mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-23 00:05:28 +03:00
Merge branch 'master' into inav-dev
Conflicts: Makefile src/main/common/filter.c src/main/common/filter.h src/main/config/config.c src/main/config/config_master.h src/main/config/config_profile.h src/main/drivers/sonar_hcsr04.c src/main/flight/altitudehold.c src/main/flight/failsafe.c src/main/flight/failsafe.h src/main/flight/imu.c src/main/flight/imu.h src/main/flight/navigation.c src/main/flight/pid.c src/main/flight/pid.h src/main/io/rc_controls.c src/main/io/serial.c src/main/io/serial.h src/main/io/serial_cli.c src/main/mw.c src/main/sensors/sonar.c src/main/sensors/sonar.h src/main/target/NAZE/target.h src/main/telemetry/ltm.c src/test/Makefile src/test/unit/flight_imu_unittest.cc src/test/unit/navigation_unittest.cc
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity)
commit
dc3e84ea5b
84 changed files with 1957 additions and 842 deletions
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@ -51,7 +51,6 @@
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#include "io/gimbal.h"
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#include "io/rc_controls.h"
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#include "io/serial.h"
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#include "io/serial_1wire.h"
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#include "io/ledstrip.h"
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#include "io/flashfs.h"
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#include "io/beeper.h"
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@ -151,16 +150,12 @@ static void cliFlashRead(char *cmdline);
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#endif
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#endif
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#ifdef USE_SERIAL_1WIRE
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static void cliUSB1Wire(char *cmdline);
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#endif
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// buffer
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static char cliBuffer[48];
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static uint32_t bufferIndex = 0;
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#ifndef USE_QUAD_MIXER_ONLY
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// sync this with mixerMode_e
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// this with mixerMode_e
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static const char * const mixerNames[] = {
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"TRI", "QUADP", "QUADX", "BI",
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"GIMBAL", "Y6", "HEX6",
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@ -231,9 +226,6 @@ typedef struct {
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// should be sorted a..z for bsearch()
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const clicmd_t cmdTable[] = {
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#ifdef USE_SERIAL_1WIRE
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CLI_COMMAND_DEF("1wire", "1-wire interface to escs", "<esc index>", cliUSB1Wire),
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#endif
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CLI_COMMAND_DEF("adjrange", "configure adjustment ranges", NULL, cliAdjustmentRange),
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CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
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#ifdef LED_STRIP
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@ -354,15 +346,29 @@ static const char * const lookupTableSerialRX[] = {
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"SUMD",
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"SUMH",
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"XB-B",
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"XB-B-RJ01"
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"XB-B-RJ01",
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"IBUS"
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};
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static const char * const lookupTableGyroFilter[] = {
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"OFF", "LOW", "MEDIUM", "HIGH"
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};
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static const char * const lookupTableGyroLpf[] = {
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"256HZ",
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"188HZ",
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"98HZ",
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"42HZ",
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"20HZ",
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"10HZ"
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};
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static const char * const lookupTableSoftFilter[] = {
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"NONE", "LOW", "MEDIUM", "HIGH"
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"OFF", "LOW", "MEDIUM", "HIGH"
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};
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static const char * const lookupTableFailsafeProcedure[] = {
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"SET-THR", "RTH"
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"SET-THR", "DROP", "RTH"
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};
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#ifdef NAV
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@ -396,6 +402,7 @@ typedef enum {
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TABLE_PID_CONTROLLER,
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TABLE_SERIAL_RX,
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TABLE_SOFT_FILTER,
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TABLE_GYRO_LPF,
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TABLE_FAILSAFE_PROCEDURE,
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#ifdef NAV
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TABLE_NAV_USER_CTL_MODE,
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@ -419,6 +426,7 @@ static const lookupTableEntry_t lookupTables[] = {
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{ lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
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{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
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{ lookupTableSoftFilter, sizeof(lookupTableSoftFilter) / sizeof(char *) },
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{ lookupTableGyroLpf, sizeof(lookupTableGyroLpf) / sizeof(char *) },
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{ lookupTableFailsafeProcedure, sizeof(lookupTableFailsafeProcedure) / sizeof(char *) },
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#ifdef NAV
