
|
|||
}
|
||||
}
|
||||
|
||||
if (armTime > 1 * USECS_PER_SEC) {
|
||||
// reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
|
||||
if (armTime > 1 * USECS_PER_SEC) { // reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
|
||||
DISABLE_STATE(IN_FLIGHT_EMERG_REARM);
|
||||
}
|
||||
|
||||
|
|
@ -1024,6 +1012,10 @@ float getFlightTime(void)
|
|||
return US2S(flightTime);
|
||||
}
|
||||
|
||||
void resetFlightTime(void) {
|
||||
flightTime = 0;
|
||||
}
|
||||
|
||||
float getArmTime(void)
|
||||
{
|
||||
return US2S(armTime);
|
||||
|
|
|
|||
|
|
@ -41,12 +41,11 @@ timeUs_t getLastDisarmTimeUs(void);
|
|||
void tryArm(void);
|
||||
disarmReason_t getDisarmReason(void);
|
||||
|
||||
uint16_t emergencyInFlightRearmTimeMS(void);
|
||||
bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm);
|
||||
bool emergInflightRearmEnabled(void);
|
||||
|
||||
bool areSensorsCalibrating(void);
|
||||
float getFlightTime(void);
|
||||
void resetFlightTime(void);
|
||||
float getArmTime(void);
|
||||
|
||||
void fcReboot(bool bootLoader);
|
||||
|
|
@ -1180,26 +1180,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
|
|||
break;
|
||||
#endif
|
||||
|
||||
case MSP_OSD_CONFIG:
|
||||
#ifdef USE_OSD
|
||||
sbufWriteU8(dst, OSD_DRIVER_MAX7456); // OSD supported
|
||||
// send video system (AUTO/PAL/NTSC)
|
||||
sbufWriteU8(dst, osdConfig()->video_system);
|
||||
sbufWriteU8(dst, osdConfig()->units);
|
||||
sbufWriteU8(dst, osdConfig()->rssi_alarm);
|
||||
sbufWriteU16(dst, currentBatteryProfile->capacity.warning);
|
||||
sbufWriteU16(dst, osdConfig()->time_alarm);
|
||||
sbufWriteU16(dst, osdConfig()->alt_alarm);
|
||||
sbufWriteU16(dst, osdConfig()->dist_alarm);
|
||||
sbufWriteU16(dst, osdConfig()->neg_alt_alarm);
|
||||
for (int i = 0; i < OSD_ITEM_COUNT; i++) {
|
||||
sbufWriteU16(dst, osdLayoutsConfig()->item_pos[0][i]);
|
||||
}
|
||||
#else
|
||||
sbufWriteU8(dst, OSD_DRIVER_NONE); // OSD not supported
|
||||
#endif
|
||||
break;
|
||||
|
||||
case MSP_3D:
|
||||
sbufWriteU16(dst, reversibleMotorsConfig()->deadband_low);
|
||||
sbufWriteU16(dst, reversibleMotorsConfig()->deadband_high);
|
||||
|
|
@ -1282,7 +1262,7 @@ 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
|
||||
|
|
@ -1394,18 +1374,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
|
|||
|
||||
break;
|
||||
|
||||
case MSP_POSITION_ESTIMATION_CONFIG:
|
||||
|
||||
sbufWriteU16(dst, positionEstimationConfig()->w_z_baro_p * 100); // inav_w_z_baro_p float as value * 100
|
||||
sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_p * 100); // 2 inav_w_z_gps_p float as value * 100
|
||||
sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_v * 100); // 2 inav_w_z_gps_v float as value * 100
|
||||
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, 1); // 1 inav_use_gps_velned ON/OFF
|
||||
|
||||
break;
|
||||
|
||||
case MSP_REBOOT:
|
||||
if (!ARMING_FLAG(ARMED)) {
|
||||
if (mspPostProcessFn) {
|
||||
|
|
@ -2304,7 +2272,7 @@ 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
|
||||
|
|
@ -2437,19 +2405,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
return MSP_RESULT_ERROR;
|
||||
break;
|
||||
|
||||
case MSP_SET_POSITION_ESTIMATION_CONFIG:
|
||||
if (dataSize == 12) {
|
||||
positionEstimationConfigMutable()->w_z_baro_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
|
||||
positionEstimationConfigMutable()->w_z_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
|
||||
positionEstimationConfigMutable()->w_z_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
|
||||
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);
|
||||
sbufReadU8(src); // was positionEstimationConfigMutable()->use_gps_velned
|
||||
} else
|
||||
return MSP_RESULT_ERROR;
|
||||
break;
|
||||
|
||||
case MSP_RESET_CONF:
|
||||
if (!ARMING_FLAG(ARMED)) {
|
||||
suspendRxSignal();
