mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-14 20:10:15 +03:00
Merge branch 'master' into MrD_Reorganise-Stats-screens
This commit is contained in:
Darren Lines
commit
cf36eed98c
29 changed files with 511 additions and 137 deletions
|
|
@ -21,7 +21,6 @@ doc_files=(
|
|||
'Buzzer.md'
|
||||
'Sonar.md'
|
||||
'Profiles.md'
|
||||
'Modes.md'
|
||||
'Inflight Adjustments.md'
|
||||
'Controls.md'
|
||||
'Gtune.md'
|
||||
|
|
@ -49,7 +48,7 @@ if which gimli >/dev/null; then
|
|||
done
|
||||
rm -f ${filename}.pdf
|
||||
gimli -f ${filename}.md -stylesheet override.css \
|
||||
-w '--toc --title "Cleanflight Manual" --footer-right "[page]" --toc-depth 1'
|
||||
-w '--toc --title "INAV Manual" --footer-right "[page]" --toc-depth 1'
|
||||
rm ${filename}.md
|
||||
popd >/dev/null
|
||||
else
|
||||
|
|
|
|||
|
|
@ -23,7 +23,7 @@ Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the
|
|||
|
||||
| Data | Type | Notes |
|
||||
|------|------|-------|
|
||||
| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
|
||||
| permanentId | uint8 | See [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for a definition of the permanent ids |
|
||||
| auxChannelIndex | uint8 | The Aux switch number (indexed from 0) |
|
||||
| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
|
||||
| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
|
||||
|
|
@ -45,7 +45,7 @@ sending this message for all auxiliary slots.
|
|||
| Data | Type | Notes |
|
||||
|------|------|-------|
|
||||
| sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 |
|
||||
| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
|
||||
| permanentId | uint8 | See [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for a definition of the permanent ids |
|
||||
| auxChannelIndex | uint8 | The Aux channel number (indexed from 0) |
|
||||
| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
|
||||
| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
|
||||
|
|
@ -157,5 +157,5 @@ INAV.
|
|||
|
||||
See also
|
||||
--------
|
||||
Modes.md describes the user visible implementation for the INAV
|
||||
[The wiki](https://github.com/iNavFlight/inav/wiki/Modes) describes the user visible implementation for the INAV
|
||||
modes extension.
|
||||
|
|
|
|||
|
|
@ -70,7 +70,7 @@ Now, there are two ways to [configure CF](Configuration.md); via the Configurat
|
|||
* Verify the range of each channel goes from ~1000 to ~2000. See also [controls](Controls.md). and `rx_min_usec` and `rx_max_usec`.
|
||||
* You can also set EXPO here instead of your Tx.
|
||||
* Click Save!
|
||||
* Modes tab: Setup the desired modes. See the [modes](Modes.md) chapter for what each mode does, but for the beginning you mainly need HORIZON, if any.
|
||||
* Modes tab: Setup the desired modes. See the [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for what each mode does.
|
||||
|
||||
* Before finishing this section, you should calibrate the ESCs, install the FC to the frame, and connect the RSSI cable, buzzer and battery if you have chosen to use those.
|
||||
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -2964,11 +2964,11 @@ 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 +3122,16 @@ 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]
|
||||
|
|
|
|||
|
|
@ -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.
|
||||
|
||||
|
||||
|
|
|
|||
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.