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{ lookupTableNavControlMode, sizeof(lookupTableNavControlMode) / sizeof(char *) },
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@ -480,6 +488,8 @@ const clivalue_t valueTable[] = {
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{ "looptime", VAR_UINT16 | MASTER_VALUE, &masterConfig.looptime, .config.minmax = {0, 9000}, 0 },
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{ "emf_avoidance", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.emf_avoidance, .config.lookup = { TABLE_OFF_ON }, 0 },
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{ "i2c_overclock", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.i2c_overclock, .config.lookup = { TABLE_OFF_ON }, 0 },
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{ "gyro_sync", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyroSync, .config.lookup = { TABLE_OFF_ON } },
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{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroSyncDenominator, .config.minmax = { 1, 32 } },
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{ "mid_rc", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.midrc, .config.minmax = { 1200, 1700 }, 0 },
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{ "min_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.mincheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
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@ -534,9 +544,7 @@ const clivalue_t valueTable[] = {
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{ "nav_navr_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDNAVR], .config.minmax = { 0, 200 }, 0 },
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{ "nav_navr_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDNAVR], .config.minmax = { 0, 200 }, 0 },
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{ "nav_navr_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDNAVR], .config.minmax = { 0, 200 }, 0 },
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#endif
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#ifdef NAV
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#if defined(INAV_ENABLE_AUTO_MAG_DECLINATION)
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{ "inav_auto_mag_decl", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.inav.automatic_mag_declination, .config.lookup = { TABLE_OFF_ON }, 0 },
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#endif
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@ -567,8 +575,6 @@ const clivalue_t valueTable[] = {
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{ "nav_manual_climb_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.max_manual_climb_rate, .config.minmax = { 10, 2000 }, 0 },
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{ "nav_landing_speed", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.land_descent_rate, .config.minmax = { 100, 2000 }, 0 },
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{ "nav_emerg_landing_speed", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.emerg_descent_rate, .config.minmax = { 100, 2000 }, 0 },
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{ "nav_pos_hold_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.pos_hold_deadband, .config.minmax = { 10, 250 }, 0 },
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{ "nav_alt_hold_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.alt_hold_deadband, .config.minmax = { 10, 250 }, 0 },
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{ "nav_min_rth_distance", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.min_rth_distance, .config.minmax = { 0, 5000 }, 0 },
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{ "nav_rth_tail_first", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.flags.rth_tail_first, .config.lookup = { TABLE_OFF_ON }, 0 },
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{ "nav_rth_alt_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.flags.rth_alt_control_style, .config.lookup = { TABLE_NAV_RTH_ALT_MODE }, 0 },
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@ -619,7 +625,7 @@ const clivalue_t valueTable[] = {
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{ "max_angle_inclination", VAR_UINT16 | MASTER_VALUE, &masterConfig.max_angle_inclination, .config.minmax = { 100, 900 }, 0 },
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{ "gyro_lpf", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_lpf, .config.minmax = { 0, 256 }, 0 },
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{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
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{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 }, 0 },
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{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp_acc, .config.minmax = { 0, 65535 }, 0 },
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@ -629,6 +635,8 @@ const clivalue_t valueTable[] = {
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{ "deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.deadband, .config.minmax = { 0, 32 }, 0 },
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{ "yaw_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.yaw_deadband, .config.minmax = { 0, 100 }, 0 },
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{ "pos_hold_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.profile[0].rcControlsConfig.pos_hold_deadband, .config.minmax = { 10, 250 }, 0 },
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{ "alt_hold_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_deadband, .config.minmax = { 10, 250 }, 0 },
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{ "throttle_tilt_comp_str", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].throttle_tilt_compensation_strength, .config.minmax = { 0, 100 }, 0 },
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@ -671,9 +679,6 @@ const clivalue_t valueTable[] = {
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{ "acc_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.acc_hardware, .config.minmax = { 0, ACC_MAX }, 0 },
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{ "gyro_soft_filter", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].gyro_soft_filter, .config.lookup = { TABLE_SOFT_FILTER }, 0 },
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{ "acc_soft_filter", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].acc_soft_filter, .config.lookup = { TABLE_SOFT_FILTER }, 0 },
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{ "baro_tab_size", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_sample_count, .config.minmax = { 0, BARO_SAMPLE_COUNT_MAX }, 0 },
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{ "baro_noise_lpf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_noise_lpf, .config.minmax = { 0, 1 }, 0 },
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{ "baro_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.baro_hardware, .config.minmax = { 0, BARO_MAX }, 0 },