|
||||
|
|
@ -2508,36 +2463,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
|
|||
#endif
|
||||
|
||||
#ifdef USE_OSD
|
||||
case MSP_SET_OSD_CONFIG:
|
||||
sbufReadU8Safe(&tmp_u8, src);
|
||||
// set all the other settings
|
||||
if ((int8_t)tmp_u8 == -1) {
|
||||
if (dataSize >= 10) {
|
||||
osdConfigMutable()->video_system = sbufReadU8(src);
|
||||
osdConfigMutable()->units = sbufReadU8(src);
|
||||
osdConfigMutable()->rssi_alarm = sbufReadU8(src);
|
||||
currentBatteryProfileMutable->capacity.warning = sbufReadU16(src);
|
||||
osdConfigMutable()->time_alarm = sbufReadU16(src);
|
||||
osdConfigMutable()->alt_alarm = sbufReadU16(src);
|
||||
// Won't be read if they weren't provided
|
||||
sbufReadU16Safe(&osdConfigMutable()->dist_alarm, src);
|
||||
sbufReadU16Safe(&osdConfigMutable()->neg_alt_alarm, src);
|
||||
} else
|
||||
return MSP_RESULT_ERROR;
|
||||
} else {
|
||||
// set a position setting
|
||||
if ((dataSize >= 3) && (tmp_u8 < OSD_ITEM_COUNT)) // tmp_u8 == addr
|
||||
osdLayoutsConfigMutable()->item_pos[0][tmp_u8] = sbufReadU16(src);
|
||||
else
|
||||
return MSP_RESULT_ERROR;
|
||||
}
|
||||
// Either a element position change or a units change needs
|
||||
// a full redraw, since an element can change size significantly
|
||||
// and the old position or the now unused space due to the
|
||||
// size change need to be erased.
|
||||
osdStartFullRedraw();
|
||||
break;
|
||||
|
||||
case MSP_OSD_CHAR_WRITE:
|
||||
if (dataSize >= 55) {
|
||||
osdCharacter_t chr;
|
||||
|
|
|
|||
|
|
@ -219,9 +219,6 @@ void initActiveBoxIds(void)
|
|||
|
||||
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);
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
@ -1204,8 +1184,6 @@ groups:
|
|||
field: mixer_config.tailsitterOrientationOffset
|
||||
type: bool
|
||||
|
||||
|
||||
|
||||
- name: PG_REVERSIBLE_MOTORS_CONFIG
|
||||
type: reversibleMotorsConfig_t
|
||||
members:
|
||||
|
|
@ -2877,10 +2855,10 @@ 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]"
|
||||
|
|
@ -2900,6 +2878,13 @@ 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
|
||||
|
|
@ -3168,18 +3153,17 @@ 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
|
||||
|
|
@ -3500,6 +3484,12 @@ 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"
|
||||
|
|
@ -4001,12 +3991,6 @@ 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
|
||||
|
|
|
|||
|
|
@ -77,11 +77,9 @@ 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);
|
||||
|
|
|
|||
|
|
@ -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[]) {
|
||||
|
|
|
|||
1027
src/main/io/osd.c
1027
src/main/io/osd.c
File diff suppressed because it is too large
Load diff
|
|
@ -285,6 +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;
|
||||
|
||||
|
|
@ -303,11 +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,
|
||||
|
|
@ -417,11 +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;
|
||||
|
|
|
|||
|
|
@ -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,
|
||||
|
|
@ -1347,8 +1346,7 @@ 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;
|
||||
|
||||
|
|
@ -1391,47 +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:
|
||||
|
|
@ -1454,7 +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);
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
|
|
@ -110,9 +110,6 @@
|
|||
#define MSP_CALIBRATION_DATA 14
|
||||
#define MSP_SET_CALIBRATION_DATA 15
|
||||
|
||||
#define MSP_POSITION_ESTIMATION_CONFIG 16
|
||||
#define MSP_SET_POSITION_ESTIMATION_CONFIG 17
|
||||
|
||||
#define MSP_WP_MISSION_LOAD 18 // Load mission from NVRAM
|
||||
#define MSP_WP_MISSION_SAVE 19 // Save mission to NVRAM
|
||||
#define MSP_WP_GETINFO 20
|
||||
|
|
@ -189,9 +186,6 @@
|
|||
#define MSP_TRANSPONDER_CONFIG 82 //out message Get transponder settings
|
||||
#define MSP_SET_TRANSPONDER_CONFIG 83 //in message Set transponder settings
