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Code Issues Wiki Activity

Flaperon flight mode (#307)

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* basic flaperon functionality
* flaperon configuration
* FLAPERON can be activated only on MIXER_AIRPLANE and MIXER_CUSTOM_AIRPLANE
* state FLAPERON_AVAILABLE added
This commit is contained in:
Paweł Spychalski 2016-07-21 13:53:09 +02:00 • committed by Konstantin Sharlaimov
parent e53d2b1a92
commit cfd8f7ed82
9 changed files with 84 additions and 16 deletions
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4
src/main/config/config.c
View file

@ -604,6 +604,10 @@ static void resetConf(void)
// gimbal
currentProfile->gimbalConfig.mode = GIMBAL_MODE_NORMAL;
currentProfile->flaperon_throw_offset = FLAPERON_THROW_DEFAULT;
currentProfile->flaperon_throw_inverted = 0;
#endif
// custom mixer. clear by defaults.

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

@ -40,5 +40,8 @@ typedef struct profile_s {
servoParam_t servoConf[MAX_SUPPORTED_SERVOS]; // servo configuration
// gimbal-related configuration
gimbalConfig_t gimbalConfig;
uint16_t flaperon_throw_offset;
uint8_t flaperon_throw_inverted;
#endif
} profile_t;

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

@ -45,6 +45,7 @@ typedef enum {
UNUSED_MODE2 = (1 << 11), // old G-Tune
NAV_WP_MODE = (1 << 12),
HEADING_LOCK = (1 << 13),
FLAPERON = (1 << 14),
} flightModeFlags_e;
extern uint16_t flightModeFlags;
@ -60,6 +61,8 @@ typedef enum {
SMALL_ANGLE = (1 << 3),
FIXED_WING = (1 << 4), // set when in flying_wing or airplane mode. currently used by althold selection code
ANTI_WINDUP = (1 << 5),
//PID_ATTENUATE = (1 << 6),
FLAPERON_AVAILABLE = (1 << 7)
} stateFlags_t;
#define DISABLE_STATE(mask) (stateFlags &= ~(mask))

39
src/main/flight/mixer.c
View file

@ -53,6 +53,7 @@
#include "config/runtime_config.h"
#include "config/config.h"
#include "config/config_profile.h"
//#define MIXER_DEBUG
@ -355,6 +356,15 @@ void mixerUseConfigs(
}
#ifdef USE_SERVOS
int16_t getFlaperonDirection(uint8_t servoPin) {
if (servoPin == SERVO_FLAPPERON_2) {
return -1;
} else {
return 1;
}
}
int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
{
uint8_t channelToForwardFrom = servoConf[servoIndex].forwardFromChannel;
@ -404,6 +414,12 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMotorMixers, se
DISABLE_STATE(FIXED_WING);
}
if (currentMixerMode == MIXER_AIRPLANE || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
ENABLE_STATE(FLAPERON_AVAILABLE);
} else {
DISABLE_STATE(FLAPERON_AVAILABLE);
}
customMixers = initialCustomMotorMixers;
customServoMixers = initialCustomServoMixers;
@ -779,7 +795,7 @@ void mixTable(void)
#ifdef USE_SERVOS
void servoMixer(void)
void servoMixer(uint16_t flaperon_throw_offset, uint8_t flaperon_throw_inverted)
{
int16_t input[INPUT_SOURCE_COUNT]; // Range [-500:+500]
static int16_t currentOutput[MAX_SERVO_RULES];
@ -835,14 +851,27 @@ void servoMixer(void)
int16_t min = currentServoMixer[i].min * servo_width / 100 - servo_width / 2;
int16_t max = currentServoMixer[i].max * servo_width / 100 - servo_width / 2;
if (currentServoMixer[i].speed == 0)
if (currentServoMixer[i].speed == 0) {
currentOutput[i] = input[from];
else {
if (currentOutput[i] < input[from])
} else {
if (currentOutput[i] < input[from]) {
currentOutput[i] = constrain(currentOutput[i] + currentServoMixer[i].speed, currentOutput[i], input[from]);
else if (currentOutput[i] > input[from])
} else if (currentOutput[i] > input[from]) {
currentOutput[i] = constrain(currentOutput[i] - currentServoMixer[i].speed, input[from], currentOutput[i]);
}
}
/*
Flaperon fligh mode
*/
if (FLIGHT_MODE(FLAPERON) && (target == SERVO_FLAPPERON_1 || target == SERVO_FLAPPERON_2)) {
int8_t multiplier = 1;
if (flaperon_throw_inverted == 1) {
multiplier = -1;
}
currentOutput[i] += flaperon_throw_offset * getFlaperonDirection(target) * multiplier;
}
servo[target] += servoDirection(target, from) * constrain(((int32_t)currentOutput[i] * currentServoMixer[i].rate) / 100, min, max);
} else {