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -41,9 +41,7 @@ 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);
|
||||
|
|
|
|||
|
|
@ -2872,10 +2872,10 @@ 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]"
|
||||
|
|
@ -2895,6 +2895,13 @@ 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
|
||||
|
|
|
|||
|
|
@ -28,7 +28,6 @@
|
|||
#include <string.h>
|
||||
#include <ctype.h>
|
||||
#include <math.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
|
|
@ -5393,10 +5392,9 @@ static void osdRefresh(timeUs_t currentTimeUs)
|
|||
}
|
||||
|
||||
bool statsSinglePageCompatible = (osdDisplayPort->rows >= OSD_STATS_SINGLE_PAGE_MIN_ROWS);
|
||||
static uint8_t statsCurrentPage = 0;
|
||||
static timeMs_t statsRefreshTime = 0;
|
||||
static bool statsDisplayed = false;
|
||||
static bool statsAutoPagingEnabled = true;
|
||||
static uint8_t statsCurrentPage = 0;
|
||||
static bool statsDisplayed = false;
|
||||
static bool statsAutoPagingEnabled = true;
|
||||
|
||||
// Detect arm/disarm
|
||||
if (armState != ARMING_FLAG(ARMED)) {
|
||||
|
|
@ -5464,24 +5462,25 @@ static void osdRefresh(timeUs_t currentTimeUs)
|
|||
// Alternate screens for multi-page stats.
|
||||
// Also, refreshes screen at swap interval for single-page stats.
|
||||
if (OSD_ALTERNATING_CHOICES((osdConfig()->stats_page_auto_swap_time * 1000), 2)) {
|
||||
if (statsCurrentPage == 0)
|
||||
if (statsCurrentPage == 0) {
|
||||
osdShowStats(statsSinglePageCompatible, statsCurrentPage);
|
||||
statsCurrentPage = 1;
|
||||
}
|
||||
} else {
|
||||
if (statsCurrentPage == 1)
|
||||
if (statsCurrentPage == 1) {
|
||||
osdShowStats(statsSinglePageCompatible, statsCurrentPage);
|
||||
statsCurrentPage = 0;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
// Process manual page change events for multi-page stats.
|
||||
if (manualPageUpRequested)
|
||||
if (manualPageUpRequested) {
|
||||
osdShowStats(statsSinglePageCompatible, 1);
|
||||
statsCurrentPage = 1;
|
||||
else if (manualPageDownRequested)
|
||||
} else if (manualPageDownRequested) {
|
||||
osdShowStats(statsSinglePageCompatible, 0);
|
||||
statsCurrentPage = 0;
|
||||
}
|
||||
|
||||
// Only refresh the stats every 1/4 of a second.
|
||||
if (statsRefreshTime <= millis()) {
|
||||
statsRefreshTime = millis() + 250;
|
||||
osdShowStats(statsSinglePageCompatible, statsCurrentPage);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -5858,7 +5857,6 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
if (messageCount > 0) {
|
||||
message = messages[OSD_ALTERNATING_CHOICES(systemMessageCycleTime(messageCount, messages), messageCount)];
|
||||
if (message == failsafeInfoMessage) {
|
||||
|
|
|
|||
|
|
@ -175,7 +175,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
|
|||
.land_detect_sensitivity = SETTING_NAV_LAND_DETECT_SENSITIVITY_DEFAULT, // Changes sensitivity of landing detection
|
||||
.auto_disarm_delay = SETTING_NAV_AUTO_DISARM_DELAY_DEFAULT, // 2000 ms - time delay to disarm when auto disarm after landing enabled
|
||||
.rth_linear_descent_start_distance = SETTING_NAV_RTH_LINEAR_DESCENT_START_DISTANCE_DEFAULT,
|
||||
.cruise_yaw_rate = SETTING_NAV_CRUISE_YAW_RATE_DEFAULT, // 20dps