|
||||
|
||||
#define MSP_OSD_CONFIG 84 //out message Get osd settings - betaflight
|
||||
#define MSP_SET_OSD_CONFIG 85 //in message Set osd settings - betaflight
|
||||
|
||||
#define MSP_OSD_CHAR_READ 86 //out message Get osd settings - betaflight
|
||||
#define MSP_OSD_CHAR_WRITE 87 //in message Set osd settings - betaflight
|
||||
|
||||
|
|
|
|||
|
|
@ -225,7 +225,8 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
|
|||
.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_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
|
||||
|
|
@ -234,7 +235,6 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
|
|||
.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,
|
||||
|
|
|
|||
|
|
@ -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 {
|
||||
|
|
@ -366,6 +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
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
||||
|
|
|
|||
|
|
@ -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,
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
|
|
|||
|
|
@ -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,
|
||||
|
|
@ -233,35 +230,24 @@ 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;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
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]);
|
||||
|
|
@ -566,15 +552,9 @@ 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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float averageAbsGyroRates(void)
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
|
|
@ -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)) {
|
||||
|
|
|
|||
|
|
@ -31,6 +31,7 @@ typedef enum {
|
|||
RANGEFINDER_US42 = 6,
|
||||
RANGEFINDER_TOF10102I2C = 7,
|
||||
RANGEFINDER_FAKE = 8,
|
||||
RANGEFINDER_TERARANGER_EVO = 9,
|
||||
} rangefinderType_e;
|
||||
|
||||
typedef struct rangefinderConfig_s {
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
31
src/main/target/FOXEERF722DUAL/config.c
Normal file
31
src/main/target/FOXEERF722DUAL/config.c
Normal file
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* 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"
|
||||
|
||||
#if defined(FOXEERF722V2)
|
||||
#include "io/piniobox.h"
|
||||
|
||||
void targetConfiguration(void)
|
||||
{
|
||||
pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
|
||||
}
|
||||
#endif
|
||||
|
|
@ -22,6 +22,7 @@
|
|||
#include "drivers/timer.h"
|
||||
#include "drivers/sensor.h"
|
||||
#include "drivers/pwm_mapping.h"
|
||||
#include "drivers/pinio.h"
|
||||
|
||||
BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
|
||||
#if defined(FOXEERF722DUAL)
|
||||
|
|
|
|||
|
|
@ -147,3 +147,13 @@
|
|||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
|
||||
|
||||
// *************** PINIO ***************************
|
||||
#if defined(FOXEERF722V2)
|
||||
#define USE_PINIO
|
||||
#define USE_PINIOBOX
|
||||
#define PINIO1_PIN PC6 // Enable GPS power
|
||||
#define PINIO1_FLAGS PINIO_FLAGS_INVERTED
|
||||
#endif
|
||||
|
||||
|
||||
|
|
|
|||
1
src/main/target/IFLIGHT_2RAW_H743/CMakeLists.txt
Normal file
1
src/main/target/IFLIGHT_2RAW_H743/CMakeLists.txt
Normal file
|
|
@ -0,0 +1 @@
|
|||
target_stm32h743xi(IFLIGHT_2RAW_H743)
|
||||
31
src/main/target/IFLIGHT_2RAW_H743/config.c
Normal file
31
src/main/target/IFLIGHT_2RAW_H743/config.c
Normal file
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* 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"
|
||||
|
||||
void targetConfiguration(void)
|
||||
{
|
||||
pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
|
||||
pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
|
||||
}
|
||||
49
src/main/target/IFLIGHT_2RAW_H743/target.c
Normal file
49
src/main/target/IFLIGHT_2RAW_H743/target.c
Normal file
|
|
@ -0,0 +1,49 @@
|
|||
/*
|
||||
* This file is part of INAV.
|
||||
*
|
||||
* INAV is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* INAV is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with INAV. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "drivers/bus.h"
|
||||
#include "drivers/io.h"
|
||||
#include "drivers/pwm_mapping.h"
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/pinio.h"
|
||||
#include "drivers/sensor.h"
|
||||
|
||||
timerHardware_t timerHardware[] = {
|
||||
DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
|
||||
DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 1), // S2
|
||||
|
||||
DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 2), // S3
|
||||
DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 3), // S4
|
||||
DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 4), // S5
|
||||
DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 5), // S6
|
||||
|
||||
DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 6), // S7
|
||||
DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 7), // S8
|
||||
DEF_TIM(TIM4, CH3, PD14, TIM_USE_OUTPUT_AUTO, 0, 0), // S9
|
||||
DEF_TIM(TIM4, CH4, PD15, TIM_USE_OUTPUT_AUTO, 0, 0), // S10 DMA_NONE
|
||||
|
||||
DEF_TIM(TIM15, CH1, PE5, TIM_USE_OUTPUT_AUTO, 0, 0), // S11
|
||||
DEF_TIM(TIM15, CH2, PE6, TIM_USE_OUTPUT_AUTO, 0, 0), // S12 DMA_NONE
|
||||
|
||||
DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 9), // LED_2812
|
||||
};
|
||||
|
||||
const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
|
||||
167
src/main/target/IFLIGHT_2RAW_H743/target.h
Normal file
167
src/main/target/IFLIGHT_2RAW_H743/target.h
Normal file
|
|
@ -0,0 +1,167 @@
|
|||
/*
|
||||
* This file is part of INAV.
|
||||
*
|
||||
* INAV is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* INAV is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with INAV. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
|
||||
#pragma once
|
||||
|
||||
#define TARGET_BOARD_IDENTIFIER "2RH7"
|
||||
|
||||
#define USBD_PRODUCT_STRING "IFLIGHT_2RAW_H743"
|
||||
|
||||
#define LED0 PE3
|
||||
#define LED1 PE4
|
||||
|
||||
#define BEEPER PC9
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
// SPI Buses
|
||||
#define USE_SPI
|
||||
|
||||
#define USE_SPI_DEVICE_1
|
||||
#define SPI1_SCK_PIN PA5
|
||||
#define SPI1_MISO_PIN PA6
|
||||
#define SPI1_MOSI_PIN PD7
|
||||
|
||||
#define USE_SPI_DEVICE_2
|
||||
#define SPI2_SCK_PIN PB13
|
||||
#define SPI2_MISO_PIN PB14
|
||||
#define SPI2_MOSI_PIN PB15
|
||||
|
||||
#define USE_SPI_DEVICE_3
|
||||
#define SPI3_SCK_PIN PC10
|
||||
#define SPI3_MISO_PIN PC11
|
||||
#define SPI3_MOSI_PIN PC12
|
||||
|
||||
// I2C
|
||||
#define USE_I2C
|
||||
#define USE_I2C_DEVICE_1
|
||||
#define I2C1_SCL PB6
|
||||
#define I2C1_SDA PB7
|
||||
|
||||
#define USE_I2C_DEVICE_2
|
||||
#define I2C2_SCL PB10
|
||||
#define I2C2_SDA PB11
|
||||
|
||||
// Gyro
|
||||
#define USE_IMU_ICM42605
|
||||
#define IMU_ICM42605_ALIGN CW0_DEG
|
||||
#define ICM42605_SPI_BUS BUS_SPI1
|
||||
#define ICM42605_CS_PIN PC15
|
||||
|
||||
// OSD
|
||||
// #define USE_MAX7456
|
||||
// #define MAX7456_SPI_BUS BUS_SPI2
|
||||
// #define MAX7456_CS_PIN PB12
|
||||
|
||||
#define USE_BARO
|
||||
#define BARO_I2C_BUS BUS_I2C2
|
||||
#define USE_BARO_ALL
|
||||
|
||||
#define USE_MAG
|
||||
#define MAG_I2C_BUS BUS_I2C1
|
||||
#define USE_MAG_ALL
|
||||
|
||||
#define TEMPERATURE_I2C_BUS BUS_I2C1
|
||||
#define PITOT_I2C_BUS BUS_I2C1
|
||||
#define RANGEFINDER_I2C_BUS BUS_I2C1
|
||||
|
||||
// *************** UART *****************************
|
||||
#define USE_VCP
|
||||
|
||||
#define USE_UART1
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_RX_PIN PA10
|
||||
|
||||
#define USE_UART2
|
||||
#define UART2_TX_PIN PD5
|
||||
#define UART2_RX_PIN PD6
|
||||
|
||||
#define USE_UART3
|
||||
#define UART3_TX_PIN PD8
|
||||
#define UART3_RX_PIN PD9
|
||||
|
||||
#define USE_UART4
|
||||
#define UART4_TX_PIN PB9
|
||||
#define UART4_RX_PIN PB8
|
||||
|
||||
#define USE_UART6
|
||||
#define UART6_TX_PIN PC6
|
||||
#define UART6_RX_PIN PC7
|
||||
|
||||
#define USE_UART7
|
||||
#define UART7_TX_PIN PE8
|
||||
#define UART7_RX_PIN PE7
|
||||
|
||||
#define USE_UART8
|
||||
#define UART8_TX_PIN PE1
|
||||
#define UART8_RX_PIN PE0
|
||||
|
||||
#define SERIAL_PORT_COUNT 8
|
||||
|
||||
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
|
||||
#define SERIALRX_PROVIDER SERIALRX_CRSF
|
||||
#define SERIALRX_UART SERIAL_PORT_USART6
|
||||
|
||||
// SD Card
|
||||
#define USE_SDCARD
|
||||
#define USE_SDCARD_SPI
|
||||
#define SDCARD_SPI_BUS BUS_SPI3
|
||||
#define SDCARD_CS_PIN PA15
|
||||
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
||||
|
||||
// ADC
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC1
|
||||
|
||||
#define ADC_CHANNEL_1_PIN PC0
|
||||
#define ADC_CHANNEL_2_PIN PC1
|
||||
#define ADC_CHANNEL_3_PIN PC5
|
||||
#define ADC_CHANNEL_4_PIN PC4
|
||||
|
||||
#define VBAT_ADC_CHANNEL ADC_CHN_1
|
||||
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
|
||||
#define RSSI_ADC_CHANNEL ADC_CHN_3
|
||||
#define AIRSPEED_ADC_CHANNEL ADC_CHN_4
|
||||
|
||||
#define VBAT_SCALE_DEFAULT 2100
|
||||
|
||||
// PINIO
|
||||
#define USE_PINIO
|
||||
#define USE_PINIOBOX
|
||||
#define PINIO1_PIN PD10
|
||||
#define PINIO2_PIN PD11
|
||||
|
||||
// *************** LEDSTRIP ************************
|
||||
// #define USE_LED_STRIP
|
||||
// #define WS2811_PIN PA8
|
||||
|
||||
#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
|
||||
#define CURRENT_METER_SCALE 250
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD 0xffff
|
||||
#define TARGET_IO_PORTE 0xffff
|
||||
|
||||
#define MAX_PWM_OUTPUT_PORTS 12
|
||||
#define USE_DSHOT
|
||||
#define USE_ESC_SENSOR
|
||||
|
||||
|
|
@ -1,2 +1,3 @@
|
|||
target_stm32h743xi(MAMBAH743)
|
||||
target_stm32h743xi(MAMBAH743_2022B)
|
||||
target_stm32h743xi(MAMBAH743_2022B_GYRO2)
|
||||
|
|
|
|||
|
|
@ -29,7 +29,7 @@
|
|||
BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
|
||||
BUSDEV_REGISTER_SPI_TAG(busdev_bmi270, DEVHW_BMI270, BMI270_SPI_BUS, BMI270_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
|
||||
|
||||
#ifdef MAMBAH743_2022B
|
||||
#ifdef USE_IMU_ICM42605
|
||||
BUSDEV_REGISTER_SPI_TAG(busdev_icm42605, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
|
||||
#endif
|
||||
|
||||
|
|
|
|||
|
|
@ -22,6 +22,11 @@
|
|||
#define TARGET_BOARD_IDENTIFIER "M743"
|
||||
#define USBD_PRODUCT_STRING "MAMBAH743_2022B"
|
||||
|
||||
#elif defined(MAMBAH743_2022B_GYRO2)
|
||||
|
||||
#define TARGET_BOARD_IDENTIFIER "M743"
|
||||
#define USBD_PRODUCT_STRING "MAMBAH743_2022B_GYRO2"
|
||||
|
||||
#else
|
||||
|
||||
#define TARGET_BOARD_IDENTIFIER "M743"
|
||||
|
|
@ -58,13 +63,22 @@
|
|||
#define BMI270_SPI_BUS BUS_SPI1
|
||||
#define BMI270_CS_PIN PA4
|
||||
|
||||
#ifdef MAMBAH743_2022B
|
||||
|
||||
#define USE_SPI_DEVICE_4
|
||||
#define SPI4_SCK_PIN PE12
|
||||
#define SPI4_MISO_PIN PE13
|
||||
#define SPI4_MOSI_PIN PE14
|
||||
|
||||
#ifdef MAMBAH743_2022B
|
||||
|
||||
#define USE_IMU_ICM42605
|
||||
#define IMU_ICM42605_ALIGN CW0_DEG
|
||||
#define ICM42605_SPI_BUS BUS_SPI1
|
||||
#define ICM42605_CS_PIN PA4
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef MAMBAH743_2022B_GYRO2
|
||||
|
||||
#define USE_IMU_ICM42605
|
||||
#define IMU_ICM42605_ALIGN CW270_DEG
|
||||
#define ICM42605_SPI_BUS BUS_SPI4
|
||||
|
|
@ -175,7 +189,7 @@
|
|||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC3
|
||||
|
||||
#ifdef MAMBAH743_2022B
|
||||
#if defined(MAMBAH743_2022B) || defined(MAMBAH743_2022B_GYRO2)
|
||||
|
||||
#define ADC_CHANNEL_1_PIN PC1
|
||||
#define ADC_CHANNEL_2_PIN PC3
|
||||
|
|
@ -203,7 +217,7 @@
|
|||
#define USE_PINIO
|
||||
#define USE_PINIOBOX
|
||||
|
||||
#ifdef MAMBAH743_2022B
|
||||
#if defined(MAMBAH743_2022B) || defined(MAMBAH743_2022B_GYRO2)
|
||||
|
||||
#define PINIO1_PIN PC2
|
||||
#define PINIO2_PIN PC5
|
||||
|
|
|
|||
|
|
@ -1 +1,2 @@
|
|||
target_stm32f405xg(SKYSTARSF405HD)
|
||||
target_stm32f405xg(SKYSTARSF405HD2)
|
||||
|
|
@ -28,6 +28,10 @@ timerHardware_t timerHardware[] = {
|
|||
DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 0),
|
||||
DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0),
|
||||
DEF_TIM(TIM2, CH2, PB3, TIM_USE_OUTPUT_AUTO, 0, 0),
|
||||
#if defined(SKYSTARSF405HD2)
|
||||
DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0),
|
||||
DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0),
|
||||
#endif
|
||||
|
||||
DEF_TIM(TIM8, CH3, PC8, TIM_USE_LED, 0, 0),
|
||||
};
|
||||
|
|
|
|||
|
|
@ -156,4 +156,8 @@
|
|||
#define USE_DSHOT
|
||||
#define USE_ESC_SENSOR
|
||||
|
||||
#if defined(SKYSTARSF405HD2)
|
||||
#define MAX_PWM_OUTPUT_PORTS 6
|
||||
#else
|
||||
#define MAX_PWM_OUTPUT_PORTS 4
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -148,8 +148,8 @@
|
|||
#define ADC_CHANNEL_4_PIN PC4
|
||||
#define VBAT_ADC_CHANNEL ADC_CHN_1
|
||||
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
|
||||
#define RSSI_ADC_CHANNEL ADC_CHN_4
|
||||
#define AIRSPEED_ADC_CHANNEL ADC_CHN_3
|
||||
#define RSSI_ADC_CHANNEL ADC_CHN_3
|
||||
#define AIRSPEED_ADC_CHANNEL ADC_CHN_4
|
||||
|
||||
// *************** LED2812 ************************
|
||||
#define USE_LED_STRIP
|
||||
|
|
|
|||
|
|
@ -83,6 +83,7 @@
|
|||