6
src/main/flight/mixer.h
View file

@ -164,6 +164,10 @@ typedef enum {
#define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
#define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
#define FLAPERON_THROW_DEFAULT 250
#define FLAPERON_THROW_MIN 100
#define FLAPERON_THROW_MAX 400
typedef struct servoMixer_s {
uint8_t targetChannel; // servo that receives the output of the rule
uint8_t inputSource; // input channel for this rule
@ -235,7 +239,7 @@ int servoDirection(int servoIndex, int fromChannel);
void mixerResetDisarmedMotors(void);
void mixTable(void);
void writeMotors(void);
void servoMixer(void);
void servoMixer(uint16_t flaperon_throw_offset, uint8_t flaperon_throw_inverted);
void processServoTilt(void);
void stopMotors(void);
void StopPwmAllMotors(void);

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

@ -51,6 +51,7 @@ typedef enum {
BOXGCSNAV,
BOXHEADINGLOCK,
BOXSURFACE,
BOXFLAPERON,
CHECKBOX_ITEM_COUNT
} boxId_e;

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

@ -702,6 +702,8 @@ const clivalue_t valueTable[] = {
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH }, 0 },
#ifdef USE_SERVOS
{ "flaperon_throw_offset", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].flaperon_throw_offset, .config.minmax = { FLAPERON_THROW_MIN, FLAPERON_THROW_MAX}, 0 },
{ "flaperon_throw_inverted", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].flaperon_throw_inverted, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400}, 0 },
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON }, 0 },

13
src/main/io/serial_msp.c
View file

@ -143,6 +143,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXGCSNAV, "GCS NAV;", 31 },
{ BOXHEADINGLOCK, "HEADING LOCK;", 32 },
{ BOXSURFACE, "SURFACE;", 33 },
{ BOXFLAPERON, "FLAPERON;", 34 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -437,8 +438,17 @@ void mspInit(void)
}
#endif
if (isFixedWing)
if (isFixedWing) {
activeBoxIds[activeBoxIdCount++] = BOXPASSTHRU;
}
/*
* FLAPERON mode active only in case of airplane and custom airplane. Activating on
* flying wing can cause bad thing
*/
if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE) {
activeBoxIds[activeBoxIdCount++] = BOXFLAPERON;
}
activeBoxIds[activeBoxIdCount++] = BOXBEEPERON;
@ -511,6 +521,7 @@ static uint32_t packFlightModeFlags(void)
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGCSNAV)) << BOXGCSNAV |
IS_ENABLED(FLIGHT_MODE(HEADING_LOCK)) << BOXHEADINGLOCK |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXSURFACE)) << BOXSURFACE |
IS_ENABLED(FLIGHT_MODE(FLAPERON)) << BOXFLAPERON |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)) << BOXHOMERESET;
for (i = 0; i < activeBoxIdCount; i++) {

13
src/main/mw.c
View file

@ -398,6 +398,17 @@ void processRx(void)
DISABLE_FLIGHT_MODE(HEADING_LOCK);
}
/*
Flaperon mode
*/
if (IS_RC_MODE_ACTIVE(BOXFLAPERON) && STATE(FLAPERON_AVAILABLE)) {
if (!FLIGHT_MODE(FLAPERON)) {
ENABLE_FLIGHT_MODE(FLAPERON);
}
} else {
DISABLE_FLIGHT_MODE(FLAPERON);
}
#if defined(MAG)
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
@ -599,7 +610,7 @@ void taskMainPidLoop(void)
#ifdef USE_SERVOS
if (isMixerUsingServos()) {
servoMixer();
servoMixer(currentProfile->flaperon_throw_offset, currentProfile->flaperon_throw_inverted);
}
if (feature(FEATURE_SERVO_TILT)) {