|
||||
.cruise_yaw_rate = SETTING_NAV_CRUISE_YAW_RATE_DEFAULT, // 20dps
|
||||
.rth_fs_landing_delay = SETTING_NAV_RTH_FS_LANDING_DELAY_DEFAULT, // Delay before landing in FS. 0 = immedate landing
|
||||
},
|
||||
|
||||
|
|
@ -204,44 +204,44 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
|
|||
|
||||
// Fixed wing
|
||||
.fw = {
|
||||
.max_bank_angle = SETTING_NAV_FW_BANK_ANGLE_DEFAULT, // degrees
|
||||
.max_manual_climb_rate = SETTING_NAV_FW_MANUAL_CLIMB_RATE_DEFAULT, // 3 m/s
|
||||
.max_climb_angle = SETTING_NAV_FW_CLIMB_ANGLE_DEFAULT, // degrees
|
||||
.max_dive_angle = SETTING_NAV_FW_DIVE_ANGLE_DEFAULT, // degrees
|
||||
.cruise_speed = SETTING_NAV_FW_CRUISE_SPEED_DEFAULT, // cm/s
|
||||
.max_bank_angle = SETTING_NAV_FW_BANK_ANGLE_DEFAULT, // degrees
|
||||
.max_manual_climb_rate = SETTING_NAV_FW_MANUAL_CLIMB_RATE_DEFAULT, // 3 m/s
|
||||
.max_climb_angle = SETTING_NAV_FW_CLIMB_ANGLE_DEFAULT, // degrees
|
||||
.max_dive_angle = SETTING_NAV_FW_DIVE_ANGLE_DEFAULT, // degrees
|
||||
.cruise_speed = SETTING_NAV_FW_CRUISE_SPEED_DEFAULT, // cm/s
|
||||
.control_smoothness = SETTING_NAV_FW_CONTROL_SMOOTHNESS_DEFAULT,
|
||||
.pitch_to_throttle_smooth = SETTING_NAV_FW_PITCH2THR_SMOOTHING_DEFAULT,
|
||||
.pitch_to_throttle_thresh = SETTING_NAV_FW_PITCH2THR_THRESHOLD_DEFAULT,
|
||||
.minThrottleDownPitchAngle = SETTING_FW_MIN_THROTTLE_DOWN_PITCH_DEFAULT,
|
||||
.loiter_radius = SETTING_NAV_FW_LOITER_RADIUS_DEFAULT, // 75m
|
||||
.loiter_radius = SETTING_NAV_FW_LOITER_RADIUS_DEFAULT, // 75m
|
||||
.loiter_direction = SETTING_FW_LOITER_DIRECTION_DEFAULT,
|
||||
|
||||
//Fixed wing landing
|
||||
.land_dive_angle = SETTING_NAV_FW_LAND_DIVE_ANGLE_DEFAULT, // 2 degrees dive by default
|
||||
.land_dive_angle = SETTING_NAV_FW_LAND_DIVE_ANGLE_DEFAULT, // 2 degrees dive by default
|
||||
|
||||
// Fixed wing launch
|
||||
.launch_velocity_thresh = SETTING_NAV_FW_LAUNCH_VELOCITY_DEFAULT, // 3 m/s
|
||||
.launch_accel_thresh = SETTING_NAV_FW_LAUNCH_ACCEL_DEFAULT, // cm/s/s (1.9*G)
|
||||
.launch_time_thresh = SETTING_NAV_FW_LAUNCH_DETECT_TIME_DEFAULT, // 40ms
|
||||
.launch_motor_timer = SETTING_NAV_FW_LAUNCH_MOTOR_DELAY_DEFAULT, // ms
|
||||
.launch_idle_motor_timer = SETTING_NAV_FW_LAUNCH_IDLE_MOTOR_DELAY_DEFAULT, // ms
|
||||
.launch_motor_spinup_time = SETTING_NAV_FW_LAUNCH_SPINUP_TIME_DEFAULT, // ms, time to gredually increase throttle from idle to launch
|
||||
.launch_end_time = SETTING_NAV_FW_LAUNCH_END_TIME_DEFAULT, // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode
|
||||
.launch_min_time = SETTING_NAV_FW_LAUNCH_MIN_TIME_DEFAULT, // ms, min time in launch mode
|
||||
.launch_timeout = SETTING_NAV_FW_LAUNCH_TIMEOUT_DEFAULT, // ms, timeout for launch procedure
|
||||
.launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT, // cm, altitude where to consider launch ended
|
||||
.launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT, // 18 degrees
|
||||
.launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT, // 45 deg
|
||||
.launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT,// OFF
|
||||
.launch_land_abort_deadband = SETTING_NAV_FW_LAUNCH_LAND_ABORT_DEADBAND_DEFAULT, // 100 us
|
||||
|
||||
