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Initial build
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breadoven
parent
449d7929db
commit
eab816bf74
5 changed files with 45 additions and 5 deletions
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@ -306,6 +306,7 @@
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| nav_fw_launch_climb_angle | 18 | 5 | 45 | Climb angle (attitude of model, not climb slope) for launch sequence (degrees), is also restrained by global max_angle_inclination_pit |
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| nav_fw_launch_detect_time | 40 | 10 | 1000 | Time for which thresholds have to breached to consider launch happened [ms] |
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| nav_fw_launch_end_time | 3000 | 0 | 5000 | Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms] |
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| nav_fw_launch_idle_motor_delay | 0 | 0 | 20000 | Delay between raising throttle and motor starting at idle throttle (ms) |
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| nav_fw_launch_idle_thr | 1000 | 1000 | 2000 | Launch idle throttle - throttle to be set before launch sequence is initiated. If set below minimum throttle it will force motor stop or at idle throttle (depending if the MOTOR_STOP is enabled). If set above minimum throttle it will force throttle to this value (if MOTOR_STOP is enabled it will be handled according to throttle stick position) |
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| nav_fw_launch_max_altitude | 0 | 0 | 60000 | Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000]. |
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| nav_fw_launch_max_angle | 45 | 5 | 180 | Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg] |
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@ -2670,6 +2670,12 @@ groups:
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field: fw.launch_idle_throttle
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min: 1000
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max: 2000
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- name: nav_fw_launch_idle_motor_delay
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description: "Delay between raising throttle and motor starting at idle throttle (ms)"
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default_value: 0
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field: fw.launch_idle_motor_timer
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min: 0
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max: 20000
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- name: nav_fw_launch_motor_delay
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description: "Delay between detected launch and launch sequence start and throttling up (ms)"
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default_value: 500
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@ -185,6 +185,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
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.launch_throttle = SETTING_NAV_FW_LAUNCH_THR_DEFAULT,
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.launch_idle_throttle = SETTING_NAV_FW_LAUNCH_IDLE_THR_DEFAULT, // Motor idle or MOTOR_STOP
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.launch_motor_timer = SETTING_NAV_FW_LAUNCH_MOTOR_DELAY_DEFAULT, // ms
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.launch_idle_motor_timer = SETTING_NAV_FW_LAUNCH_IDLE_MOTOR_DELAY_DEFAULT, // ms
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.launch_motor_spinup_time = SETTING_NAV_FW_LAUNCH_SPINUP_TIME_DEFAULT, // ms, time to gredually increase throttle from idle to launch
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.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
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.launch_min_time = SETTING_NAV_FW_LAUNCH_MIN_TIME_DEFAULT, // ms, min time in launch mode
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@ -263,6 +263,7 @@ typedef struct navConfig_s {
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uint16_t launch_idle_throttle; // Throttle to keep at launch idle
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uint16_t launch_throttle; // Launch throttle
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uint16_t launch_motor_timer; // Time to wait before setting launch_throttle (ms)
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uint16_t launch_idle_motor_timer; // Time to wait before motor starts at_idle throttle (ms)
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uint16_t launch_motor_spinup_time; // Time to speed-up motors from idle to launch_throttle (ESC desync prevention)
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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
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uint16_t launch_min_time; // Minimum time in launch mode to prevent possible bump of the sticks from leaving launch mode early
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@ -54,6 +54,7 @@
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#define LAUNCH_MOTOR_IDLE_SPINUP_TIME 1500 // ms
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#define UNUSED(x) ((void)(x))
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#define FW_LAUNCH_MESSAGE_TEXT_WAIT_THROTTLE "RAISE THE THROTTLE"
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#define FW_LAUNCH_MESSAGE_TEXT_WAIT_IDLE "WAITING FOR IDLE"
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#define FW_LAUNCH_MESSAGE_TEXT_WAIT_DETECTION "READY"
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#define FW_LAUNCH_MESSAGE_TEXT_IN_PROGRESS "MOVE THE STICKS TO ABORT"
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#define FW_LAUNCH_MESSAGE_TEXT_FINISHING "FINISHING"
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@ -61,6 +62,7 @@
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typedef enum {
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FW_LAUNCH_MESSAGE_TYPE_NONE = 0,
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FW_LAUNCH_MESSAGE_TYPE_WAIT_THROTTLE,
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FW_LAUNCH_MESSAGE_TYPE_WAIT_IDLE,
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FW_LAUNCH_MESSAGE_TYPE_WAIT_DETECTION,
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FW_LAUNCH_MESSAGE_TYPE_IN_PROGRESS,
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FW_LAUNCH_MESSAGE_TYPE_FINISHING
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@ -78,6 +80,7 @@ typedef enum {
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typedef enum {
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FW_LAUNCH_STATE_IDLE = 0,
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FW_LAUNCH_STATE_WAIT_THROTTLE,
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FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
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FW_LAUNCH_STATE_MOTOR_IDLE,
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FW_LAUNCH_STATE_WAIT_DETECTION,
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FW_LAUNCH_STATE_DETECTED,
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@ -90,6 +93,7 @@ typedef enum {
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static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE(timeUs_t currentTimeUs);
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static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs_t currentTimeUs);
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static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(timeUs_t currentTimeUs);
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static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE(timeUs_t currentTimeUs);
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static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_DETECTION(timeUs_t currentTimeUs);
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static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_DETECTED(timeUs_t currentTimeUs);
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@ -125,19 +129,28 @@ static const fixedWingLaunchStateDescriptor_t launchStateMachine[FW_LAUNCH_STATE
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[FW_LAUNCH_STATE_WAIT_THROTTLE] = {
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.onEntry = fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE,
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.onEvent = {
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[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_MOTOR_IDLE,
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[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
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[FW_LAUNCH_EVENT_GOTO_DETECTION] = FW_LAUNCH_STATE_WAIT_DETECTION
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},
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.messageType = FW_LAUNCH_MESSAGE_TYPE_WAIT_THROTTLE
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},
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[FW_LAUNCH_STATE_IDLE_MOTOR_DELAY] = {
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.onEntry = fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY,
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.onEvent = {
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[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_MOTOR_IDLE,
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[FW_LAUNCH_EVENT_THROTTLE_LOW] = FW_LAUNCH_STATE_WAIT_THROTTLE
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},
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.messageType = FW_LAUNCH_MESSAGE_TYPE_WAIT_IDLE
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},
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[FW_LAUNCH_STATE_MOTOR_IDLE] = {
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.onEntry = fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE,
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.onEvent = {
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[FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_WAIT_DETECTION,
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[FW_LAUNCH_EVENT_THROTTLE_LOW] = FW_LAUNCH_STATE_WAIT_THROTTLE
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},
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.messageType = FW_LAUNCH_MESSAGE_TYPE_WAIT_THROTTLE
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.messageType = FW_LAUNCH_MESSAGE_TYPE_WAIT_IDLE
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},
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[FW_LAUNCH_STATE_WAIT_DETECTION] = {
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@ -287,6 +300,21 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs
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return FW_LAUNCH_EVENT_NONE;
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}
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static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(timeUs_t currentTimeUs)
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{
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if (isThrottleLow()) {
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return FW_LAUNCH_EVENT_THROTTLE_LOW; // go back to FW_LAUNCH_STATE_WAIT_THROTTLE
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}
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applyThrottleIdleLogic(true);
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if (currentStateElapsedMs(currentTimeUs) > navConfig()->fw.launch_idle_motor_timer) {
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return FW_LAUNCH_EVENT_SUCCESS;
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}
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return FW_LAUNCH_EVENT_NONE;
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}
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static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE(timeUs_t currentTimeUs)
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{
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if (isThrottleLow()) {
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@ -476,6 +504,9 @@ const char * fixedWingLaunchStateMessage(void)
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case FW_LAUNCH_MESSAGE_TYPE_WAIT_THROTTLE:
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return FW_LAUNCH_MESSAGE_TEXT_WAIT_THROTTLE;
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case FW_LAUNCH_MESSAGE_TYPE_WAIT_IDLE:
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return FW_LAUNCH_MESSAGE_TEXT_WAIT_IDLE;
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case FW_LAUNCH_MESSAGE_TYPE_WAIT_DETECTION:
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return FW_LAUNCH_MESSAGE_TEXT_WAIT_DETECTION;
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