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@ -703,7 +708,6 @@ const clivalue_t valueTable[] = {
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{ "i_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[YAW], .config.minmax = { 0, 100 }, 0 },
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{ "d_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[YAW], .config.minmax = { 0, 100 }, 0 },
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{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX }, 0 },
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{ "level_horizon", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_level, .config.minmax = { 0, 10 }, 0 },
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{ "level_angle", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.A_level, .config.minmax = { 0, 10 }, 0 },
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{ "sensitivity_horizon", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_sensitivity, .config.minmax = { 0, 250 }, 0 },
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@ -712,8 +716,11 @@ const clivalue_t valueTable[] = {
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{ "i_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDLEVEL], .config.minmax = { 0, 200 }, 0 },
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{ "d_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDLEVEL], .config.minmax = { 0, 200 }, 0 },
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{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, .config.minmax = {0, 200 }, 0 },
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{ "pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pterm_cut_hz, .config.minmax = {0, 200 }, 0 },
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{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
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{ "gyro_soft_lpf", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.gyro_soft_lpf, .config.lookup = { TABLE_SOFT_FILTER }, 0 },
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{ "acc_soft_lpf", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.acc_soft_lpf, .config.lookup = { TABLE_SOFT_FILTER }, 0 },
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{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, .config.minmax = {0, 200 } },
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{ "yaw_pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz, .config.minmax = {0, 200 } },
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#ifdef GTUNE
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{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10, 200 }, 0 },
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@ -1182,7 +1189,7 @@ static void cliMotorMix(char *cmdline)
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cliMotorMix("");
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}
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} else {
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cliShowArgumentRangeError("index", 1, MAX_SUPPORTED_MOTORS);
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cliShowArgumentRangeError("index", 0, MAX_SUPPORTED_MOTORS - 1);
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}
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}
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#endif
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@ -1690,7 +1697,7 @@ static void cliDump(char *cmdline)
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// print custom servo mixer if exists
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printf("smix reset\r\n");
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#ifdef USE_SERVOS
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for (i = 0; i < MAX_SERVO_RULES; i++) {
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if (masterConfig.customServoMixer[i].rate == 0)
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@ -1708,6 +1715,7 @@ static void cliDump(char *cmdline)
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);
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}
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#endif
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#endif
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cliPrint("\r\n\r\n# feature\r\n");
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@ -2018,7 +2026,7 @@ static void cliMotor(char *cmdline)
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}
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if (motor_index < 0 || motor_index >= MAX_SUPPORTED_MOTORS) {
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cliShowArgumentRangeError("index", 0, MAX_SUPPORTED_MOTORS);
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cliShowArgumentRangeError("index", 0, MAX_SUPPORTED_MOTORS - 1);
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return;
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}
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@ -2396,28 +2404,6 @@ static void cliStatus(char *cmdline)
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printf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
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}
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#ifdef USE_SERIAL_1WIRE
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static void cliUSB1Wire(char *cmdline)
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{
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int i;
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if (isEmpty(cmdline)) {
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cliPrint("Please specify a ouput channel. e.g. `1wire 2` to connect to motor 2\r\n");
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return;
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} else {
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i = atoi(cmdline);
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if (i >= 0 && i <= ESC_COUNT) {
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printf("Switching to BlHeli mode on motor port %d\r\n", i);
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}
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else {
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printf("Invalid motor port, valid range: 1 to %d\r\n", ESC_COUNT);
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}
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}
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// motor 1 => index 0
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usb1WirePassthrough(i-1);
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}
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#endif
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static void cliVersion(char *cmdline)
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{
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UNUSED(cmdline);
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