#define USE_RANGEFINDER_VL53L1X
|
||||
#define USE_RANGEFINDER_US42
|
||||
#define USE_RANGEFINDER_TOF10120_I2C
|
||||
#define USE_RANGEFINDER_TERARANGER_EVO_I2C
|
||||
|
||||
// Allow default optic flow boards
|
||||
#define USE_OPFLOW
|
||||
|
|
@ -111,7 +112,6 @@
|
|||
#define USE_FRSKYOSD
|
||||
#define USE_DJI_HD_OSD
|
||||
#define USE_MSP_OSD
|
||||
#define USE_SMARTPORT_MASTER
|
||||
|
||||
#define NAV_NON_VOLATILE_WAYPOINT_CLI
|
||||
|
||||
|
|
@ -199,7 +199,15 @@
|
|||
#define USE_HOTT_TEXTMODE
|
||||
#define USE_24CHANNELS
|
||||
#define MAX_MIXER_PROFILE_COUNT 2
|
||||
#define USE_SMARTPORT_MASTER
|
||||
#elif !defined(STM32F7)
|
||||
#define MAX_MIXER_PROFILE_COUNT 1
|
||||
#endif
|
||||
|
||||
#if (MCU_FLASH_SIZE <= 512)
|
||||
#define SKIP_CLI_COMMAND_HELP
|
||||
#undef USE_SERIALRX_SPEKTRUM
|
||||
#undef USE_TELEMETRY_SRXL
|
||||
#endif
|
||||
|
||||
#define USE_EZ_TUNE
|
||||
|
|
|
|||
|
|
@ -341,6 +341,15 @@
|
|||
#endif
|
||||
#endif
|
||||
|
||||
#if defined(USE_RANGEFINDER_TERARANGER_EVO_I2C)
|
||||
#if !defined(TERARANGER_EVO_I2C_BUS) && defined(RANGEFINDER_I2C_BUS)
|
||||
#define TERARANGER_EVO_I2C_BUS RANGEFINDER_I2C_BUS
|
||||
#endif
|
||||
#if defined(TERARANGER_EVO_I2C_BUS)
|
||||
BUSDEV_REGISTER_I2C(busdev_teraranger_evo, DEVHW_TERARANGER_EVO_I2C, TERARANGER_EVO_I2C_BUS, 0x31, NONE, DEVFLAGS_NONE, 0);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if defined(USE_RANGEFINDER_TOF10120_I2C) && (defined(TOF10120_I2C_BUS) || defined(RANGEFINDER_I2C_BUS))
|
||||
#if !defined(TOF10120_I2C_BUS)
|
||||
#define TOF10120_I2C_BUS RANGEFINDER_I2C_BUS
|
||||
|
|
|
|||
|
|
@ -57,7 +57,7 @@
|
|||
|
||||
#include "sensors/battery.h"
|
||||
#include "sensors/sensors.h"
|
||||
#include "sensors/barometer.h"
|
||||
|
||||
#include "telemetry/crsf.h"
|
||||
#include "telemetry/telemetry.h"
|
||||
#include "telemetry/msp_shared.h"
|
||||
|
|
@ -258,22 +258,6 @@ static void crsfFrameBatterySensor(sbuf_t *dst)
|
|||
crsfSerialize8(dst, batteryRemainingPercentage);
|
||||
}
|
||||
|
||||
/*
|
||||
0x09 Baro+Vario sensor
|
||||
Payload:
|
||||
uint16 Altitude
|
||||
int16 Vertical speed ( cm/s )
|
||||
*/
|
||||
static void crsfFrameBaroVarioSensor(sbuf_t *dst)
|
||||
{
|
||||
// use sbufWrite since CRC does not include frame length
|
||||
sbufWriteU8(dst, CRSF_FRAME_BAROVARIO_SENSOR_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
|
||||
crsfSerialize8(dst, CRSF_FRAMETYPE_BAROVARIO_SENSOR);
|
||||
int32_t altitude = baroGetLatestAltitude() / 10; // Altitude in decimeters
|
||||
crsfSerialize16(dst, altitude + 10000 < 0x8000 ? altitude + 10000 : 0x8000 + altitude / 10);
|
||||
crsfSerialize16(dst, lrintf(getEstimatedActualVelocity(Z)));
|
||||
}
|
||||
|
||||
typedef enum {
|
||||
CRSF_ACTIVE_ANTENNA1 = 0,
|
||||
CRSF_ACTIVE_ANTENNA2 = 1
|
||||
|
|
@ -431,7 +415,6 @@ typedef enum {
|
|||
CRSF_FRAME_FLIGHT_MODE_INDEX,
|
||||
CRSF_FRAME_GPS_INDEX,
|
||||
CRSF_FRAME_VARIO_SENSOR_INDEX,
|
||||
CRSF_FRAME_BAROVARIO_SENSOR_INDEX,
|
||||
CRSF_SCHEDULE_COUNT_MAX
|
||||
} crsfFrameTypeIndex_e;
|
||||
|
||||
|
|