.launch_velocity_thresh = SETTING_NAV_FW_LAUNCH_VELOCITY_DEFAULT, // 3 m/s
|
||||
.launch_accel_thresh = SETTING_NAV_FW_LAUNCH_ACCEL_DEFAULT, // cm/s/s (1.9*G)
|
||||
.launch_time_thresh = SETTING_NAV_FW_LAUNCH_DETECT_TIME_DEFAULT, // 40ms
|
||||
.launch_motor_timer = SETTING_NAV_FW_LAUNCH_MOTOR_DELAY_DEFAULT, // ms
|
||||
.launch_idle_motor_timer = SETTING_NAV_FW_LAUNCH_IDLE_MOTOR_DELAY_DEFAULT, // ms
|
||||
.launch_wiggle_wake_idle = SETTING_NAV_FW_LAUNCH_WIGGLE_TO_WAKE_IDLE_DEFAULT, // uint8_t
|
||||
.launch_motor_spinup_time = SETTING_NAV_FW_LAUNCH_SPINUP_TIME_DEFAULT, // ms, time to greaually increase throttle from idle to launch
|
||||
.launch_end_time = SETTING_NAV_FW_LAUNCH_END_TIME_DEFAULT, // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode
|
||||
.launch_min_time = SETTING_NAV_FW_LAUNCH_MIN_TIME_DEFAULT, // ms, min time in launch mode
|
||||
.launch_timeout = SETTING_NAV_FW_LAUNCH_TIMEOUT_DEFAULT, // ms, timeout for launch procedure
|
||||
.launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT, // cm, altitude where to consider launch ended
|
||||
.launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT, // 18 degrees
|
||||
.launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT, // 45 deg
|
||||
.launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT, // OFF
|
||||
.launch_land_abort_deadband = SETTING_NAV_FW_LAUNCH_LAND_ABORT_DEADBAND_DEFAULT, // 100 us
|
||||
.allow_manual_thr_increase = SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE_DEFAULT,
|
||||
.useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT,
|
||||
.yawControlDeadband = SETTING_NAV_FW_YAW_DEADBAND_DEFAULT,
|
||||
.soaring_pitch_deadband = SETTING_NAV_FW_SOARING_PITCH_DEADBAND_DEFAULT,// pitch angle mode deadband when Saoring mode enabled
|
||||
.wp_tracking_accuracy = SETTING_NAV_FW_WP_TRACKING_ACCURACY_DEFAULT, // 0, improves course tracking accuracy during FW WP missions
|
||||
.wp_tracking_max_angle = SETTING_NAV_FW_WP_TRACKING_MAX_ANGLE_DEFAULT, // 60 degs
|
||||
.wp_turn_smoothing = SETTING_NAV_FW_WP_TURN_SMOOTHING_DEFAULT, // 0, smooths turns during FW WP mode missions
|
||||
.soaring_pitch_deadband = SETTING_NAV_FW_SOARING_PITCH_DEADBAND_DEFAULT, // pitch angle mode deadband when Saoring mode enabled
|
||||
.wp_tracking_accuracy = SETTING_NAV_FW_WP_TRACKING_ACCURACY_DEFAULT, // 0, improves course tracking accuracy during FW WP missions
|
||||
.wp_tracking_max_angle = SETTING_NAV_FW_WP_TRACKING_MAX_ANGLE_DEFAULT, // 60 degs
|
||||
.wp_turn_smoothing = SETTING_NAV_FW_WP_TURN_SMOOTHING_DEFAULT, // 0, smooths turns during FW WP mode missions
|
||||
}
|
||||
);
|
||||
|
||||
|
|
|
|||
|
|
@ -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,
|
||||
|
|
|
|||
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
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
}
|
||||
|
|
@ -527,23 +505,14 @@ 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)) {
|
||||
crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX);
|
||||
}
|
||||
#endif
|
||||
#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
|
||||
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;
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue