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initial build

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This commit is contained in:
breadoven 2022-07-12 12:56:33 +01:00
parent c2e702f2b8
commit d9a187c44d
5 changed files with 13 additions and 6 deletions
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6
src/main/fc/settings.yaml
View file

@ -2816,6 +2816,12 @@ groups:
field: fw.launch_climb_angle
min: 5
max: 45
- name: nav_fw_launch_abort_deadband
description: "Launch abort stick deadband in [r/c points], applied after r/c deadband and expo. The Roll/Pitch stick needs to be deflected beyond this deadband to abort the launch."
default_value: 100
field: fw.launch_abort_deadband
min: 2
max: 250
- name: nav_fw_cruise_yaw_rate
description: "Max YAW rate when NAV CRUISE mode is enabled (0=disable control via yaw stick) [dps]"
default_value: 20

5
src/main/navigation/navigation.c
View file

@ -100,7 +100,7 @@ STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_rang
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 2);
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 0);
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 1);
PG_RESET_TEMPLATE(navConfig_t, navConfig,
.general = {
@ -203,6 +203,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.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_abort_deadband = SETTING_NAV_FW_LAUNCH_ABORT_DEADBAND_DEFAULT, // 100 us
.cruise_yaw_rate = SETTING_NAV_FW_CRUISE_YAW_RATE_DEFAULT, // 20dps
.allow_manual_thr_increase = SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE_DEFAULT,
.useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT,
@ -1833,7 +1834,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationF
}
// abort NAV_LAUNCH_MODE by moving sticks with low throttle or throttle stick < launch idle throttle
if (abortLaunchAllowed() && isRollPitchStickDeflected(LAUNCH_ABORT_STICK_DEADBAND)) {
if (abortLaunchAllowed() && isRollPitchStickDeflected(navConfig()->fw.launch_abort_deadband)) {
abortFixedWingLaunch();
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
}

1
src/main/navigation/navigation.h
View file

@ -301,6 +301,7 @@ typedef struct navConfig_s {
uint16_t launch_max_altitude; // cm, altitude where to consider launch ended
uint8_t launch_climb_angle; // Target climb angle for launch (deg)
uint8_t launch_max_angle; // Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]
uint8_t launch_abort_deadband; // roll/pitch stick movement deadband for launch abort
uint8_t cruise_yaw_rate; // Max yaw rate (dps) when CRUISE MODE is enabled
bool allow_manual_thr_increase;
bool useFwNavYawControl;

5
src/main/navigation/navigation_fw_launch.c
View file

@ -260,7 +260,8 @@ static inline bool isLaunchMaxAltitudeReached(void)
static inline bool areSticksMoved(timeMs_t initialTime, timeUs_t currentTimeUs)
{
return (initialTime + currentStateElapsedMs(currentTimeUs)) > navConfig()->fw.launch_min_time && isRollPitchStickDeflected(LAUNCH_ABORT_STICK_DEADBAND);
return (initialTime + currentStateElapsedMs(currentTimeUs)) > navConfig()->fw.launch_min_time &&
isRollPitchStickDeflected(navConfig()->fw.launch_abort_deadband);
}
static void resetPidsIfNeeded(void) {
@ -438,7 +439,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_FINISH(timeUs_t curr
const timeMs_t elapsedTimeMs = currentStateElapsedMs(currentTimeUs);
const timeMs_t endTimeMs = navConfig()->fw.launch_end_time;
if (elapsedTimeMs > endTimeMs || isRollPitchStickDeflected(LAUNCH_ABORT_STICK_DEADBAND)) {
if (elapsedTimeMs > endTimeMs || isRollPitchStickDeflected(navConfig()->fw.launch_abort_deadband)) {
return FW_LAUNCH_EVENT_SUCCESS; // End launch go to FW_LAUNCH_STATE_FLYING state
}
else {

2
src/main/navigation/navigation_private.h
View file

@ -47,8 +47,6 @@
#define NAV_RTH_TRACKBACK_POINTS 50 // max number RTH trackback points
#define LAUNCH_ABORT_STICK_DEADBAND 250 // pitch/roll stick deflection for launch abort (us)
#define MAX_POSITION_UPDATE_INTERVAL_US HZ2US(MIN_POSITION_UPDATE_RATE_HZ) // convenience macro
_Static_assert(MAX_POSITION_UPDATE_INTERVAL_US <= TIMEDELTA_MAX, "deltaMicros can overflow!");