@ -491,18 +474,13 @@ static void processCrsf(void)
|
|||
crsfFrameGps(dst);
|
||||
crsfFinalize(dst);
|
||||
}
|
||||
#endif
|
||||
#if defined(USE_BARO) || defined(USE_GPS)
|
||||
if (currentSchedule & BV(CRSF_FRAME_VARIO_SENSOR_INDEX)) {
|
||||
crsfInitializeFrame(dst);
|
||||
crsfFrameVarioSensor(dst);
|
||||
crsfFinalize(dst);
|
||||
}
|
||||
#endif
|
||||
#if defined(USE_BARO)
|
||||
if (currentSchedule & BV(CRSF_FRAME_BAROVARIO_SENSOR_INDEX)) {
|
||||
crsfInitializeFrame(dst);
|
||||
crsfFrameBaroVarioSensor(dst);
|
||||
crsfFinalize(dst);
|
||||
}
|
||||
#endif
|
||||
crsfScheduleIndex = (crsfScheduleIndex + 1) % crsfScheduleCount;
|
||||
}
|
||||
|
|
@ -527,25 +505,16 @@ void initCrsfTelemetry(void)
|
|||
crsfSchedule[index++] = BV(CRSF_FRAME_ATTITUDE_INDEX);
|
||||
crsfSchedule[index++] = BV(CRSF_FRAME_BATTERY_SENSOR_INDEX);
|
||||
crsfSchedule[index++] = BV(CRSF_FRAME_FLIGHT_MODE_INDEX);
|
||||
#if defined(USE_GPS)
|
||||
#ifdef USE_GPS
|
||||
if (feature(FEATURE_GPS)) {
|
||||
crsfSchedule[index++] = BV(CRSF_FRAME_GPS_INDEX);
|
||||
#if !defined(USE_BARO)
|
||||
crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
#if defined(USE_BARO)
|
||||
if (sensors(SENSOR_BARO)) {
|
||||
crsfSchedule[index++] = BV(CRSF_FRAME_BAROVARIO_SENSOR_INDEX);
|
||||
} else {
|
||||
#if defined(USE_GPS)
|
||||
if (feature(FEATURE_GPS)) {
|
||||
#if defined(USE_BARO) || defined(USE_GPS)
|
||||
if (sensors(SENSOR_BARO) || (STATE(FIXED_WING_LEGACY) && feature(FEATURE_GPS))) {
|
||||
crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
crsfScheduleCount = (uint8_t)index;
|
||||
}
|
||||
|
||||
|
|
@ -622,11 +591,7 @@ int getCrsfFrame(uint8_t *frame, crsfFrameType_e frameType)
|
|||
case CRSF_FRAMETYPE_VARIO_SENSOR:
|
||||
crsfFrameVarioSensor(sbuf);
|
||||
break;
|
||||
case CRSF_FRAMETYPE_BAROVARIO_SENSOR:
|
||||
crsfFrameBaroVarioSensor(sbuf);
|
||||
break;
|
||||
}
|
||||
|
||||
const int frameSize = crsfFinalizeBuf(sbuf, frame);
|
||||
return frameSize;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -54,6 +54,8 @@
|
|||
#include "usbd_cdc_interface.h"
|
||||
#include "stdbool.h"
|
||||
#include "drivers/time.h"
|
||||
#include "drivers/nvic.h"
|
||||
#include "build/atomic.h"
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
|
|
@ -366,14 +368,13 @@ uint32_t CDC_Receive_BytesAvailable(void)
|
|||
|
||||
uint32_t CDC_Send_FreeBytes(void)
|
||||
{
|
||||
/*
|
||||
return the bytes free in the circular buffer
|
||||
uint32_t freeBytes;
|
||||
|
||||
functionally equivalent to:
|
||||
(APP_Rx_ptr_out > APP_Rx_ptr_in ? APP_Rx_ptr_out - APP_Rx_ptr_in : APP_RX_DATA_SIZE - APP_Rx_ptr_in + APP_Rx_ptr_in)
|
||||
but without the impact of the condition check.
|
||||
*/
|
||||
return ((UserTxBufPtrOut - UserTxBufPtrIn) + (-((int)(UserTxBufPtrOut <= UserTxBufPtrIn)) & APP_TX_DATA_SIZE)) - 1;
|
||||
ATOMIC_BLOCK(NVIC_PRIO_VCP) {
|
||||
freeBytes = ((UserTxBufPtrOut - UserTxBufPtrIn) + (-((int)(UserTxBufPtrOut <= UserTxBufPtrIn)) & APP_TX_DATA_SIZE)) - 1;
|
||||
}
|
||||
|
||||
return freeBytes;
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue