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Merge tag '7.0.0-RC1' into sh_mixerprofile_tail

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shota 2023-11-04 02:56:10 +09:00
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66
.vscode/c_cpp_properties.json vendored Executable file
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@ -0,0 +1,66 @@
{
"configurations": [
{
"name": "Linux",
"includePath": [
"${workspaceRoot}/src/main/**",
"${workspaceRoot}/lib/main/**",
"/usr/include/**"
],
"browse": {
"limitSymbolsToIncludedHeaders": false,
"path": [
"${workspaceRoot}/src/main/**",
"${workspaceRoot}/lib/main/**"
]
},
"intelliSenseMode": "linux-gcc-arm",
"cStandard": "c11",
"cppStandard": "c++17",
"defines": [
"MCU_FLASH_SIZE 512",
"USE_NAV",
"NAV_FIXED_WING_LANDING",
"USE_OSD",
"USE_GYRO_NOTCH_1",
"USE_GYRO_NOTCH_2",
"USE_DTERM_NOTCH",
"USE_ACC_NOTCH",
"USE_GYRO_BIQUAD_RC_FIR2",
"USE_D_BOOST",
"USE_SERIALSHOT",
"USE_ANTIGRAVITY",
"USE_ASYNC_GYRO_PROCESSING",
"USE_RPM_FILTER",
"USE_GLOBAL_FUNCTIONS",
"USE_DYNAMIC_FILTERS",
"USE_IMU_BNO055",
"USE_SECONDARY_IMU",
"USE_DSHOT",
"FLASH_SIZE 480",
"USE_I2C_IO_EXPANDER",
"USE_PCF8574",
"USE_ESC_SENSOR",
"USE_PROGRAMMING_FRAMEWORK",
"USE_SERIALRX_GHST",
"USE_TELEMETRY_GHST",
"USE_CMS",
"USE_DJI_HD_OSD",
"USE_GYRO_KALMAN",
"USE_RANGEFINDER",
"USE_RATE_DYNAMICS",
"USE_SMITH_PREDICTOR",
"USE_ALPHA_BETA_GAMMA_FILTER",
"USE_MAG_VCM5883",
"USE_TELEMETRY_JETIEXBUS",
"USE_NAV",
"USE_SDCARD_SDIO",
"USE_SDCARD",
"USE_Q_TUNE",
"USE_GYRO_FFT_FILTER"
],
"configurationProvider": "ms-vscode.cmake-tools"
}
],
"version": 4
}

41
.vscode/tasks.json vendored Executable file
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{
// See https://go.microsoft.com/fwlink/?LinkId=733558
// for the documentation about the tasks.json format
"version": "2.0.0",
"tasks": [
{
"label": "Build Matek F722-SE",
"type": "shell",
"command": "make MATEKF722SE",
"group": "build",
"problemMatcher": [],
"options": {
"cwd": "${workspaceFolder}/build"
}
},
{
"label": "Build Matek F722",
"type": "shell",
"command": "make MATEKF722",
"group": {
"kind": "build",
"isDefault": true
},
"problemMatcher": [],
"options": {
"cwd": "${workspaceFolder}/build"
}
}
,
{
"label": "CMAKE Update",
"type": "shell",
"command": "cmake ..",
"group": "build",
"problemMatcher": [],
"options": {
"cwd": "${workspaceFolder}/build"
}
}
]
}

8
Dockerfile
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@ -4,15 +4,15 @@ ARG USER_ID
ARG GROUP_ID
ENV DEBIAN_FRONTEND noninteractive
RUN apt-get update && apt-get install -y git cmake make ruby gcc python3 python3-pip gcc-arm-none-eabi
RUN apt-get update && apt-get install -y git cmake make ruby gcc python3 python3-pip gcc-arm-none-eabi ninja-build gdb
RUN pip install pyyaml
# if either of these are already set the same as the user's machine, leave them be and ignore the error
RUN addgroup --gid $GROUP_ID inav; exit 0;
RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID inav; exit 0;
RUN if [ -n "$USER_ID" ]; then RUN addgroup --gid $GROUP_ID inav; exit 0; fi
RUN if [ -n "$USER_ID" ]; then RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID inav; exit 0; fi
USER inav
RUN if [ -n "$USER_ID" ]; then USER inav; fi
RUN git config --global --add safe.directory /src
VOLUME /src

4
cmake/docker.sh
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@ -6,7 +6,7 @@ CURR_REV="$(git rev-parse HEAD)"
initialize_cmake() {
echo -e "*** CMake was not initialized yet, doing it now.\n"
cmake ..
cmake -GNinja ..
echo "$CURR_REV" > "$LAST_CMAKE_AT_REV_FILE"
}
@ -26,4 +26,4 @@ else
fi
# Let Make handle the arguments coming from the build script
make "$@"
ninja "$@"

7
cmake/docker_build_sitl.sh Normal file
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@ -0,0 +1,7 @@
#!/bin/bash
rm -r build_SITL
mkdir -p build_SITL
#cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -GNinja -B build_SITL ..
cmake -DSITL=ON -DDEBUG=ON -DWARNINGS_AS_ERRORS=ON -GNinja -B build_SITL ..
cd build_SITL
ninja

8
cmake/docker_run_sitl.sh Normal file
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@ -0,0 +1,8 @@
#!/bin/bash
cd build_SITL
#Lauch SITL - configurator only mode
./inav_7.0.0_SITL
#Launch SITL - connect to X-Plane. IP address should be host IP address, not 127.0.0.1. Can be found in X-Plane "Network" tab.
#./inav_7.0.0_SITL --sim=xp --simip=192.168.2.105 --simport=49000

5
cmake/sitl.cmake
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@ -53,6 +53,11 @@ set(SITL_COMPILE_OPTIONS
-funsigned-char
)
if(DEBUG)
message(STATUS "Debug mode enabled. Adding -g to SITL_COMPILE_OPTIONS.")
list(APPEND SITL_COMPILE_OPTIONS -g)
endif()
if(NOT MACOSX)
set(SITL_COMPILE_OPTIONS ${SITL_COMPILE_OPTIONS}
-Wno-return-local-addr

6
docs/Controls.md
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@ -44,9 +44,9 @@ The stick positions are combined to activate different functions:
| Bypass Nav Arm disable | LOW | HIGH | CENTER | CENTER |
| Save setting | LOW | LOW | LOW | HIGH |
| Enter OSD Menu (CMS) | CENTER | LOW | HIGH | CENTER |
| Enter Camera OSD(RuncamDevice)| RIGHT | CENTER | CENTER | CENTER |
| Exit Camera OSD (RuncamDevice)| LEFT | CENTER | CENTER | CENTER |
| Confirm - Camera OSD | RIGHT | CENTER | CENTER | CENTER |
| Enter Camera OSD(RuncamDevice)| CENTER | HIGH | CENTER | CENTER |
| Exit Camera OSD (RuncamDevice)| CENTER | LOW | CENTER | CENTER |
| Confirm - Camera OSD | CENTER | HIGH | CENTER | CENTER |
| Navigation - Camera OSD | CENTER | CENTER | * | * |
For graphical stick position in all transmitter modes, check out [this page](https://www.mrd-rc.com/tutorials-tools-and-testing/inav-flight/inav-stick-commands-for-all-transmitter-modes/).

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docs/LED pin PWM.md Normal file
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@ -0,0 +1,90 @@
# LED pin PWM
Normally LED pin is used to drive WS2812 led strip. LED pin is held low, and every 10ms or 20ms a set of pulses is sent to change color of the 32 LEDs:
![alt text](/docs/assets/images/ws2811_packets.png "ws2811 packets")
![alt text](/docs/assets/images/ws2811_data.png "ws2811 data")
As alternative function, it is possible to generate PWM signal with specified duty ratio on the LED pin.
Feature can be used to drive external devices. It is also used to simulate [OSD joystick](OSD%20Joystick.md) to control cameras.
PWM frequency is fixed to 24kHz with duty ratio between 0 and 100%:
![alt text](/docs/assets/images/led_pin_pwm.png "led pin pwm")
There are four modes of operation:
- low
- high
- shared_low
- shared_high
Mode is configured using ```led_pin_pwm_mode``` setting: ```LOW```, ```HIGH```, ```SHARED_LOW```, ```SHARED_HIGH```
*Note that in any mode, there will be ~2 seconds LOW pulse on boot.*
## LOW
LED Pin is initialized to output low level by default and can be used to generate PWM signal.
ws2812 strip can not be controlled.
## HIGH
LED Pin is initialized to output high level by default and can be used to generate PWM signal.
ws2812 strip can not be controlled.
## SHARED_LOW (default)
LED Pin is used to drive WS2812 strip. Pauses between pulses are low:
![alt text](/docs/assets/images/ws2811_packets.png "ws2811 packets")
It is possible to generate PWM signal with duty ratio >0...100%.
While PWM signal is generated, ws2811 strip is not updated.
When PWM generation is disabled, LED pin is used to drive ws2812 strip.
Total ws2812 pulses duration is ~1ms with ~9ms pauses. Thus connected device should ignore PWM signal with duty ratio < ~10%.
## SHARED_HIGH
LED Pin is used to drive WS2812 strip. Pauses between pulses are high. ws2812 pulses are prefixed with 50us low 'reset' pulse:
![alt text](/docs/assets/images/ws2811_packets_high.png "ws2811 packets_high")
![alt text](/docs/assets/images/ws2811_data_high.png "ws2811 data_high")
It is possible to generate PWM signal with duty ratio 0...<100%.
While PWM signal is generated, ws2811 strip is not updated.
When PWM generation is disabled, LED pin is used to drive ws2812 strip. Total ws2812 pulses duration is ~1ms with ~9ms pauses. Thus connected device should ignore PWM signal with duty ratio > ~90%.
After sending ws2812 protocol pulses for 32 LEDS, we held line high for 9ms, then send 50us low 'reset' pulse. Datasheet for ws2812 protocol does not describe behavior for long high pulse, but in practice it works the same as 'reset' pulse. To be safe, we also send correct low 'reset' pulse before starting next LEDs update sequence.
This mode is used to simulate OSD joystick. It is Ok that effectively voltage level is held >90% while driving LEDs, because OSD joystick keypress voltages are below 90%.
See [OSD Joystick](OSD%20Joystick.md) for more information.
# Generating PWM signal with programming framework
See "LED Pin PWM" operation in [Programming Framework](Programming%20Framework.md)
# Generating PWM signal from CLI
```ledpinpwm <value>``` - value = 0...100 - enable PWM generation with specified duty cycle
```ledpinpwm``` - disable PWM generation ( disable to allow ws2812 LEDs updates in shared modes )
# Example of driving LED
It is possible to drive single color LED with brightness control. Current consumption should not be greater then 1-2ma, thus LED can be used for indication only.
![alt text](/docs/assets/images/ledpinpwmled.png "led pin pwm led")
# Example of driving powerfull white LED
To drive power LED with brightness control, Mosfet should be used:
![alt text](/docs/assets/images/ledpinpwmpowerled.png "led pin pwm power_led")

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docs/MixerProfile.md
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@ -1,80 +1,30 @@
# MixerProfile
A MixerProfile is a set of motor mixer, servo-mixer and platform type configuration settings to enable VTOL transitions.
A MixerProfile is a set of motor mixer, servo-mixer and platform type configuration settings. It is designed for experienced inav users.
Currently two profiles are supported on targets other than F411 and F722 (due to resource constraints on these FC). i.e VTOL transition is not available on F411 and F722 targets.
### For a tutorial of vtol setup, Read https://github.com/iNavFlight/inav/blob/master/docs/VTOL.md
By default, switching between profiles requires reboot to take affect. However, when all conditions are met, and a suitable [configuration](#configuration) has been applied, `mixer_profile` also allows in-flight profile [switching](#rc-mode-settings) to allow things like VTOL operation. This is the recommended operating mode.
Not limited to VTOL. air/land/sea mixed vehicle is also achievable with this feature. Model behaves according to current mixer_profile's platform_type and configured custom motor/servo mixer
Currently two profiles are supported on targets other than F411(due to resource constraints on F411). i.e VTOL transition is not available on F411.
For VTOL setup. one mixer_profile is used for multi-rotor(MR) and the other is used for fixed-wing(FW)
By default, switching between profiles requires reboot to take affect. However, using the RC mode: `MIXER PROFILE 2` will allow in flight switching for things like VTOL operation
. And will re-initialize pid and navigation controllers for current MC or FW flying mode.
Please note that this is an emerging / experimental capability that will require some effort by the pilot to implement.
## Setup for VTOL
- A VTOL specific FC target or `timer_output_mode` overrides was required in the early stage of the development, But since unified mapping introduced in INAV 7.0 It is not needed anymore.
- ~~For mixer profile switching it is necessary to keep motor and servo PWM mapping consistent between Fixed-Wing (FW) and Multi-rotor (MR) profiles~~
- ~~Traditionally, FW and MR have had different enumerations to define the PWM mappings. For VTOL operation it is necessary to set the `timer_output_mode` overrides to allow a consistent enumeration and thus mapping between MR and FW modes.~~
- ~~In operation, it is necessary to set the `mixer_profile` and the `pid_profile` separately and to set a [RC mode](#rc-mode-settings) to switch between them.~~
## Configuration
### Timer overrides
Set the timer overrides for the outputs that you are intended to use.
For SITL builds, is not necessary to set timer overrides.
Please note that there are some display issues on the configurator that will show wrong mapping on the mixer_profile which has less motor/servo compared with the another
### Profile Switch
Setup the FW mode and MR mode separately in two different mixer profiles:
In this example, FW mode is `mixer_profile` 1 and MR mode is `mixer_profile` 2.
Currently, the INAV Configurator does not fully support `mixer_profile`, so some of the settings have to be done in CLI.
Add `set mixer_pid_profile_linking = ON` in order to enable `pid_profile` auto handling. It will change the `pid profile` index according to the `mixer_profile` index on FC boot and allow `mixer_profile` hot switching (this is recommended usage).
The following 2 `mixer_profile` sections are added in the CLI:
```
#switch to mixer_profile by cli
mixer_profile 1
set platform_type = AIRPLANE
set model_preview_type = 26
# motor stop feature have been moved to here
set motorstop_on_low = ON
# enable pid_profile auto handling (recommended).
set mixer_pid_profile_linking = ON
save
```
Then finish the aeroplane setting on mixer_profile 1
```
mixer_profile 2
set platform_type = TRICOPTER
set model_preview_type = 1
# also enable pid_profile auto handling
set mixer_pid_profile_linking = ON
save
```
Then finish the multi-rotor setting on `mixer_profile` 2.
Note that default profile is profile `1`.
You can use `MAX` servo input to set a fixed input for the tilting servo. Speed setting for `MAX` input is available in the CLI.
It is recommended to have some amount of control surface (elevon / elevator) mapped for stabilization even in MR mode to get improved authority when airspeed is high.
**Double check all settings in CLI with the `diff all` command**; make sure you have set the correct settings. Also check what will change with `mixer_profile`. For example servo output min / max range will not change. But `smix` and `mmix` will change.
### Mixer Transition input
## Mixer Transition input
Typically, 'transition input' will be useful in MR mode to gain airspeed.
Both the servo mixer and motor mixer can accept transition mode as an input.
The associated motor or servo will then move accordingly when transition mode is activated.
Transition input is disabled when navigation mode is activate
The use of Transition Mode is recommended to enable further features and future developments like fail-safe support. Mapping motor to servo output, or servo with logic conditions is **not** recommended
#### Servo
## Servo
38 is the input source for transition input; use this to tilt motor to gain airspeed.
`Mixer Transition` is the input source for transition input; use this to tilt motor to gain airspeed.
Example: Increase servo 1 output by +45 with speed of 150 when transition mode is activated for tilted motor setup:
@ -82,15 +32,14 @@ Example: Increase servo 1 output by +45 with speed of 150 when transition mode i
# rule no; servo index; input source; rate; speed; activate logic function number
smix 6 1 38 45 150 -1
```
Please note there will be a time window that tilting motors is providing up lift but rear motor isn't. Result in a sudden pitch raise on the entering of the mode. More forward tilting servo position on transition input(you can use 'speed' in servo rules to slowly move to this position), A faster tilting servo speed on `MAX` servo input will reduce the time window. OR lower the throttle on the entering of the FW mode to mitigate the effect.
#### Motor
## Motor
The default `mmix` throttle value is 0.0, It will not show in `diff` command when throttle value is 0.0 (unused); this causes the motor to stop.
The default `mmix` throttle value is 0.0, It will not show in `diff` command when throttle value is 0.0 (unused);
- 0.0<throttle<=1.0 : normal mapping
- -1.0<throttle<=0.0 : motor stop, default value 0
- -2.0<throttle<-1.0 : spin regardless of the radio's throttle position at speed `abs(throttle)-1` when Mixer Transition is activated.
- -1.0<throttle<=0.0 : motor stop, default value 0, set to -1 to use a place holder for subsequent motor rules
- -2.0<throttle<-1.0 : spin regardless of throttle position at speed `abs(throttle)-1` when Mixer Transition is activated.
Example: This will spin motor number 5 (counting from 1) at 20%, in transition mode only, to gain speed for a "4 rotor 1 pusher" setup:
@ -99,14 +48,13 @@ Example: This will spin motor number 5 (counting from 1) at 20%, in transition m
mmix 4 -1.200 0.000 0.000 0.000
```
### RC mode settings
## RC mode settings
It is recommend that the pilot uses a RC mode switch to activate modes or switch profiles.
Profile files Switching is not available until the runtime sensor calibration is done. Switching is NOT available when navigation mode is activate or position controller is activate, including altitude hold.
Profile files Switching is not available until the runtime sensor calibration is done. Switching is NOT available when navigation mode is activate.
`mixer_profile` 1 will be used as default, `mixer_profile` 2 will be used when the `MIXER PROFILE 2` mode box is activated. Once successfully set, you can see the profiles / model preview etc. will switch accordingly when you view the relevant INAV Configurator tabs. Checking these tabs in the INAV Configurator will help make the setup easier.
Set `MIXER TRANSITION` accordingly when you want to use `MIXER TRANSITION` input for motors and servos. Here is sample of using the `MIXER TRANSITION` mode:
`mixer_profile` 1 will be used as default, `mixer_profile` 2 will be used when the `MIXER PROFILE 2` mode box is activated.
Set `MIXER TRANSITION` accordingly when you want to use `MIXER TRANSITION` input for motors and servos. Here is sample of using these RC modes:
![Alt text](Screenshots/mixer_profile.png)
@ -116,22 +64,45 @@ Set `MIXER TRANSITION` accordingly when you want to use `MIXER TRANSITION` input
It is also possible to set it as 4 state switch by adding FW(profile1) with transition on.
### Automated Transition
## Automated Transition
This feature is mainly for RTH in a failsafe event. When set properly, model will use the FW mode to fly home efficiently, And land in the MC mode for easier landing.
Set `mixer_automated_switch` to `ON` in mixer_profile for MC mode. Set `mixer_switch_trans_timer` in mixer_profile for MC mode for the time required to gain airspeed for your model before entering to FW mode, for example, 50 ds. Finally set `mixer_automated_switch` to `ON` in mixer_profile for FW mode to let the model land in MC mode.
```
mixer_profile 2
set mixer_automated_switch = ON
set mixer_switch_trans_timer = 50
mixer_profile 1
set mixer_automated_switch = ON
save
```
`ON` for a mixer_profile\`s `mixer_automated_switch` means to schedule a Automated Transition when RTH head home(applies for MC mixer_profile) or RTH Land(applies for FW mixer_profile) is requested by navigation controller.
Set `mixer_automated_switch` to `ON` in mixer_profile for MC mode. Set `mixer_switch_trans_timer` in mixer_profile for MC mode for the time required to gain airspeed for your model before entering to FW mode.
When `mixer_automated_switch`:`OFF` is set for all mixer_profiles(defaults). Model will not perform automated transition at all.
## TailSitter (planned for INAV 7.1)
TailSitter is supported by add a 90deg offset to the board alignment. Set the board aliment normally in the mixer_profile for FW mode(`set platform_type = AIRPLANE`), The motor trust axis should be same direction as the airplane nose. Then, in the mixer_profile for takeoff and landing set `tailsitter_orientation_offset = ON ` to apply orientation offset. orientation offset will also add a 45deg orientation offset.
## Parameter list (Partial List)
#### Please be aware of what parameter is shared among FW/MC modes and what isn't.
### Shared Parameters
- **Timer Overrides**
- **Outputs [Servo]:**
- Servo min-point, mid-point, max-point settings
- **Motor Configuration:**
- motor_pwm_protocol
- motor_poles
- **Servo Configuration:**
- servo_protocol
- servo_pwm_rate
- **Board Alignment**
- ·······
### Profile-Specific Parameters in VTOL
- **Mixer Profile**
- **Mixer Configuration:**
- platform_type
- motor_stop_on_low
- tailsitter_orientation_offset
- motor_direction_inverted, and more·······
- **Motor Mixing (mmix)**
- **Servo Mixing (smix)**
- **PID Profile**
- PIDs for Roll, Pitch, Yaw
- PIDs for Navigation Modes
- TPA (Throttle PID Attenuation) Settings
- Rate Settings
- ·······
### TailSitter support
TailSitter is supported by add a 90deg offset to the board alignment. Set the board aliment normally in the mixer_profile for FW mode(`set platform_type = AIRPLANE`), The motor trust axis should be same direction as the airplane nose. Then, in the mixer_profile for takeoff and landing `set platform_type = TAILSITTER`. The `TAILSITTER` platform type is same as `MULTIROTOR` platform type, expect for a 90 deg board alignment offset. In `TAILSITTER` mixer_profile, when motor trust/airplane nose is pointing to the sky, 'airplane bottom'/'multi rotor front' should facing forward in model preview. Set the motor/servo mixer according to multirotor orientation, Model should roll around geography's longitudinal axis, the roll axis of `TAILSITTER` will be yaw axis of `AIRPLANE`. In addition, When `MIXER TRANSITION` input is activated, a 45deg offset will be add to the target angle for angle mode.
@ -141,7 +112,5 @@ TailSitter is supported by add a 90deg offset to the board alignment. Set the bo
Remember that this is currently an emerging capability:
* Test every thing on bench first.
* Remove the props and try `MIXER PROFILE 2`, `MIXER TRANSITION` RC modes while arming.
* Then try MR or FW mode separately see if there are any problems.
* Try it somewhere you can recover your model in case of fail-safe. Fail-safe behavior is unknown at the current stage of development.
* Try MR or FW mode separately see if there are any problems.
* Use the INAV Discord for help and setup questions; use the Github Issues for reporting bugs and unexpected behaviors. For reporting on Github, a CLI `diff all`, a DVR and a Blackbox log of the incident will assist investigation.

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docs/OSD Joystick.md Normal file
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@ -0,0 +1,94 @@
# OSD joystick
LED pin can be used to emulate 5key OSD joystick for OSD camera pin, while still driving ws2812 LEDs (shared functionality).
See [LED pin PWM](LED%20pin%20PWM.md) for more details.
Note that for cameras which support RuncamDevice protocol, there is alternative functionality using serial communication: [Runcam device](Runcam%20device.md)
Also special adapters exist to convert RuncamDevice protocol to OSD Joystick: [Runcam control adapter](https://www.runcam.com/download/runcam_control_adapter_manual.pdf)
# OSD Joystick schematics
![alt text](/docs/assets/images/osd_joystick_keys.png "osd jystick keys")
Camera internal resistance seems to be 47kOhm or 9kOhm depending on camera model.
Each key effectively turns on voltage divider. Voltage is sensed by the camera and is compared to the list of keys voltages with some threshold.
Key voltage has to be held for at least 200ms.
To simulate 5key joystick, it is sufficient to generate correct voltage on camera OSD pin.
# Enabling OSD Joystick emulation
```set led_pin_pwm_mode=shared_high```
```set osd_joystick_enabled=on```
Also enable "Multi-color RGB LED Strip support" in Configuration tab.
# Connection diagram
We use LED pin PWM functionality with RC filter to generate voltage:
![alt text](/docs/assets/images/ledpinpwmfilter.png "led pin pwm filter")
# Example PCB layout (SMD components)
RC Filter can be soldered on a small piece of PCB:
![alt text](/docs/assets/images/osd_joystick.jpg "osd joystick")
# Configuring keys voltages
If default voltages does not work with your camera model, then you have to measure voltages and find out corresponding PWM duty ratios.
1. Connect 5keys joystick to camera.
2. Measure voltages on OSD pin while each key is pressed.
3. Connect camera to FC throught RC filter as shown on schematix above.
4. Enable OSD Joystick emulation (see "Enabling OSD Joystick emulation" above)
4. Use cli command ```led_pin_pwm <value>```, value = 0...100 to find out PWM values for each voltage.
5. Specify PWM values in configuration and save:
```set osd_joystick_down=0```
```set osd_joystick_up=48```
```set osd_joystick_left=63```
```set osd_joystick_right=28```
```set osd_joystick_enter=75```
```save```
# Entering OSD Joystick emulation mode
Emulation can be enabled in unarmed state only.
OSD Joystick emulation mode is enabled using the following stick combination:
```Throttle:CENTER Yaw:RIGHT```
Than camera OSD can be navigated using right stick. See [Controls](Controls.md) for all stick combinations.
*Note that the same stick combination is used to enable 5keys joystick emulation with RuncamDevice protocol.*
Mode is exited using stick combination:
```Throttle:CENTER Yaw:LEFT```
# RC Box
There are 3 RC Boxes which can be used in armed and unarmed state:
- Camera 1 - Enter
- Camera 2 - Up
- Camera 3 - Down
Other keys can be emulated using Programming framework ( see [LED pin PWM](LED%20pin%20PWM.md) for more details ).
# Behavior on boot
There is ~2 seconds LOW pulse during boot sequence, which corresponds to DOWN key. Fortunately, cameras seem to ignore any key events few seconds after statup.

339
docs/OSD.md
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@ -5,163 +5,190 @@ The On Screen Display, or OSD, is a feature that overlays flight data over the v
## Features and Limitations
Not all OSDs are created equally. This table shows the differences between the different systems available.
| OSD System | Character grid | Character | Canvas | MSP DisplayPort | All elements supported |
|---------------|-------------------|-----------|-----------|-------------------|---------------------------|
| Analogue PAL | 30 x 16 | X | | | YES |
| Analogue NTSC | 30 x 13 | X | | | YES |
| PixelOSD | As PAL or NTSC | | X | | YES |
| DJI OSD | 30 x 16 | X | | | NO - BF Characters only |
| DJI WTFOS | 60 x 22 | X | | X | YES |
| HDZero | 50 x 18 | X | | X | YES |
| Avatar | 53 x 20 | X | | X | YES |
| DJI O3 | 53 x 20 (HD) | X | | X (partial) | NO - BF Characters only |
| OSD System | Character grid | Character | Canvas | MSP DisplayPort | All elements supported |
|---------------|----------------|-----------|--------|-----------------|-------------------------|
| Analogue PAL | 30 x 16 | X | | | YES |
| Analogue NTSC | 30 x 13 | X | | | YES |
| PixelOSD | As PAL or NTSC | | X | | YES |
| DJI OSD | 30 x 16 | X | | | NO - BF Characters only |
| DJI WTFOS | 60 x 22 | X | | X | YES |
| HDZero | 50 x 18 | X | | X | YES |
| Avatar | 53 x 20 | X | | X | YES |
| DJI O3 | 53 x 20 (HD) | X | | X (partial) | NO - BF Characters only |
## OSD Elements
Here are the OSD Elements provided by INAV.
| ID | Element | Added |
|-------|-----------------------------------------------|-------|
| 0 | OSD_RSSI_VALUE | 1.0.0 |
| 1 | OSD_MAIN_BATT_VOLTAGE | 1.0.0 |
| 2 | OSD_CROSSHAIRS | 1.0.0 |
| 3 | OSD_ARTIFICIAL_HORIZON | 1.0.0 |
| 4 | OSD_HORIZON_SIDEBARS | 1.0.0 |
| 5 | OSD_ONTIME | 1.0.0 |
| 6 | OSD_FLYTIME | 1.0.0 |
| 7 | OSD_FLYMODE | 1.0.0 |
| 8 | OSD_CRAFT_NAME | 1.0.0 |
| 9 | OSD_THROTTLE_POS | 1.0.0 |
| 10 | OSD_VTX_CHANNEL | 1.0.0 |
| 11 | OSD_CURRENT_DRAW | 1.0.0 |
| 12 | OSD_MAH_DRAWN | 1.0.0 |
| 13 | OSD_GPS_SPEED | 1.0.0 |
| 14 | OSD_GPS_SATS | 1.0.0 |
| 15 | OSD_ALTITUDE | 1.0.0 |
| 16 | OSD_ROLL_PIDS | 1.6.0 |
| 17 | OSD_PITCH_PIDS | 1.6.0 |
| 18 | OSD_YAW_PIDS | 1.6.0 |
| 19 | OSD_POWER | 1.6.0 |
| 20 | OSD_GPS_LON | 1.6.0 |
| 21 | OSD_GPS_LAT | 1.6.0 |
| 22 | OSD_HOME_DIR | 1.6.0 |
| 23 | OSD_HOME_DIST | 1.6.0 |
| 24 | OSD_HEADING | 1.6.0 |
| 25 | OSD_VARIO | 1.6.0 |
| 26 | OSD_VARIO_NUM | 1.6.0 |
| 27 | OSD_AIR_SPEED | 1.7.3 |
| 28 | OSD_ONTIME_FLYTIME | 1.8.0 |
| 29 | OSD_RTC_TIME | 1.8.0 |
| 30 | OSD_MESSAGES | 1.8.0 |
| 31 | OSD_GPS_HDOP | 1.8.0 |
| 32 | OSD_MAIN_BATT_CELL_VOLTAGE | 1.8.0 |
| 33 | OSD_SCALED_THROTTLE_POS | 1.8.0 |
| 34 | OSD_HEADING_GRAPH | 1.8.0 |
| 35 | OSD_EFFICIENCY_MAH_PER_KM | 1.9.0 |
| 36 | OSD_WH_DRAWN | 1.9.0 |
| 37 | OSD_BATTERY_REMAINING_CAPACITY | 1.9.0 |
| 38 | OSD_BATTERY_REMAINING_PERCENT | 1.9.0 |
| 39 | OSD_EFFICIENCY_WH_PER_KM | 1.9.0 |
| 40 | OSD_TRIP_DIST | 1.9.1 |
| 41 | OSD_ATTITUDE_PITCH | 2.0.0 |
| 42 | OSD_ATTITUDE_ROLL | 2.0.0 |
| 43 | OSD_MAP_NORTH | 2.0.0 |
| 44 | OSD_MAP_TAKEOFF | 2.0.0 |
| 45 | OSD_RADAR | 2.0.0 |
| 46 | OSD_WIND_SPEED_HORIZONTAL | 2.0.0 |
| 47 | OSD_WIND_SPEED_VERTICAL | 2.0.0 |
| 48 | OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH | 2.0.0 |
| 49 | OSD_REMAINING_DISTANCE_BEFORE_RTH | 2.0.0 |
| 50 | OSD_HOME_HEADING_ERROR | 2.0.0 |
| 51 | OSD_COURSE_HOLD_ERROR | 2.0.0 |
| 52 | OSD_COURSE_HOLD_ADJUSTMENT | 2.0.0 |
| 53 | OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE | 2.0.0 |
| 54 | OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE | 2.0.0 |
| 55 | OSD_POWER_SUPPLY_IMPEDANCE | 2.0.0 |
| 56 | OSD_LEVEL_PIDS | 2.0.0 |
| 57 | OSD_POS_XY_PIDS | 2.0.0 |
| 58 | OSD_POS_Z_PIDS | 2.0.0 |
| 59 | OSD_VEL_XY_PIDS | 2.0.0 |
| 60 | OSD_VEL_Z_PIDS | 2.0.0 |
| 61 | OSD_HEADING_P | 2.0.0 |
| 62 | OSD_BOARD_ALIGN_ROLL | 2.0.0 |
| 63 | OSD_BOARD_ALIGN_PITCH | 2.0.0 |
| 64 | OSD_RC_EXPO | 2.0.0 |
| 65 | OSD_RC_YAW_EXPO | 2.0.0 |
| 66 | OSD_THROTTLE_EXPO | 2.0.0 |
| 67 | OSD_PITCH_RATE | 2.0.0 |
| 68 | OSD_ROLL_RATE | 2.0.0 |
| 69 | OSD_YAW_RATE | 2.0.0 |
| 70 | OSD_MANUAL_RC_EXPO | 2.0.0 |
| 71 | OSD_MANUAL_RC_YAW_EXPO | 2.0.0 |
| 72 | OSD_MANUAL_PITCH_RATE | 2.0.0 |
| 73 | OSD_MANUAL_ROLL_RATE | 2.0.0 |
| 74 | OSD_MANUAL_YAW_RATE | 2.0.0 |
| 75 | OSD_NAV_FW_CRUISE_THR | 2.0.0 |
| 76 | OSD_NAV_FW_PITCH2THR | 2.0.0 |
| 77 | OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE | 2.0.0 |
| 78 | OSD_DEBUG | 2.0.0 |
| 79 | OSD_FW_ALT_PID_OUTPUTS | 2.0.0 |
| 80 | OSD_FW_POS_PID_OUTPUTS | 2.0.0 |
| 81 | OSD_MC_VEL_X_PID_OUTPUTS | 2.0.0 |
| 82 | OSD_MC_VEL_Y_PID_OUTPUTS | 2.0.0 |
| 83 | OSD_MC_VEL_Z_PID_OUTPUTS | 2.0.0 |
| 84 | OSD_MC_POS_XYZ_P_OUTPUTS | 2.0.0 |
| 85 | OSD_3D_SPEED | 2.1.0 |
| 86 | OSD_IMU_TEMPERATURE | 2.1.0 |
| 87 | OSD_BARO_TEMPERATURE | 2.1.0 |
| 88 | OSD_TEMP_SENSOR_0_TEMPERATURE | 2.1.0 |
| 89 | OSD_TEMP_SENSOR_1_TEMPERATURE | 2.1.0 |
| 90 | OSD_TEMP_SENSOR_2_TEMPERATURE | 2.1.0 |
| 91 | OSD_TEMP_SENSOR_3_TEMPERATURE | 2.1.0 |
| 92 | OSD_TEMP_SENSOR_4_TEMPERATURE | 2.1.0 |
| 93 | OSD_TEMP_SENSOR_5_TEMPERATURE | 2.1.0 |
| 94 | OSD_TEMP_SENSOR_6_TEMPERATURE | 2.1.0 |
| 95 | OSD_TEMP_SENSOR_7_TEMPERATURE | 2.1.0 |
| 96 | OSD_ALTITUDE_MSL | 2.1.0 |
| 97 | OSD_PLUS_CODE | 2.1.0 |
| 98 | OSD_MAP_SCALE | 2.2.0 |
| 99 | OSD_MAP_REFERENCE | 2.2.0 |
| 100 | OSD_GFORCE | 2.2.0 |
| 101 | OSD_GFORCE_X | 2.2.0 |
| 102 | OSD_GFORCE_Y | 2.2.0 |
| 103 | OSD_GFORCE_Z | 2.2.0 |
| 104 | OSD_RC_SOURCE | 2.2.0 |
| 105 | OSD_VTX_POWER | 2.2.0 |
| 106 | OSD_ESC_RPM | 2.3.0 |
| 107 | OSD_ESC_TEMPERATURE | 2.5.0 |
| 108 | OSD_AZIMUTH | 2.6.0 |
| 109 | OSD_CRSF_RSSI_DBM | 2.6.0 |
| 110 | OSD_CRSF_LQ | 2.6.0 |
| 111 | OSD_CRSF_SNR_DB | 2.6.0 |
| 112 | OSD_CRSF_TX_POWER | 2.6.0 |
| 113 | OSD_GVAR_0 | 2.6.0 |
| 114 | OSD_GVAR_1 | 2.6.0 |
| 115 | OSD_GVAR_2 | 2.6.0 |
| 116 | OSD_GVAR_3 | 2.6.0 |
| 117 | OSD_TPA | 2.6.0 |
| 118 | OSD_NAV_FW_CONTROL_SMOOTHNESS | 2.6.0 |
| 119 | OSD_VERSION | 3.0.0 |
| 120 | OSD_RANGEFINDER | 3.0.0 |
| 121 | OSD_PLIMIT_REMAINING_BURST_TIME | 3.0.0 |
| 122 | OSD_PLIMIT_ACTIVE_CURRENT_LIMIT | 3.0.0 |
| 123 | OSD_PLIMIT_ACTIVE_POWER_LIMIT | 3.0.0 |
| 124 | OSD_GLIDESLOPE | 3.0.1 |
| 125 | OSD_GPS_MAX_SPEED | 4.0.0 |
| 126 | OSD_3D_MAX_SPEED | 4.0.0 |
| 127 | OSD_AIR_MAX_SPEED | 4.0.0 |
| 128 | OSD_ACTIVE_PROFILE | 4.0.0 |
| 129 | OSD_MISSION | 4.0.0 |
| 130 | OSD_SWITCH_INDICATOR_0 | 5.0.0 |
| 131 | OSD_SWITCH_INDICATOR_1 | 5.0.0 |
| 132 | OSD_SWITCH_INDICATOR_2 | 5.0.0 |
| 133 | OSD_SWITCH_INDICATOR_3 | 5.0.0 |
| 134 | OSD_TPA_TIME_CONSTANT | 5.0.0 |
| 135 | OSD_FW_LEVEL_TRIM | 5.0.0 |
| 136 | OSD_GLIDE_TIME_REMAINING | 6.0.0 |
| 137 | OSD_GLIDE_RANGE | 6.0.0 |
| 138 | OSD_CLIMB_EFFICIENCY | 6.0.0 |
| 139 | OSD_NAV_WP_MULTI_MISSION_INDEX | 6.0.0 |
| 140 | OSD_GROUND_COURSE | 6.0.0 |
| 141 | OSD_CROSS_TRACK_ERROR | 6.0.0 |
| 142 | OSD_PILOT_NAME | 6.0.0 |
| 143 | OSD_PAN_SERVO_CENTRED | 6.0.0 |
| ID | Element | Added |
|-----|--------------------------------------------------|--------|
| 0 | OSD_RSSI_VALUE | 1.0.0 |
| 1 | OSD_MAIN_BATT_VOLTAGE | 1.0.0 |
| 2 | OSD_CROSSHAIRS | 1.0.0 |
| 3 | OSD_ARTIFICIAL_HORIZON | 1.0.0 |
| 4 | OSD_HORIZON_SIDEBARS | 1.0.0 |
| 5 | OSD_ONTIME | 1.0.0 |
| 6 | OSD_FLYTIME | 1.0.0 |
| 7 | OSD_FLYMODE | 1.0.0 |
| 8 | OSD_CRAFT_NAME | 1.0.0 |
| 9 | OSD_THROTTLE_POS | 1.0.0 |
| 10 | OSD_VTX_CHANNEL | 1.0.0 |
| 11 | OSD_CURRENT_DRAW | 1.0.0 |
| 12 | OSD_MAH_DRAWN | 1.0.0 |
| 13 | OSD_GPS_SPEED | 1.0.0 |
| 14 | OSD_GPS_SATS | 1.0.0 |
| 15 | OSD_ALTITUDE | 1.0.0 |
| 16 | OSD_ROLL_PIDS | 1.6.0 |
| 17 | OSD_PITCH_PIDS | 1.6.0 |
| 18 | OSD_YAW_PIDS | 1.6.0 |
| 19 | OSD_POWER | 1.6.0 |
| 20 | OSD_GPS_LON | 1.6.0 |
| 21 | OSD_GPS_LAT | 1.6.0 |
| 22 | OSD_HOME_DIR | 1.6.0 |
| 23 | OSD_HOME_DIST | 1.6.0 |
| 24 | OSD_HEADING | 1.6.0 |
| 25 | OSD_VARIO | 1.6.0 |
| 26 | OSD_VARIO_NUM | 1.6.0 |
| 27 | OSD_AIR_SPEED | 1.7.3 |
| 28 | OSD_ONTIME_FLYTIME | 1.8.0 |
| 29 | OSD_RTC_TIME | 1.8.0 |
| 30 | OSD_MESSAGES | 1.8.0 |
| 31 | OSD_GPS_HDOP | 1.8.0 |
| 32 | OSD_MAIN_BATT_CELL_VOLTAGE | 1.8.0 |
| 33 | OSD_SCALED_THROTTLE_POS | 1.8.0 |
| 34 | OSD_HEADING_GRAPH | 1.8.0 |
| 35 | OSD_EFFICIENCY_MAH_PER_KM | 1.9.0 |
| 36 | OSD_WH_DRAWN | 1.9.0 |
| 37 | OSD_BATTERY_REMAINING_CAPACITY | 1.9.0 |
| 38 | OSD_BATTERY_REMAINING_PERCENT | 1.9.0 |
| 39 | OSD_EFFICIENCY_WH_PER_KM | 1.9.0 |
| 40 | OSD_TRIP_DIST | 1.9.1 |
| 41 | OSD_ATTITUDE_PITCH | 2.0.0 |
| 42 | OSD_ATTITUDE_ROLL | 2.0.0 |
| 43 | OSD_MAP_NORTH | 2.0.0 |
| 44 | OSD_MAP_TAKEOFF | 2.0.0 |
| 45 | OSD_RADAR | 2.0.0 |
| 46 | OSD_WIND_SPEED_HORIZONTAL | 2.0.0 |
| 47 | OSD_WIND_SPEED_VERTICAL | 2.0.0 |
| 48 | OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH | 2.0.0 |
| 49 | OSD_REMAINING_DISTANCE_BEFORE_RTH | 2.0.0 |
| 50 | OSD_HOME_HEADING_ERROR | 2.0.0 |
| 51 | OSD_COURSE_HOLD_ERROR | 2.0.0 |
| 52 | OSD_COURSE_HOLD_ADJUSTMENT | 2.0.0 |
| 53 | OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE | 2.0.0 |
| 54 | OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE | 2.0.0 |
| 55 | OSD_POWER_SUPPLY_IMPEDANCE | 2.0.0 |
| 56 | OSD_LEVEL_PIDS | 2.0.0 |
| 57 | OSD_POS_XY_PIDS | 2.0.0 |
| 58 | OSD_POS_Z_PIDS | 2.0.0 |
| 59 | OSD_VEL_XY_PIDS | 2.0.0 |
| 60 | OSD_VEL_Z_PIDS | 2.0.0 |
| 61 | OSD_HEADING_P | 2.0.0 |
| 62 | OSD_BOARD_ALIGN_ROLL | 2.0.0 |
| 63 | OSD_BOARD_ALIGN_PITCH | 2.0.0 |
| 64 | OSD_RC_EXPO | 2.0.0 |
| 65 | OSD_RC_YAW_EXPO | 2.0.0 |
| 66 | OSD_THROTTLE_EXPO | 2.0.0 |
| 67 | OSD_PITCH_RATE | 2.0.0 |
| 68 | OSD_ROLL_RATE | 2.0.0 |
| 69 | OSD_YAW_RATE | 2.0.0 |
| 70 | OSD_MANUAL_RC_EXPO | 2.0.0 |
| 71 | OSD_MANUAL_RC_YAW_EXPO | 2.0.0 |
| 72 | OSD_MANUAL_PITCH_RATE | 2.0.0 |
| 73 | OSD_MANUAL_ROLL_RATE | 2.0.0 |
| 74 | OSD_MANUAL_YAW_RATE | 2.0.0 |
| 75 | OSD_NAV_FW_CRUISE_THR | 2.0.0 |
| 76 | OSD_NAV_FW_PITCH2THR | 2.0.0 |
| 77 | OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE | 2.0.0 |
| 78 | OSD_DEBUG | 2.0.0 |
| 79 | OSD_FW_ALT_PID_OUTPUTS | 2.0.0 |
| 80 | OSD_FW_POS_PID_OUTPUTS | 2.0.0 |
| 81 | OSD_MC_VEL_X_PID_OUTPUTS | 2.0.0 |
| 82 | OSD_MC_VEL_Y_PID_OUTPUTS | 2.0.0 |
| 83 | OSD_MC_VEL_Z_PID_OUTPUTS | 2.0.0 |
| 84 | OSD_MC_POS_XYZ_P_OUTPUTS | 2.0.0 |
| 85 | OSD_3D_SPEED | 2.1.0 |
| 86 | OSD_IMU_TEMPERATURE | 2.1.0 |
| 87 | OSD_BARO_TEMPERATURE | 2.1.0 |
| 88 | OSD_TEMP_SENSOR_0_TEMPERATURE | 2.1.0 |
| 89 | OSD_TEMP_SENSOR_1_TEMPERATURE | 2.1.0 |
| 90 | OSD_TEMP_SENSOR_2_TEMPERATURE | 2.1.0 |
| 91 | OSD_TEMP_SENSOR_3_TEMPERATURE | 2.1.0 |
| 92 | OSD_TEMP_SENSOR_4_TEMPERATURE | 2.1.0 |
| 93 | OSD_TEMP_SENSOR_5_TEMPERATURE | 2.1.0 |
| 94 | OSD_TEMP_SENSOR_6_TEMPERATURE | 2.1.0 |
| 95 | OSD_TEMP_SENSOR_7_TEMPERATURE | 2.1.0 |
| 96 | OSD_ALTITUDE_MSL | 2.1.0 |
| 97 | OSD_PLUS_CODE | 2.1.0 |
| 98 | OSD_MAP_SCALE | 2.2.0 |
| 99 | OSD_MAP_REFERENCE | 2.2.0 |
| 100 | OSD_GFORCE | 2.2.0 |
| 101 | OSD_GFORCE_X | 2.2.0 |
| 102 | OSD_GFORCE_Y | 2.2.0 |
| 103 | OSD_GFORCE_Z | 2.2.0 |
| 104 | OSD_RC_SOURCE | 2.2.0 |
| 105 | OSD_VTX_POWER | 2.2.0 |
| 106 | OSD_ESC_RPM | 2.3.0 |
| 107 | OSD_ESC_TEMPERATURE | 2.5.0 |
| 108 | OSD_AZIMUTH | 2.6.0 |
| 109 | OSD_CRSF_RSSI_DBM | 2.6.0 |
| 110 | OSD_CRSF_LQ | 2.6.0 |
| 111 | OSD_CRSF_SNR_DB | 2.6.0 |
| 112 | OSD_CRSF_TX_POWER | 2.6.0 |
| 113 | OSD_GVAR_0 | 2.6.0 |
| 114 | OSD_GVAR_1 | 2.6.0 |
| 115 | OSD_GVAR_2 | 2.6.0 |
| 116 | OSD_GVAR_3 | 2.6.0 |
| 117 | OSD_TPA | 2.6.0 |
| 118 | OSD_NAV_FW_CONTROL_SMOOTHNESS | 2.6.0 |
| 119 | OSD_VERSION | 3.0.0 |
| 120 | OSD_RANGEFINDER | 3.0.0 |
| 121 | OSD_PLIMIT_REMAINING_BURST_TIME | 3.0.0 |
| 122 | OSD_PLIMIT_ACTIVE_CURRENT_LIMIT | 3.0.0 |
| 123 | OSD_PLIMIT_ACTIVE_POWER_LIMIT | 3.0.0 |
| 124 | OSD_GLIDESLOPE | 3.0.1 |
| 125 | OSD_GPS_MAX_SPEED | 4.0.0 |
| 126 | OSD_3D_MAX_SPEED | 4.0.0 |
| 127 | OSD_AIR_MAX_SPEED | 4.0.0 |
| 128 | OSD_ACTIVE_PROFILE | 4.0.0 |
| 129 | OSD_MISSION | 4.0.0 |
| 130 | OSD_SWITCH_INDICATOR_0 | 5.0.0 |
| 131 | OSD_SWITCH_INDICATOR_1 | 5.0.0 |
| 132 | OSD_SWITCH_INDICATOR_2 | 5.0.0 |
| 133 | OSD_SWITCH_INDICATOR_3 | 5.0.0 |
| 134 | OSD_TPA_TIME_CONSTANT | 5.0.0 |
| 135 | OSD_FW_LEVEL_TRIM | 5.0.0 |
| 136 | OSD_GLIDE_TIME_REMAINING | 6.0.0 |
| 137 | OSD_GLIDE_RANGE | 6.0.0 |
| 138 | OSD_CLIMB_EFFICIENCY | 6.0.0 |
| 139 | OSD_NAV_WP_MULTI_MISSION_INDEX | 6.0.0 |
| 140 | OSD_GROUND_COURSE | 6.0.0 |
| 141 | OSD_CROSS_TRACK_ERROR | 6.0.0 |
| 142 | OSD_PILOT_NAME | 6.0.0 |
| 143 | OSD_PAN_SERVO_CENTRED | 6.0.0 |
| 144 | OSD_MULTI_FUNCTION | 7.0.0 |
| 145 | OSD_ODOMETER | 7.0.0 |
| 146 | OSD_PILOT_LOGO | 7.0.0 |
# Pilot Logos
From INAV 7.0.0, pilots can add their own logos to the OSD. These can appear in 2 places: the power on/arming screens or as an element on the standard OSD. Please note that the power on/arming screen large pilot logos are only available on HD systems.
To use the pilot logos, you will need to make a custom font for your OSD system. Base fonts and information can be found in the [OSD folder](https://github.com/iNavFlight/inav-configurator/tree/master/resources/osd) in the Configurator resources. Each system will need a specific method to create the font image files. So they will not be covered here. There are two pilot logos.
<img alt="Default small INAV Pilot logo" src="https://github.com/iNavFlight/inav-configurator/raw/master/resources/osd/digital/default/24x36/469_471.png" align="right" />The small pilot logo appears on standard OSD layouts, when you add the elemement to the OSD screen. This is a 3 character wide symbol (characters 469-471).
<img alt="Default large INAV Pilot logo" src="https://github.com/iNavFlight/inav-configurator/raw/master/resources/osd/digital/default/24x36/472_511.png" align="right" />The large pilot logo appears on the power on and arming screens, when you enable the feature in the CLI. To do this, set the `osd_use_pilot_logo` parameter to `on`. This is a 10 character wide, 4 character high symbol (characters 472-511).
## Settings
* `osd_arm_screen_display_time` The amount of time the arming screen is displayed.
* `osd_inav_to_pilot_logo_spacing` The spacing between two logos. This can be set to `0`, so the original INAV logo and Pilot Logo can be combined in to a larger logo. Any non-0 value will be adjusted to best align the logos. For example, the Avatar system has an odd number of columns. If you set the spacing to 8, the logos would look misaligned. So the even number will be changed to an odd number for better alignment.
* `osd_use_pilot_logo` Enable to use the large pilot logo.
## Examples
This is an example of the arming screen with the pilot logo enabled. This is using the default settings.
![Arming screen example using default settings with osd_use_pilot_logo set to on](https://user-images.githubusercontent.com/17590174/271817487-eb18da4d-0911-44b2-b670-ea5940f79176.png)
This is an example of setting the `osd_inav_to_pilot_logo_spacing` to 0. This will allow a larger, single logo.
![Power on screen example with 0 spacing between logos](https://user-images.githubusercontent.com/17590174/271817352-6206402c-9da4-4682-9d83-790cc2396b00.png)

6
docs/Programming Framework.md
View file

@ -83,7 +83,7 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
| 35 | Trigonometry: Tangent | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
| 36 | MAP_INPUT | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled |
| 37 | MAP_OUTPUT | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled |
| 38 | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` |
| 38 | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B`. Note operand A should normally be set as a "Value", NOT as "Get RC Channel"|
| 39 | SET_HEADING_TARGET | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
| 40 | Modulo | Modulo. Divide `Operand A` by `Operand B` and returns the remainder |
| 41 | LOITER_RADIUS_OVERRIDE | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. If the value is lower than the loiter radius set in the **Advanced Tuning**, that will be used. |
@ -97,6 +97,7 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
| 49 | TIMER | A simple on - off timer. `true` for the duration of `Operand A` [ms]. Then `false` for the duration of `Operand B` [ms]. |
| 50 | DELTA | This returns `true` when the value of `Operand A` has changed by the value of `Operand B` or greater within 100ms. |
| 51 | APPROX_EQUAL | `true` if `Operand B` is within 1% of `Operand A`. |
| 52 | LED_PIN_PWM | Value `Operand A` from [`0` : `100`] starts PWM generation on LED Pin. See [LED pin PWM](LED%20pin%20PWM.md). Any other value stops PWM generation (stop to allow ws2812 LEDs updates in shared modes)|
### Operands
@ -152,6 +153,9 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
| 35 | AGL_STATUS | boolean `1` when AGL can be trusted, `0` when AGL estimate can not be trusted |
| 36 | AGL | integer Above The Groud Altitude in `cm` |
| 37 | RANGEFINDER_RAW | integer raw distance provided by the rangefinder in `cm` |
| 38 | ACTIVE_MIXER_PROFILE | Which mixers are currently active (for vtol etc) |
| 39 | MIXER_TRANSITION_ACTIVE | Currently switching between mixers (quad to plane etc) |
| 40 | ATTITUDE_YAW | current heading (yaw) in `degrees` |
#### FLIGHT_MODE

32
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@ -0,0 +1,32 @@
# Runcam device
Cameras which support [Runcam device protocol](https://support.runcam.com/hc/en-us/articles/360014537794-RunCam-Device-Protocol), can be configured using sticks.
Note that for cameras which has OSD pin, there is alternative functionality: [OSD Joystick](OSD%20Joystick.md).
Camera's RX/TX should be connected to FC's UART, which has "Runcam device" option selected.
# Entering Joystick emulation mode
Emulation can be enabled in unarmed state only.
Joystick emulation mode is enabled using the following stick combination:
```RIGHT CENTER```
Than camera OSD can be navigated using right stick. See [Controls](Controls.md) for all stick combinations.
*Note that the same stick combination is used to enable [OSD Joystick](OSD%20Joystick.md).*
Mode is exited using stick combination:
```LEFT CENTER```
# RC Box
There are 3 RC Boxes which can be used in armed and unarmed state:
- Camera 1 - Simulate Wifi button
- Camera 2 - Simulate POWER button
- Camera 3 - Simulate Change Mode button.

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@ -258,7 +258,7 @@ Inertia force compensation method when gps is avaliable, VELNED use the acclerat
| Default | Min | Max |
| --- | --- | --- |
| VELNED | | |
| ADAPTIVE | | |
---
@ -872,6 +872,96 @@ Enable when BLHeli32 Auto Telemetry function is used. Disable in every other cas
---
### ez_aggressiveness
EzTune aggressiveness
| Default | Min | Max |
| --- | --- | --- |
| 100 | 0 | 200 |
---
### ez_axis_ratio
EzTune axis ratio
| Default | Min | Max |
| --- | --- | --- |
| 110 | 25 | 175 |
---
### ez_damping
EzTune damping
| Default | Min | Max |
| --- | --- | --- |
| 100 | 0 | 200 |
---
### ez_enabled
Enables EzTune feature
| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |
---
### ez_expo
EzTune expo
| Default | Min | Max |
| --- | --- | --- |
| 100 | 0 | 200 |
---
### ez_filter_hz
EzTune filter cutoff frequency
| Default | Min | Max |
| --- | --- | --- |
| 110 | 10 | 300 |
---
### ez_rate
EzTune rate
| Default | Min | Max |
| --- | --- | --- |
| 100 | 0 | 200 |
---
### ez_response
EzTune response
| Default | Min | Max |
| --- | --- | --- |
| 100 | 0 | 200 |
---
### ez_stability
EzTune stability
| Default | Min | Max |
| --- | --- | --- |
| 100 | 0 | 200 |
---
### failsafe_delay
Time in deciseconds to wait before activating failsafe when signal is lost. See [Failsafe documentation](Failsafe.md#failsafe_delay).
@ -1222,16 +1312,6 @@ Iterm is not allowed to grow when stick position is above threshold. This solves
---
### fw_iterm_throw_limit
Limits max/min I-term value in stabilization PID controller in case of Fixed Wing. It solves the problem of servo saturation before take-off/throwing the airplane into the air. By default, error accumulated in I-term can not exceed 1/3 of servo throw (around 165us). Set 0 to disable completely.
| Default | Min | Max |
| --- | --- | --- |
| 165 | FW_ITERM_THROW_LIMIT_MIN | FW_ITERM_THROW_LIMIT_MAX |
---
### fw_level_pitch_gain
I-gain for the pitch trim for self-leveling flight modes. Higher values means that AUTOTRIM will be faster but might introduce oscillations
@ -1932,6 +2012,16 @@ Used to prevent Iterm accumulation on during maneuvers. Iterm will be dampened w
---
### led_pin_pwm_mode
PWM mode of LED pin.
| Default | Min | Max |
| --- | --- | --- |
| SHARED_LOW | | |
---
### ledstrip_visual_beeper
_// TODO_
@ -3438,7 +3528,7 @@ Multicopter hover throttle hint for altitude controller. Should be set to approx
| Default | Min | Max |
| --- | --- | --- |
| 1500 | 1000 | 2000 |
| 1300 | 1000 | 2000 |
---
@ -4012,6 +4102,16 @@ Value above which to make the OSD relative altitude indicator blink (meters)
---
### osd_arm_screen_display_time
Amount of time to display the arm screen [ms]
| Default | Min | Max |
| --- | --- | --- |
| 1500 | 1000 | 5000 |
---
### osd_baro_temp_alarm_max
Temperature above which the baro temperature OSD element will start blinking (decidegrees centigrade)
@ -4342,6 +4442,76 @@ Temperature under which the IMU temperature OSD element will start blinking (dec
---
### osd_inav_to_pilot_logo_spacing
The space between the INAV and pilot logos, if `osd_use_pilot_logo` is `ON`. This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen.
| Default | Min | Max |
| --- | --- | --- |
| 8 | 0 | 20 |
---
### osd_joystick_down
PWM value for DOWN key
| Default | Min | Max |
| --- | --- | --- |
| 0 | 0 | 100 |
---
### osd_joystick_enabled
Enable OSD Joystick emulation
| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |
---
### osd_joystick_enter
PWM value for ENTER key
| Default | Min | Max |
| --- | --- | --- |
| 75 | 0 | 100 |
---
### osd_joystick_left
PWM value for LEFT key
| Default | Min | Max |
| --- | --- | --- |
| 63 | 0 | 100 |
---
### osd_joystick_right
PWM value for RIGHT key
| Default | Min | Max |
| --- | --- | --- |
| 28 | 0 | 100 |
---
### osd_joystick_up
PWM value for UP key
| Default | Min | Max |
| --- | --- | --- |
| 48 | 0 | 100 |
---
### osd_left_sidebar_scroll
_// TODO_
@ -4372,9 +4542,9 @@ LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50
---
### osd_mah_used_precision
### osd_mah_precision
Number of digits used to display mAh used.
Number of digits used for mAh precision. Currently used by mAh Used and Battery Remaining Capacity
| Default | Min | Max |
| --- | --- | --- |
@ -4762,6 +4932,16 @@ IMPERIAL, METRIC, UK
---
### osd_use_pilot_logo
Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511
| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |
---
### osd_video_system
Video system used. Possible values are `AUTO`, `PAL`, `NTSC`, `HDZERO`, 'DJIWTF', 'AVATAR' and `BF43COMPAT`
@ -4772,6 +4952,16 @@ Video system used. Possible values are `AUTO`, `PAL`, `NTSC`, `HDZERO`, 'DJIWTF'
---
### pid_iterm_limit_percent
Limits max/min I-term value in stabilization PID controller. It solves the problem of servo saturation before take-off/throwing the airplane into the air. Or multirotors with low authority. By default, error accumulated in I-term can not exceed 33% of total pid throw (around 165us on deafult pidsum_limit of pitch/roll). Set 0 to disable completely.
| Default | Min | Max |
| --- | --- | --- |
| 33 | 0 | 200 |
---
### pid_type
Allows to set type of PID controller used in control loop. Possible values: `NONE`, `PID`, `PIFF`, `AUTO`. Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use `PIFF` and multirotors `PID`
@ -5682,9 +5872,19 @@ See tpa_rate.
---
### tpa_on_yaw
Throttle PID attenuation also reduces influence on YAW for multi-rotor, Should be set to ON for tilting rotors.
| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |
---
### tpa_rate
Throttle PID attenuation reduces influence of P on ROLL and PITCH as throttle increases. For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate.
Throttle PID attenuation reduces influence of PDFF on ROLL and PITCH of multi-rotor, PIDFF on ROLL,PITCH,YAW OF fixed_wing as throttle increases. For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate.
| Default | Min | Max |
| --- | --- | --- |

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@ -0,0 +1,236 @@
# Welcome to INAV VTOL
Thank you for trying the INAV VTOL. Read every line in this tutorial. Your patience can save both time and potential repair costs for the model.
## Who Should Use This Tutorial?
This tutorial is designed for individuals who
- have prior experience with **both INAV multi-rotor and INAV fixed-wing configurations/operations.**
- know how to create a custom mixer for their model.
- know basic physics of vtol operation
## Firmware Status
The firmware is in a flyable state, but it hasn't undergone extensive testing yet. This means there may be potential issues that have not yet been discovered.
## Future Changes
Please be aware that both the setup procedure and firmware may change in response to user feedback and testing results.
## Your Feedback Matters
We highly value your feedback as it plays a crucial role in the development and refinement of INAV VTOL capabilities. Please share your experiences, suggestions, and any issues you encounter during testing. Your insights are invaluable in making INAV VTOL better for everyone.
# VTOL Configuration Steps
### The VTOL functionality is achieved by switching/transitioning between two configurations stored in the FC. VTOL specific configurations are Mixer Profiles with associated PID profiles. One profile set is for fixed-wing(FW) mode, One is for multi-copter(MC) mode. Configuration/Settings other than Mixer/PID profiles are shared among two modes
![Alt text](Screenshots/mixerprofile_flow.png)
0. **Find a DIFF ALL file for your model and start from there if possible**
- Be aware that `MIXER PROFILE 2` RC mode setting introduced by diff file can get your stuck in a mixer_profile. remove or change channel to proceed
1. **Setup Profile 1:**
- Configure it as a normal fixed-wing/multi-copter.
2. **Setup Profile 2:**
- Configure it as a normal multi-copter/fixed-wing.
3. **Mode Tab Settings:**
- Set up switching in the mode tab.
4. *(Recommended)* **Transition Mixing (Multi-Rotor Profile):**
- Configure transition mixing to gain airspeed in the multi-rotor profile.
5. *(Optional)* **Automated Switching (RTH):**
- Optionally, set up automated switching in case of failsafe.
# STEP0: Load parameter preset/templates
Find a working diff file if you can and start from there. If not, select keep current settings and apply following parameter in cli but read description about which one to apply.
```
set small_angle = 180
set gyro_main_lpf_hz = 80
set dynamic_gyro_notch_min_hz = 50
set dynamic_gyro_notch_mode = 3D
set motor_pwm_protocol = DSHOT300 #Try dshot first and see if it works
set airmode_type = STICK_CENTER_ONCE
set nav_disarm_on_landing = OFF #band-aid for false landing detection in NAV landing of multi-copter
set nav_rth_allow_landing = FS_ONLY
set nav_wp_max_safe_distance = 500
set nav_fw_control_smoothness = 2
set nav_fw_launch_max_altitude = 5000
set servo_pwm_rate = 160 #If model using servo for stabilization in MC mode and servo can tolerate it
set servo_lpf_hz = 30 #If model using servo for stabilization in MC mode
## profile 1 as airplane and profile 2 as multi rotor
mixer_profile 1
set platform_type = AIRPLANE
set model_preview_type = 26
set motorstop_on_low = ON
set mixer_pid_profile_linking = ON
mixer_profile 2
set platform_type = TRICOPTER
set model_preview_type = 1
set mixer_pid_profile_linking = ON
profile 1 #pid profile
set dterm_lpf_hz = 10
set d_boost_min = 1.000
set d_boost_max = 1.000
set fw_level_pitch_trim = 5.000
set roll_rate = 18
set pitch_rate = 9
set yaw_rate = 3
set fw_turn_assist_pitch_gain = 0.4
set max_angle_inclination_rll = 450
set fw_ff_pitch = 80
set fw_ff_roll = 50
set fw_p_pitch = 15
set fw_p_roll = 15
profile 2
set dterm_lpf_hz = 60
set dterm_lpf_type = PT3
set d_boost_min = 0.800
set d_boost_max = 1.200
set d_boost_gyro_delta_lpf_hz = 60
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set smith_predictor_delay = 1.500
set tpa_rate = 20
set tpa_breakpoint = 1200
set tpa_on_yaw = ON #If model using control surface/tilt mechanism for stabilization in MC mode
set roll_rate = 18
set pitch_rate = 18
set yaw_rate = 9
set mc_iterm_relax = RPY
save
```
# STEP1&2: Configuring as a Normal fixed-wing/Multi-Copter in two profiles separately
1. **Select the fisrt Mixer Profile and PID Profile:**
- In the CLI, switch to the mixer_profile and pid_profile you wish to set first. You can also switch mixer_profile/pid_profile through gui if with aforementioned presets loaded.
```
mixer_profile 1 #in this example, we set profile 1 first
set mixer_pid_profile_linking = ON # Let the mixer_profile handle the pid_profile switch on this mixer_profile
set platform_type = AIRPLANE
save
```
2. **Configure the fixed-wing/Multi-Copter:**
- Configure your fixed-wing/Multi-Copter as you normally would, or you can copy and paste default settings to expedite the process.
- Dshot esc protocol availability might be limited depends on outputs and fc board you are using. change the motor wiring or use oneshot/multishot esc protocol and calibrate throttle range.
- You can use throttle = -1 as a placeholder for the motor you wish to stop if the motor isn't the last motor
- Consider conducting a test flight to ensure that everything operates as expected. And tune the settings, trim the servos.
![Alt text](Screenshots/mixerprofile_fw_mixer.png)
3. **Switch to Another Mixer Profile with PID Profile:**
- In the CLI, switch to another mixer_profile along with the appropriate pid_profile. You can also switch mixer_profile/pid_profile through gui if with aforementioned presets loaded.
```
mixer_profile 2
set mixer_pid_profile_linking = ON
set platform_type = MULTIROTOR/TRICOPTER
save
```
4. **Configure the Multi-Copter/fixed-wing:**
- Set up your multi-copter/fixed-wing as usual, this time for mixer_profile 2 and pid_profile 2.
- Utilize the 'MAX' input in the servo mixer to tilt the motors without altering the servo midpoint.
- At this stage, focus on configuring profile-specific settings. You can streamline this process by copying and pasting the default PID settings.
- you can set -1 in motor mixer throttle as a place holder: disable that motor but will load following motor rules
- compass is required to enable navigation modes for multi-rotor profile.
- Consider conducting a test flight to ensure that everything operates as expected. And tune the settings.
- It is advisable to have a certain degree of control surface (elevon / elevator) mapping for stabilization even in multi-copter mode. This helps improve control authority when airspeed is high. It might be unable to recover from a dive without them.
![Alt text](Screenshots/mixerprofile_mc_mixer.png)
5. **Tailsitters:planned for INAV 7.1**
- Configure the fixed-wing mode/profile sets normally. Use MultiCopter platform type for tail_sitting flying mode/profile sets.
- The baseline board aliment is FW mode(ROLL axis is the trust axis). So set `tailsitter_orientation_offset = ON ` in the tail_sitting MC mode.
- Configure mixer ROLL/YAW mixing according to tail_sitting orientation in the tail_sitting MC mode. YAW axis is the trust axis.
- Conduct a bench test and see the orientation of the model changes in inav-configurator setup tab
# STEP3: Mode Tab Settings:
### We recommend using an 3-pos switch on you radio to activate these modes, So pilot can jump in or bell out at any moment.
### Here is a example, in the bottom of inav-configurator Modes tab:
![Alt text](Screenshots/mixer_profile.png)
| 1000~1300 | 1300~1700 | 1700~2000 |
| :-- | :-- | :-- |
| Profile1(FW) with transition off | Profile2(MC) with transition on | Profile2(MC) with transition off |
- Profile file switching becomes available after completing the runtime sensor calibration(15-30s after booting). And It is **not available** when a navigation mode or position hold is active.
- By default, `mixer_profile 1` is used. `mixer_profile 2` is used when the `MIXER PROFILE 2` mode is activate. Once configured successfully, you will notice that the profiles and model preview changes accordingly when you refresh the relevant INAV Configurator tabs.
- Use the `MIXER TRANSITION` mode to gain airspeed in MC profile, set `MIXER TRANSITION` accordingly.
Conduct a bench test on the model (without props attached). The model can now switch between fixed-wing and multi-copter modes while armed. Furthermore, it is capable of mid-air switching, resulting in an immediate stall upon entering fixed-wing profile
# STEP4: Transition Mixing (Multi-Rotor Profile)(Recommended)
### Transition Mixing is typically useful in multi-copter profile to gain airspeed in prior to entering the fixed-wing profile. When the `MIXER TRANSITION` mode is activated, the associated motor or servo will move according to your configured Transition Mixing.
Please note that transition input is disabled when a navigation mode is activated. The use of Transition Mixing is necessary to enable additional features such as VTOL RTH with out stalling.
## Servo 'Transition Mixing': Tilting rotor configuration.
Add new servo mixer rules, and select 'Mixer Transition' in input. Set the weight/rate according to your desired angle. This will allow tilting the motor for tilting rotor model.
![Alt text](Screenshots/mixerprofile_servo_transition_mix.png)
## Motor 'Transition Mixing': Dedicated forward motor configuration
In motor mixer set:
- -2.0 < throttle < -1.0: The motor will spin regardless of the radio's throttle position at a speed of `abs(throttle) - 1` multiplied by throttle range only when Mixer Transition is activated.
![Alt text](Screenshots/mixerprofile_4puls1_mix.png)
## TailSitter 'Transition Mixing':
No additional settings needed, 45deg off set will be added to target pitch angle for angle mode in the firmware.
### With aforementioned settings, your model should be able to enter fixed-wing profile without stalling.
# Automated Switching (RTH) (Optional):
### This is one of the least tested features. This feature is primarily designed for Return to Home (RTH) in the event of a failsafe.
When configured correctly, the model will use the Fixed-Wing (FW) mode to efficiently return home and then transition to Multi-Copter (MC) mode for easier landing.
To enable this feature, type following command in cli
1. In your MC mode mixer profile (e.g., mixer_profile 2), set `mixer_automated_switch` to `ON`. leave it to `OFF` if burning remaining battery capacity on the way home is acceptable.
```
mixer_profile 2or1
set mixer_automated_switch= ON
```
2. Set `mixer_switch_trans_timer` ds in cli in the MC mode mixer profile to specify the time required for your model to gain sufficient airspeed before transitioning to FW mode.
```
mixer_profile 2or1
set mixer_switch_trans_timer = 30 # 3s, 3000ms
```
3. In your FW mode mixer profile (e.g., mixer_profile 1), also set `mixer_automated_switch` to `ON`. leave it to `OFF` if automated landing in fixed-wing is acceptable.
```
mixer_profile 1or2
set mixer_automated_switch = ON
```
4. Save your settings. type `save` in cli.
If you set `mixer_automated_switch` to `OFF` for all mixer profiles (the default setting), the model will not perform automated transitions. You can always enable navigation modes after performing a manual transition.
# Notes and Experiences
## General
- VTOL model operating in multi-copter (MC) mode may encounter challenges in windy conditions. Please exercise caution when testing in such conditions.
- Make sure you can recover from a complete stall before trying the mid air transition
- It will be much safer if you can understand every line in diff all, read your diff all before maiden
## Tilting-rotor
- In some tilting motor models, you may experience roll/yaw coupled oscillations when `MIXER TRANSITION` is activated. To address this issue, you can try the following:
1. Use prop blade meets at top/rear prop direction for tilting motors to balance the effects of torque and P-factor.
2. In addition to 1. Add a little yaw mixing(about 0.2) in tilt motors.
- There will be a time window that tilting motors is providing up lift but rear motor isn't. Result in a sudden pitch raise on the entering of the mode. Use the max speed or faster speed in tiling servo to reduce the time window. OR lower the throttle on the entering of the FW mode to mitigate the effect.
## Dedicated forward motor
- Easiest way to setup a vtol. and efficiency can be improved by using different motor/prop for hover and forward flight

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15
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@ -37,8 +37,19 @@ You'll have to manually execute the same steps that the build script does:
+ This step is only needed the first time.
2. `docker run --rm -it -u root -v <PATH_TO_REPO>:/src inav-build <TARGET>`
+ Where `<PATH_TO_REPO>` must be replaced with the absolute path of where you cloned this repo (see above), and `<TARGET>` with the name of the target that you want to build.
+ Note that on Windows/WSL 2 mounted /src folder is writeable for root user only. You have to run build under root user. You can achieve this by using `-u root` option in the command line above, or by removing "USER inav" line from the .\DockerFile before building image.
+ Note that on Windows/WSL 2 mounted /src folder is writeable for root user only. You have to run build under root user. You can achieve this by using `-u root` option in the command line above.
3. If you need to update `Settings.md`, run `docker run --entrypoint /src/cmake/docker_docs.sh --rm -it -u root -v <PATH_TO_REPO>:/src inav-build`
3. If you need to update `Settings.md`, run:
`docker run --entrypoint /src/cmake/docker_docs.sh --rm -it -u root -v <PATH_TO_REPO>:/src inav-build`
4. Building SITL:
`docker run --rm --entrypoint /src/cmake/docker_build_sitl.sh -it -u root -v <PATH_TO_REPO>:/src inav-build`
5. Running SITL:
`docker run -p 5760:5760 -p 5761:5761 -p 5762:5762 -p 5763:5763 -p 5764:5764 -p 5765:5765 -p 5766:5766 -p 5767:5767 --entrypoint /src/cmake/docker_run_sitl.sh --rm -it -u root -v <PATH_TO_REPO>:/src inav-build`.
+ SITL command line parameters can be adjusted in `cmake/docker_run_sitl.sh`.
Refer to the [Linux](#Linux) instructions or the [build script](/build.sh) for more details.

4
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@ -36,7 +36,9 @@ To run `cmake` in the latest version you will need to update from Ubuntu `18_04
Mount MS windows C drive and clone INAV
1. `cd /mnt/c`
1. `git clone https://github.com/iNavFlight/inav.git`
2. `git clone https://github.com/iNavFlight/inav.git`
3. `git checkout 6.1.1` (to switch to a specific release tag, for this example INAV version 6.1.1)
4. `git checkout -b my-branch` (to create own branch)
You are ready!
You now have a folder called inav in the root of C drive that you can edit in windows

4
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@ -1,4 +1,4 @@
# Software In The Loop (HITL) plugin for X-Plane 11
# Hardware In The Loop (HITL) plugin for X-Plane 11/12
**Hardware-in-the-loop (HITL) simulation**, is a technique that is used in the development and testing of complex real-time embedded systems.
@ -6,6 +6,6 @@
**INAV-X-Plane-HITL** is plugin for **X-Plane** for testing and developing flight controllers with **INAV flight controller firmware**
https://github.com/iNavFlight/inav.
https://github.com/RomanLut/INAV-X-Plane-HITL
HITL technique can be used to test features during development. Please check page above for installation instructions.

4
src/main/CMakeLists.txt
View file

@ -341,6 +341,8 @@ main_sources(COMMON_SRC
flight/secondary_dynamic_gyro_notch.h
flight/dynamic_lpf.c
flight/dynamic_lpf.h
flight/ez_tune.c
flight/ez_tune.h
io/beeper.c
io/beeper.h
@ -523,6 +525,8 @@ main_sources(COMMON_SRC
io/osd_grid.h
io/osd_hud.c
io/osd_hud.h
io/osd_joystick.c
io/osd_joystick.h
io/smartport_master.c
io/smartport_master.h
io/vtx.c

6
src/main/cms/cms.h
View file

@ -37,9 +37,9 @@ void cmsYieldDisplay(displayPort_t *pPort, timeMs_t duration);
void cmsUpdate(uint32_t currentTimeUs);
void cmsSetExternKey(cms_key_e extKey);
#define CMS_STARTUP_HELP_TEXT1 "MENU: THR MID"
#define CMS_STARTUP_HELP_TEXT2 "+ YAW LEFT"
#define CMS_STARTUP_HELP_TEXT3 "+ PITCH UP"
#define CMS_STARTUP_HELP_TEXT1 "MENU: THR MID"
#define CMS_STARTUP_HELP_TEXT2 "+ YAW LEFT"
#define CMS_STARTUP_HELP_TEXT3 "+ PITCH UP"
// cmsMenuExit special ptr values
#define CMS_EXIT (0)

65
src/main/common/maths.h
View file

@ -25,15 +25,15 @@
#endif
// Undefine this for use libc sinf/cosf. Keep this defined to use fast sin/cos approximations
#define FAST_MATH // order 9 approximation
//#define VERY_FAST_MATH // order 7 approximation
#define FAST_MATH // order 9 approximation
//#define VERY_FAST_MATH // order 7 approximation
// Use floating point M_PI instead explicitly.
#define M_PIf 3.14159265358979323846f
#define M_LN2f 0.69314718055994530942f
#define M_Ef 2.71828182845904523536f
#define M_PIf 3.14159265358979323846f
#define M_LN2f 0.69314718055994530942f
#define M_Ef 2.71828182845904523536f
#define RAD (M_PIf / 180.0f)
#define RAD (M_PIf / 180.0f)
#define DEGREES_TO_CENTIDEGREES(angle) ((angle) * 100)
#define CENTIDEGREES_TO_DEGREES(angle) ((angle) / 100.0f)
@ -56,46 +56,46 @@
#define RADIANS_TO_CENTIDEGREES(angle) (((angle) * 100.0f) / RAD)
#define CENTIDEGREES_TO_RADIANS(angle) (((angle) / 100.0f) * RAD)
#define CENTIMETERS_TO_CENTIFEET(cm) (cm / 0.3048f)
#define CENTIMETERS_TO_FEET(cm) (cm / 30.48f)
#define CENTIMETERS_TO_METERS(cm) (cm / 100.0f)
#define CENTIMETERS_TO_CENTIFEET(cm) (cm / 0.3048f)
#define CENTIMETERS_TO_FEET(cm) (cm / 30.48f)
#define CENTIMETERS_TO_METERS(cm) (cm / 100.0f)
#define METERS_TO_CENTIMETERS(m) (m * 100)
#define METERS_TO_CENTIMETERS(m) (m * 100)
#define CMSEC_TO_CENTIMPH(cms) (cms * 2.2369363f)
#define CMSEC_TO_CENTIKPH(cms) (cms * 3.6f)
#define CMSEC_TO_CENTIKNOTS(cms) (cms * 1.943845f)
#define CMSEC_TO_CENTIMPH(cms) (cms * 2.2369363f)
#define CMSEC_TO_CENTIKPH(cms) (cms * 3.6f)
#define CMSEC_TO_CENTIKNOTS(cms) (cms * 1.943845f)
#define C_TO_KELVIN(temp) (temp + 273.15f)
// Standard Sea Level values
// Ref:https://en.wikipedia.org/wiki/Standard_sea_level
#define SSL_AIR_DENSITY 1.225f // kg/m^3
#define SSL_AIR_PRESSURE 101325.01576f // Pascal
#define SSL_AIR_TEMPERATURE 288.15f // K
#define SSL_AIR_DENSITY 1.225f // kg/m^3
#define SSL_AIR_PRESSURE 101325.01576f // Pascal
#define SSL_AIR_TEMPERATURE 288.15f // K
// copied from https://code.google.com/p/cxutil/source/browse/include/cxutil/utility.h#70
#define _CHOOSE2(binoper, lexpr, lvar, rexpr, rvar) \
( __extension__ ({ \
__typeof__(lexpr) lvar = (lexpr); \
__typeof__(rexpr) rvar = (rexpr); \
lvar binoper rvar ? lvar : rvar; \
}))
#define _CHOOSE2(binoper, lexpr, lvar, rexpr, rvar) \
( __extension__ ({ \
__typeof__(lexpr) lvar = (lexpr); \
__typeof__(rexpr) rvar = (rexpr); \
lvar binoper rvar ? lvar : rvar; \
}))
#define _CHOOSE_VAR2(prefix, unique) prefix##unique
#define _CHOOSE_VAR(prefix, unique) _CHOOSE_VAR2(prefix, unique)
#define _CHOOSE(binoper, lexpr, rexpr) \
_CHOOSE2( \
binoper, \
lexpr, _CHOOSE_VAR(_left, __COUNTER__), \
rexpr, _CHOOSE_VAR(_right, __COUNTER__) \
#define _CHOOSE(binoper, lexpr, rexpr) \
_CHOOSE2( \
binoper, \
lexpr, _CHOOSE_VAR(_left, __COUNTER__), \
rexpr, _CHOOSE_VAR(_right, __COUNTER__) \
)
#define MIN(a, b) _CHOOSE(<, a, b)
#define MAX(a, b) _CHOOSE(>, a, b)
#define _ABS_II(x, var) \
( __extension__ ({ \
__typeof__(x) var = (x); \
var < 0 ? -var : var; \
#define _ABS_II(x, var) \
( __extension__ ({ \
__typeof__(x) var = (x); \
var < 0 ? -var : var; \
}))
#define _ABS_I(x, var) _ABS_II(x, var)
#define ABS(x) _ABS_I(x, _CHOOSE_VAR(_abs, __COUNTER__))
@ -114,8 +114,7 @@ typedef union {
fp_angles_def angles;
} fp_angles_t;
typedef struct stdev_s
{
typedef struct stdev_s {
float m_oldM, m_newM, m_oldS, m_newS;
int m_n;
} stdev_t;

6
src/main/config/parameter_group_ids.h
View file

@ -120,7 +120,11 @@
#define PG_POWER_LIMITS_CONFIG 1030
#define PG_OSD_COMMON_CONFIG 1031
#define PG_TIMER_OVERRIDE_CONFIG 1032
#define PG_INAV_END 1032
#define PG_EZ_TUNE 1033
#define PG_LEDPIN_CONFIG 1034
#define PG_OSD_JOYSTICK_CONFIG 1035
#define PG_INAV_END PG_OSD_JOYSTICK_CONFIG
// OSD configuration (subject to change)
//#define PG_OSD_FONT_CONFIG 2047

4
src/main/drivers/accgyro/accgyro_bmi270.c
View file

@ -214,7 +214,7 @@ static void bmi270AccAndGyroInit(gyroDev_t *gyro)
delay(1);
// Configure the accelerometer full-scale range
busWrite(busDev, BMI270_REG_ACC_RANGE, BMI270_ACC_RANGE_8G);
busWrite(busDev, BMI270_REG_ACC_RANGE, BMI270_ACC_RANGE_16G);
delay(1);
// Configure the gyro
@ -301,7 +301,7 @@ static void bmi270GyroInit(gyroDev_t *gyro)
static void bmi270AccInit(accDev_t *acc)
{
// sensor is configured during gyro init
acc->acc_1G = 4096; // 8G sensor scale
acc->acc_1G = 2048; // 16G sensor scale
}
bool bmi270AccDetect(accDev_t *acc)

13
src/main/drivers/accgyro/accgyro_icm42605.c
View file

@ -78,11 +78,13 @@
#define ICM42605_INT_TPULSE_DURATION_100 (0 << ICM42605_INT_TPULSE_DURATION_BIT)
#define ICM42605_INT_TPULSE_DURATION_8 (1 << ICM42605_INT_TPULSE_DURATION_BIT)
#define ICM42605_RA_INT_SOURCE0 0x65
#define ICM42605_UI_DRDY_INT1_EN_DISABLED (0 << 3)
#define ICM42605_UI_DRDY_INT1_EN_ENABLED (1 << 3)
#define ICM42605_INTF_CONFIG1 0x4D
#define ICM42605_INTF_CONFIG1_AFSR_MASK 0xC0
#define ICM42605_INTF_CONFIG1_AFSR_DISABLE 0x40
static void icm42605AccInit(accDev_t *acc)
{
@ -190,6 +192,15 @@ static void icm42605AccAndGyroInit(gyroDev_t *gyro)
busWrite(dev, ICM42605_RA_INT_CONFIG1, intConfig1Value);
delay(15);
//Disable AFSR as in BF and Ardupilot
uint8_t intfConfig1Value;
busRead(dev, ICM42605_INTF_CONFIG1, &intfConfig1Value);
intfConfig1Value &= ~ICM42605_INTF_CONFIG1_AFSR_MASK;
intfConfig1Value |= ICM42605_INTF_CONFIG1_AFSR_DISABLE;
busWrite(dev, ICM42605_INTF_CONFIG1, intfConfig1Value);
delay(15);
busSetSpeed(dev, BUS_SPEED_FAST);
}

2
src/main/drivers/bus_i2c_at32f43x.c
View file

@ -70,7 +70,7 @@ static void i2cUnstick(IO_t scl, IO_t sda);
//Define thi I2C hardware map
static i2cDevice_t i2cHardwareMap[I2CDEV_COUNT] = {
{ .dev = I2C1, .scl = IO_TAG(I2C1_SCL), .sda = IO_TAG(I2C1_SDA), .rcc = RCC_APB1(I2C1), .speed = I2C_SPEED_400KHZ, .ev_irq = I2C1_EVT_IRQn, .er_irq = I2C1_ERR_IRQn, .af = GPIO_MUX_8 },
{ .dev = I2C1, .scl = IO_TAG(I2C1_SCL), .sda = IO_TAG(I2C1_SDA), .rcc = RCC_APB1(I2C1), .speed = I2C_SPEED_400KHZ, .ev_irq = I2C1_EVT_IRQn, .er_irq = I2C1_ERR_IRQn, .af = GPIO_MUX_4 },
{ .dev = I2C2, .scl = IO_TAG(I2C2_SCL), .sda = IO_TAG(I2C2_SDA), .rcc = RCC_APB1(I2C2), .speed = I2C_SPEED_400KHZ, .ev_irq = I2C2_EVT_IRQn, .er_irq = I2C2_ERR_IRQn, .af = GPIO_MUX_4 },
{ .dev = I2C3, .scl = IO_TAG(I2C3_SCL), .sda = IO_TAG(I2C3_SDA), .rcc = RCC_APB1(I2C3), .speed = I2C_SPEED_400KHZ, .ev_irq = I2C3_EVT_IRQn, .er_irq = I2C3_ERR_IRQn, .af = GPIO_MUX_4 },
};

104
src/main/drivers/light_ws2811strip.c
View file

@ -43,15 +43,26 @@
#include "drivers/timer.h"
#include "drivers/light_ws2811strip.h"
#include "config/parameter_group_ids.h"
#include "fc/settings.h"
#include "fc/runtime_config.h"
#define WS2811_PERIOD (WS2811_TIMER_HZ / WS2811_CARRIER_HZ)
#define WS2811_BIT_COMPARE_1 ((WS2811_PERIOD * 2) / 3)
#define WS2811_BIT_COMPARE_0 (WS2811_PERIOD / 3)
PG_REGISTER_WITH_RESET_TEMPLATE(ledPinConfig_t, ledPinConfig, PG_LEDPIN_CONFIG, 0);
PG_RESET_TEMPLATE(ledPinConfig_t, ledPinConfig,
.led_pin_pwm_mode = SETTING_LED_PIN_PWM_MODE_DEFAULT
);
static DMA_RAM timerDMASafeType_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE];
static IO_t ws2811IO = IO_NONE;
static TCH_t * ws2811TCH = NULL;
static bool ws2811Initialised = false;
static bool pwmMode = false;
static hsvColor_t ledColorBuffer[WS2811_LED_STRIP_LENGTH];
@ -91,6 +102,24 @@ void setStripColors(const hsvColor_t *colors)
}
}
bool ledConfigureDMA(void) {
/* Compute the prescaler value */
uint8_t period = WS2811_TIMER_HZ / WS2811_CARRIER_HZ;
timerConfigBase(ws2811TCH, period, WS2811_TIMER_HZ);
timerPWMConfigChannel(ws2811TCH, 0);
return timerPWMConfigChannelDMA(ws2811TCH, ledStripDMABuffer, sizeof(ledStripDMABuffer[0]), WS2811_DMA_BUFFER_SIZE);
}
void ledConfigurePWM(void) {
timerConfigBase(ws2811TCH, 100, WS2811_TIMER_HZ );
timerPWMConfigChannel(ws2811TCH, 0);
timerPWMStart(ws2811TCH);
timerEnable(ws2811TCH);
pwmMode = true;
}
void ws2811LedStripInit(void)
{
const timerHardware_t * timHw = timerGetByTag(IO_TAG(WS2811_PIN), TIM_USE_ANY);
@ -104,27 +133,32 @@ void ws2811LedStripInit(void)
return;
}
/* Compute the prescaler value */
uint8_t period = WS2811_TIMER_HZ / WS2811_CARRIER_HZ;
ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN));
IOInit(ws2811IO, OWNER_LED_STRIP, RESOURCE_OUTPUT, 0);
IOConfigGPIOAF(ws2811IO, IOCFG_AF_PP_FAST, timHw->alternateFunction);
timerConfigBase(ws2811TCH, period, WS2811_TIMER_HZ);
timerPWMConfigChannel(ws2811TCH, 0);
if ( ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_LOW ) {
ledConfigurePWM();
*timerCCR(ws2811TCH) = 0;
} else if ( ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_HIGH ) {
ledConfigurePWM();
*timerCCR(ws2811TCH) = 100;
} else {
if (!ledConfigureDMA()) {
// If DMA failed - abort
ws2811Initialised = false;
return;
}
// If DMA failed - abort
if (!timerPWMConfigChannelDMA(ws2811TCH, ledStripDMABuffer, sizeof(ledStripDMABuffer[0]), WS2811_DMA_BUFFER_SIZE)) {
ws2811Initialised = false;
return;
// Zero out DMA buffer
memset(&ledStripDMABuffer, 0, sizeof(ledStripDMABuffer));
if ( ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_SHARED_HIGH ) {
ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE-1] = 255;
}
ws2811Initialised = true;
ws2811UpdateStrip();
}
// Zero out DMA buffer
memset(&ledStripDMABuffer, 0, sizeof(ledStripDMABuffer));
ws2811Initialised = true;
ws2811UpdateStrip();
}
bool isWS2811LedStripReady(void)
@ -140,7 +174,7 @@ STATIC_UNIT_TESTED void fastUpdateLEDDMABuffer(rgbColor24bpp_t *color)
uint32_t grb = (color->rgb.g << 16) | (color->rgb.r << 8) | (color->rgb.b);
for (int8_t index = 23; index >= 0; index--) {
ledStripDMABuffer[dmaBufferOffset++] = (grb & (1 << index)) ? WS2811_BIT_COMPARE_1 : WS2811_BIT_COMPARE_0;
ledStripDMABuffer[WS2811_DELAY_BUFFER_LENGTH + dmaBufferOffset++] = (grb & (1 << index)) ? WS2811_BIT_COMPARE_1 : WS2811_BIT_COMPARE_0;
}
}
@ -153,7 +187,7 @@ void ws2811UpdateStrip(void)
static rgbColor24bpp_t *rgb24;
// don't wait - risk of infinite block, just get an update next time round
if (timerPWMDMAInProgress(ws2811TCH)) {
if (pwmMode || timerPWMDMAInProgress(ws2811TCH)) {
return;
}
@ -178,4 +212,40 @@ void ws2811UpdateStrip(void)
timerPWMStartDMA(ws2811TCH);
}
//value
void ledPinStartPWM(uint16_t value) {
if (ws2811TCH == NULL) {
return;
}
if ( !pwmMode ) {
timerPWMStopDMA(ws2811TCH);
//FIXME: implement method to release DMA
ws2811TCH->dma->owner = OWNER_FREE;
ledConfigurePWM();
}
*timerCCR(ws2811TCH) = value;
}
void ledPinStopPWM(void) {
if (ws2811TCH == NULL || !pwmMode ) {
return;
}
if ( ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_HIGH ) {
*timerCCR(ws2811TCH) = 100;
return;
} else if ( ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_LOW ) {
*timerCCR(ws2811TCH) = 0;
return;
}
pwmMode = false;
if (!ledConfigureDMA()) {
ws2811Initialised = false;
}
}
#endif

22
src/main/drivers/light_ws2811strip.h
View file

@ -17,23 +17,41 @@
#pragma once
#include "common/color.h"
#include "config/parameter_group.h"
#define WS2811_LED_STRIP_LENGTH 32
#define WS2811_BITS_PER_LED 24
#define WS2811_DELAY_BUFFER_LENGTH 42 // for 50us delay
#define WS2811_DELAY_BUFFER_LENGTH 42 // for 50us delay
#define WS2811_DATA_BUFFER_SIZE (WS2811_BITS_PER_LED * WS2811_LED_STRIP_LENGTH)
#define WS2811_DMA_BUFFER_SIZE (WS2811_DATA_BUFFER_SIZE + WS2811_DELAY_BUFFER_LENGTH) // number of bytes needed is #LEDs * 24 bytes + 42 trailing bytes)
#define WS2811_DMA_BUFFER_SIZE (WS2811_DELAY_BUFFER_LENGTH + WS2811_DATA_BUFFER_SIZE + 1) // leading bytes (reset low 302us) + data bytes LEDS*3 + 1 byte(keep line high optionally)
#define WS2811_TIMER_HZ 2400000
#define WS2811_CARRIER_HZ 800000
typedef enum {
LED_PIN_PWM_MODE_SHARED_LOW = 0,
LED_PIN_PWM_MODE_SHARED_HIGH = 1,
LED_PIN_PWM_MODE_LOW = 2,
LED_PIN_PWM_MODE_HIGH = 3
} led_pin_pwm_mode_e;
typedef struct ledPinConfig_s {
uint8_t led_pin_pwm_mode; //led_pin_pwm_mode_e
} ledPinConfig_t;
PG_DECLARE(ledPinConfig_t, ledPinConfig);
void ws2811LedStripInit(void);
void ws2811LedStripHardwareInit(void);
void ws2811LedStripDMAEnable(void);
bool ws2811LedStripDMAInProgress(void);
//value 0...100
void ledPinStartPWM(uint16_t value);
void ledPinStopPWM(void);
void ws2811UpdateStrip(void);
void setLedHsv(uint16_t index, const hsvColor_t *color);

17
src/main/drivers/osd_symbols.h
View file

@ -58,7 +58,7 @@
// 0x26 // 038 ASCII &
#define SYM_VTX_POWER 0x27 // 039 VTx Power
// 0x28 // 040 to 062 ASCII
#define SYM_AH_NM 0x3F // 063 Ah/NM
#define SYM_AH_NM 0x3F // 063 Ah/NM
// 0x40 // 064 to 095 ASCII
#define SYM_MAH_NM_0 0x60 // 096 mAh/NM left
#define SYM_MAH_NM_1 0x61 // 097 mAh/NM right
@ -78,7 +78,7 @@
#define SYM_WH 0x6D // 109 WH
#define SYM_WH_KM 0x6E // 110 WH/KM
#define SYM_WH_MI 0x6F // 111 WH/MI
#define SYM_WH_NM 0x70 // 112 Wh/NM
#define SYM_WH_NM 0x70 // 112 Wh/NM
#define SYM_WATT 0x71 // 113 WATTS
#define SYM_MW 0x72 // 114 mW
#define SYM_KILOWATT 0x73 // 115 kW
@ -159,6 +159,7 @@
#define SYM_HEADING_W 0xCB // 203 Heading Graphic west
#define SYM_HEADING_DIVIDED_LINE 0xCC // 204 Heading Graphic
#define SYM_HEADING_LINE 0xCD // 205 Heading Graphic
#define SYM_MAX 0xCE // 206 MAX symbol
#define SYM_PROFILE 0xCF // 207 Profile symbol
#define SYM_SWITCH_INDICATOR_LOW 0xD0 // 208 Switch High
@ -175,10 +176,10 @@
#define SYM_FLIGHT_HOURS_REMAINING 0xDB // 219 Flight time (hours) remaining
#define SYM_GROUND_COURSE 0xDC // 220 Ground course
#define SYM_ALERT 0xDD // 221 General alert symbol
#define SYM_TERRAIN_FOLLOWING 0xFB // 251 Terrain following (also Alt adjust)
#define SYM_CROSS_TRACK_ERROR 0xFC // 252 Cross track error
#define SYM_LOGO_START 0x101 // 257 to 297, INAV logo
#define SYM_LOGO_WIDTH 10
#define SYM_LOGO_HEIGHT 4
@ -225,9 +226,10 @@
#define SYM_HUD_SIGNAL_3 0x163 // 355 Hud signal icon 75%
#define SYM_HUD_SIGNAL_4 0x164 // 356 Hud signal icon 100%
#define SYM_HOME_DIST 0x165 // 357 DIST
#define SYM_HOME_DIST 0x165 // 357 DIST
#define SYM_AH_CH_CENTER 0x166 // 358 Crossair center
#define SYM_FLIGHT_DIST_REMAINING 0x167 // 359 Flight distance reminaing
#define SYM_ODOMETER 0x168 // 360 Odometer
#define SYM_AH_CH_TYPE3 0x190 // 400 to 402, crosshair 3
#define SYM_AH_CH_TYPE4 0x193 // 403 to 405, crosshair 4
@ -261,8 +263,13 @@
#define SYM_SERVO_PAN_IS_OFFSET_L 0x1C7 // 455 Pan servo is offset left
#define SYM_SERVO_PAN_IS_OFFSET_R 0x1C8 // 456 Pan servo is offset right
#define SYM_PILOT_LOGO_SML_L 0x1D5 // 469 small Pilot logo Left
#define SYM_PILOT_LOGO_SML_C 0x1D6 // 470 small Pilot logo Centre
#define SYM_PILOT_LOGO_SML_R 0x1D7 // 471 small Pilot logo Right
#define SYM_PILOT_LOGO_LRG_START 0x1D8 // 472 to 511, Pilot logo
#else
#define TEMP_SENSOR_SYM_COUNT 0
#define TEMP_SENSOR_SYM_COUNT 0
#endif // USE_OSD

22
src/main/drivers/timer_impl_hal.c
View file

@ -81,13 +81,16 @@ void impl_timerConfigBase(TCH_t * tch, uint16_t period, uint32_t hz)
TIM_HandleTypeDef * timHandle = tch->timCtx->timHandle;
TIM_TypeDef * timer = tch->timCtx->timDef->tim;
if (timHandle->Instance == timer) {
uint16_t period1 = (period - 1) & 0xffff;
uint16_t prescaler1 = lrintf((float)timerGetBaseClock(tch) / hz + 0.01f) - 1;
if (timHandle->Instance == timer && timHandle->Init.Prescaler == prescaler1 && timHandle->Init.Period == period1) {
return;
}
timHandle->Instance = timer;
timHandle->Init.Prescaler = lrintf((float)timerGetBaseClock(tch) / hz + 0.01f) - 1;
timHandle->Init.Period = (period - 1) & 0xffff; // AKA TIMx_ARR
timHandle->Init.Prescaler = prescaler1;
timHandle->Init.Period = period1; // AKA TIMx_ARR
timHandle->Init.RepetitionCounter = 0;
timHandle->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
timHandle->Init.CounterMode = TIM_COUNTERMODE_UP;
@ -565,6 +568,15 @@ void impl_timerPWMStartDMA(TCH_t * tch)
void impl_timerPWMStopDMA(TCH_t * tch)
{
(void)tch;
// FIXME
const uint32_t streamLL = lookupDMALLStreamTable[DMATAG_GET_STREAM(tch->timHw->dmaTag)];
DMA_TypeDef *dmaBase = tch->dma->dma;
ATOMIC_BLOCK(NVIC_PRIO_MAX) {
LL_TIM_DisableDMAReq_CCx(tch->timHw->tim, lookupDMASourceTable[tch->timHw->channelIndex]);
LL_DMA_DisableStream(dmaBase, streamLL);
DMA_CLEAR_FLAG(tch->dma, DMA_IT_TCIF);
}
tch->dmaState = TCH_DMA_IDLE;
HAL_TIM_Base_Start(tch->timCtx->timHandle);
}

15
src/main/drivers/timer_impl_stdperiph.c
View file

@ -301,7 +301,12 @@ bool impl_timerPWMConfigChannelDMA(TCH_t * tch, void * dmaBuffer, uint8_t dmaBuf
TIM_CtrlPWMOutputs(timer, ENABLE);
TIM_ARRPreloadConfig(timer, ENABLE);
TIM_CCxCmd(timer, lookupTIMChannelTable[tch->timHw->channelIndex], TIM_CCx_Enable);
if (tch->timHw->output & TIMER_OUTPUT_N_CHANNEL) {
TIM_CCxNCmd(timer, lookupTIMChannelTable[tch->timHw->channelIndex], TIM_CCxN_Enable);
} else {
TIM_CCxCmd(timer, lookupTIMChannelTable[tch->timHw->channelIndex], TIM_CCx_Enable);
}
TIM_Cmd(timer, ENABLE);
dmaInit(tch->dma, OWNER_TIMER, 0);
@ -382,7 +387,12 @@ bool impl_timerPWMConfigDMABurst(burstDmaTimer_t *burstDmaTimer, TCH_t * tch, vo
TIM_CtrlPWMOutputs(timer, ENABLE);
TIM_ARRPreloadConfig(timer, ENABLE);
TIM_CCxCmd(timer, lookupTIMChannelTable[tch->timHw->channelIndex], TIM_CCx_Enable);
if (tch->timHw->output & TIMER_OUTPUT_N_CHANNEL) {
TIM_CCxNCmd(timer, lookupTIMChannelTable[tch->timHw->channelIndex], TIM_CCxN_Enable);
} else {
TIM_CCxCmd(timer, lookupTIMChannelTable[tch->timHw->channelIndex], TIM_CCx_Enable);
}
TIM_Cmd(timer, ENABLE);
if (!tch->timCtx->dmaBurstRef) {
@ -506,5 +516,6 @@ void impl_timerPWMStopDMA(TCH_t * tch)
{
DMA_Cmd(tch->dma->ref, DISABLE);
TIM_DMACmd(tch->timHw->tim, lookupDMASourceTable[tch->timHw->channelIndex], DISABLE);
tch->dmaState = TCH_DMA_IDLE;
TIM_Cmd(tch->timHw->tim, ENABLE);
}

2
src/main/drivers/timer_impl_stdperiph_at32.c
View file

@ -404,6 +404,6 @@ void impl_timerPWMStopDMA(TCH_t * tch)
{
dma_channel_enable(tch->dma->ref,FALSE);
tmr_dma_request_enable(tch->timHw->tim, lookupDMASourceTable[tch->timHw->channelIndex], FALSE);
tch->dmaState = TCH_DMA_IDLE;
tmr_counter_enable(tch->timHw->tim, TRUE);
}

16
src/main/fc/cli.c
View file

@ -68,6 +68,7 @@ bool cliMode = false;
#include "drivers/time.h"
#include "drivers/usb_msc.h"
#include "drivers/vtx_common.h"
#include "drivers/light_ws2811strip.h"
#include "fc/fc_core.h"
#include "fc/cli.h"
@ -1688,6 +1689,20 @@ static void cliModeColor(char *cmdline)
cliPrintLinef("mode_color %u %u %u", modeIdx, funIdx, color);
}
}
static void cliLedPinPWM(char *cmdline)
{
int i;
if (isEmpty(cmdline)) {
ledPinStopPWM();
cliPrintLine("PWM stopped");
} else {
i = fastA2I(cmdline);
ledPinStartPWM(i);
cliPrintLinef("PWM started: %d%%",i);
}
}
#endif
static void cliDelay(char* cmdLine) {
@ -4035,6 +4050,7 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("help", NULL, NULL, cliHelp),
#ifdef USE_LED_STRIP
CLI_COMMAND_DEF("led", "configure leds", NULL, cliLed),
CLI_COMMAND_DEF("ledpinpwm", "start/stop PWM on LED pin, 0..100 duty ratio", "[<value>]\r\n", cliLedPinPWM),
#endif
CLI_COMMAND_DEF("map", "configure rc channel order", "[<map>]", cliMap),
CLI_COMMAND_DEF("memory", "view memory usage", NULL, cliMemory),

4
src/main/fc/config.c
View file

@ -64,6 +64,7 @@
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/failsafe.h"
#include "flight/ez_tune.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
@ -426,6 +427,9 @@ bool setConfigProfile(uint8_t profileIndex)
systemConfigMutable()->current_profile_index = profileIndex;
// set the control rate profile to match
setControlRateProfile(profileIndex);
#ifdef USE_EZ_TUNE
ezTuneUpdate();
#endif
return ret;
}

1
src/main/fc/controlrate_profile.c
View file

@ -44,6 +44,7 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *instance)
.rcMid8 = SETTING_THR_MID_DEFAULT,
.rcExpo8 = SETTING_THR_EXPO_DEFAULT,
.dynPID = SETTING_TPA_RATE_DEFAULT,
.dynPID_on_YAW = SETTING_TPA_ON_YAW_DEFAULT,
.pa_breakpoint = SETTING_TPA_BREAKPOINT_DEFAULT,
.fixedWingTauMs = SETTING_FW_TPA_TIME_CONSTANT_DEFAULT
},

1
src/main/fc/controlrate_profile_config_struct.h
View file

@ -29,6 +29,7 @@ typedef struct controlRateConfig_s {
uint8_t rcMid8;
uint8_t rcExpo8;
uint8_t dynPID;
bool dynPID_on_YAW;
uint16_t pa_breakpoint; // Breakpoint where TPA is activated
uint16_t fixedWingTauMs; // Time constant of airplane TPA PT1-filter
} throttle;

91
src/main/fc/fc_core.c
View file

@ -106,6 +106,7 @@ enum {
#define EMERGENCY_ARMING_TIME_WINDOW_MS 10000
#define EMERGENCY_ARMING_COUNTER_STEP_MS 1000
#define EMERGENCY_ARMING_MIN_ARM_COUNT 10
#define EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS 5000
timeDelta_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
static timeUs_t flightTime = 0;
@ -120,6 +121,7 @@ uint8_t motorControlEnable = false;
static bool isRXDataNew;
static disarmReason_t lastDisarmReason = DISARM_NONE;
timeUs_t lastDisarmTimeUs = 0;
timeMs_t emergRearmStabiliseTimeout = 0;
static bool prearmWasReset = false; // Prearm must be reset (RC Mode not active) before arming is possible
static timeMs_t prearmActivationTime = 0;
@ -315,11 +317,11 @@ static void updateArmingStatus(void)
/* CHECK: Do not allow arming if Servo AutoTrim is enabled */
if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM)) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
}
ENABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
}
else {
DISABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
}
DISABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
}
#ifdef USE_DSHOT
/* CHECK: Don't arm if the DShot beeper was used recently, as there is a minimum delay before sending the next DShot command */
@ -435,6 +437,7 @@ void disarm(disarmReason_t disarmReason)
lastDisarmReason = disarmReason;
lastDisarmTimeUs = micros();
DISABLE_ARMING_FLAG(ARMED);
DISABLE_STATE(IN_FLIGHT_EMERG_REARM);
#ifdef USE_BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
@ -505,14 +508,27 @@ bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm)
return counter >= EMERGENCY_ARMING_MIN_ARM_COUNT;
}
#define TELEMETRY_FUNCTION_MASK (FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK | FUNCTION_TELEMETRY_IBUS)
bool emergInflightRearmEnabled(void)
{
/* Emergency rearm allowed within 5s timeout period after disarm if craft still flying */
timeMs_t currentTimeMs = millis();
emergRearmStabiliseTimeout = 0;
void releaseSharedTelemetryPorts(void) {
serialPort_t *sharedPort = findSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
while (sharedPort) {
mspSerialReleasePortIfAllocated(sharedPort);
sharedPort = findNextSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
if ((lastDisarmReason != DISARM_SWITCH && lastDisarmReason != DISARM_KILLSWITCH) ||
(currentTimeMs > US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS)) {
return false;
}
// allow emergency rearm if MR has vertical speed at least 1.5 sec after disarm indicating still flying
bool mcDisarmVertVelCheck = STATE(MULTIROTOR) && (currentTimeMs > US2MS(lastDisarmTimeUs) + 1500) && fabsf(getEstimatedActualVelocity(Z)) > 100.0f;
if (isProbablyStillFlying() || mcDisarmVertVelCheck) {
emergRearmStabiliseTimeout = currentTimeMs + 5000; // activate Angle mode for 5s after rearm to help stabilise craft
ENABLE_STATE(IN_FLIGHT_EMERG_REARM);
return true;
}
return false; // craft doesn't appear to be flying, don't allow emergency rearm
}
void tryArm(void)
@ -538,9 +554,10 @@ void tryArm(void)
#endif
#ifdef USE_PROGRAMMING_FRAMEWORK
if (!isArmingDisabled() || emergencyArmingIsEnabled() || LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_ARMING_SAFETY)) {
if (emergInflightRearmEnabled() || !isArmingDisabled() || emergencyArmingIsEnabled() ||
LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_ARMING_SAFETY)) {
#else
if (!isArmingDisabled() || emergencyArmingIsEnabled()) {
if (emergInflightRearmEnabled() || !isArmingDisabled() || emergencyArmingIsEnabled()) {
#endif
// If nav_extra_arming_safety was bypassed we always
// allow bypassing it even without the sticks set
@ -558,11 +575,14 @@ void tryArm(void)
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
//It is required to inform the mixer that arming was executed and it has to switch to the FORWARD direction
ENABLE_STATE(SET_REVERSIBLE_MOTORS_FORWARD);
logicConditionReset();
if (!STATE(IN_FLIGHT_EMERG_REARM)) {
resetLandingDetectorActiveState(); // reset landing detector after arming to avoid false detection before flight
logicConditionReset();
#ifdef USE_PROGRAMMING_FRAMEWORK
programmingPidReset();
programmingPidReset();
#endif
}
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
@ -595,6 +615,16 @@ void tryArm(void)
}
}
#define TELEMETRY_FUNCTION_MASK (FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK | FUNCTION_TELEMETRY_IBUS)
void releaseSharedTelemetryPorts(void) {
serialPort_t *sharedPort = findSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
while (sharedPort) {
mspSerialReleasePortIfAllocated(sharedPort);
sharedPort = findNextSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
}
}
void processRx(timeUs_t currentTimeUs)
{
// Calculate RPY channel data
@ -645,9 +675,12 @@ void processRx(timeUs_t currentTimeUs)
processRcAdjustments(CONST_CAST(controlRateConfig_t*, currentControlRateProfile), canUseRxData);
}
// Angle mode forced on briefly after emergency inflight rearm to help stabilise attitude (currently limited to MR)
bool emergRearmAngleEnforce = STATE(MULTIROTOR) && emergRearmStabiliseTimeout > US2MS(currentTimeUs);
bool autoEnableAngle = failsafeRequiresAngleMode() || navigationRequiresAngleMode() || emergRearmAngleEnforce;
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || failsafeRequiresAngleMode() || navigationRequiresAngleMode()) && sensors(SENSOR_ACC)) {
if (sensors(SENSOR_ACC) && (IS_RC_MODE_ACTIVE(BOXANGLE) || autoEnableAngle)) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
@ -727,6 +760,8 @@ void processRx(timeUs_t currentTimeUs)
} else {
DISABLE_FLIGHT_MODE(MANUAL_MODE);
}
}else{
DISABLE_FLIGHT_MODE(MANUAL_MODE);
}
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
@ -814,7 +849,6 @@ void processRx(timeUs_t currentTimeUs)
}
}
#endif
}
// Function for loop trigger
@ -871,7 +905,14 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
if (!ARMING_FLAG(ARMED)) {
armTime = 0;
processDelayedSave();
// Delay saving for 0.5s to allow other functions to process save actions on disarm
if (currentTimeUs - lastDisarmTimeUs > USECS_PER_SEC / 2) {
processDelayedSave();
}
}
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);
}
#if defined(SITL_BUILD)
@ -923,15 +964,15 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
//Servos should be filtered or written only when mixer is using servos or special feaures are enabled
#ifdef USE_SIMULATOR
if (!ARMING_FLAG(SIMULATOR_MODE_HITL)) {
if (isServoOutputEnabled()) {
writeServos();
}
if (!ARMING_FLAG(SIMULATOR_MODE_HITL)) {
if (isServoOutputEnabled()) {
writeServos();
}
if (motorControlEnable) {
writeMotors();
}
}
if (motorControlEnable) {
writeMotors();
}
}
#else
if (isServoOutputEnabled()) {
writeServos();

5
src/main/fc/fc_init.c
View file

@ -96,6 +96,7 @@
#include "flight/power_limits.h"
#include "flight/rpm_filter.h"
#include "flight/servos.h"
#include "flight/ez_tune.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
@ -515,6 +516,10 @@ void init(void)
owInit();
#endif
#ifdef USE_EZ_TUNE
ezTuneUpdate();
#endif
if (!sensorsAutodetect()) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(FAILURE_MISSING_ACC);

128
src/main/fc/fc_msp.c
View file

@ -78,6 +78,7 @@
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/servos.h"
#include "flight/ez_tune.h"
#include "config/config_eeprom.h"
#include "config/feature.h"
@ -463,6 +464,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, (getConfigBatteryProfile() << 4) | getConfigProfile());
sbufWriteU32(dst, armingFlags);
sbufWriteData(dst, &mspBoxModeFlags, sizeof(mspBoxModeFlags));
sbufWriteU8(dst, getConfigMixerProfile());
}
break;
@ -522,6 +524,18 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, -1);
#endif
}
if(MAX_MIXER_PROFILE_COUNT==1) break;
for (int i = 0; i < MAX_SERVO_RULES; i++) {
sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].targetChannel);
sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].inputSource);
sbufWriteU16(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].rate);
sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].speed);
#ifdef USE_PROGRAMMING_FRAMEWORK
sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].conditionId);
#else
sbufWriteU8(dst, -1);
#endif
}
break;
#ifdef USE_PROGRAMMING_FRAMEWORK
case MSP2_INAV_LOGIC_CONDITIONS:
@ -567,11 +581,18 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
#endif
case MSP2_COMMON_MOTOR_MIXER:
for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
sbufWriteU16(dst, primaryMotorMixer(i)->throttle * 1000);
sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->throttle + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->roll + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->pitch + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->yaw + 2.0f, 0.0f, 4.0f) * 1000);
}
if (MAX_MIXER_PROFILE_COUNT==1) break;
for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].throttle + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].roll + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].pitch + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].yaw + 2.0f, 0.0f, 4.0f) * 1000);
}
break;
case MSP_MOTOR:
@ -697,6 +718,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, constrain(pidBank()->pid[i].D, 0, 255));
sbufWriteU8(dst, constrain(pidBank()->pid[i].FF, 0, 255));
}
#ifdef USE_EZ_TUNE
ezTuneUpdate();
#endif
break;
case MSP_PIDNAMES:
@ -1582,6 +1606,23 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
#endif
#ifdef USE_EZ_TUNE
case MSP2_INAV_EZ_TUNE:
{
sbufWriteU8(dst, ezTune()->enabled);
sbufWriteU16(dst, ezTune()->filterHz);
sbufWriteU8(dst, ezTune()->axisRatio);
sbufWriteU8(dst, ezTune()->response);
sbufWriteU8(dst, ezTune()->damping);
sbufWriteU8(dst, ezTune()->stability);
sbufWriteU8(dst, ezTune()->aggressiveness);
sbufWriteU8(dst, ezTune()->rate);
sbufWriteU8(dst, ezTune()->expo);
}
break;
#endif
#ifdef USE_RATE_DYNAMICS
case MSP2_INAV_RATE_DYNAMICS:
@ -2100,7 +2141,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP2_COMMON_SET_MOTOR_MIXER:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 9) && (tmp_u8 < MAX_SUPPORTED_MOTORS)) {
primaryMotorMixerMutable(tmp_u8)->throttle = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 1.0f);
primaryMotorMixerMutable(tmp_u8)->throttle = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
primaryMotorMixerMutable(tmp_u8)->roll = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
primaryMotorMixerMutable(tmp_u8)->pitch = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
primaryMotorMixerMutable(tmp_u8)->yaw = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
@ -2994,6 +3035,14 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
}
break;
case MSP2_INAV_SELECT_MIXER_PROFILE:
if (!ARMING_FLAG(ARMED) && sbufReadU8Safe(&tmp_u8, src)) {
setConfigMixerProfileAndWriteEEPROM(tmp_u8);
} else {
return MSP_RESULT_ERROR;
}
break;
#ifdef USE_TEMPERATURE_SENSOR
case MSP2_INAV_SET_TEMP_SENSOR_CONFIG:
if (dataSize == sizeof(tempSensorConfig_t) * MAX_TEMP_SENSORS) {
@ -3055,6 +3104,30 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break;
#endif
#ifdef USE_EZ_TUNE
case MSP2_INAV_EZ_TUNE_SET:
{
if (dataSize == 10) {
ezTuneMutable()->enabled = sbufReadU8(src);
ezTuneMutable()->filterHz = sbufReadU16(src);
ezTuneMutable()->axisRatio = sbufReadU8(src);
ezTuneMutable()->response = sbufReadU8(src);
ezTuneMutable()->damping = sbufReadU8(src);
ezTuneMutable()->stability = sbufReadU8(src);
ezTuneMutable()->aggressiveness = sbufReadU8(src);
ezTuneMutable()->rate = sbufReadU8(src);
ezTuneMutable()->expo = sbufReadU8(src);
ezTuneUpdate();
} else {
return MSP_RESULT_ERROR;
}
}
break;
#endif
#ifdef USE_RATE_DYNAMICS
case MSP2_INAV_SET_RATE_DYNAMICS:
@ -3259,6 +3332,8 @@ static bool mspSettingInfoCommand(sbuf_t *dst, sbuf_t *src)
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
break;
case EZ_TUNE_VALUE:
FALLTHROUGH;
case PROFILE_VALUE:
FALLTHROUGH;
case CONTROL_RATE_VALUE:
@ -3322,7 +3397,7 @@ bool isOSDTypeSupportedBySimulator(void)
{
#ifdef USE_OSD
displayPort_t *osdDisplayPort = osdGetDisplayPort();
return (osdDisplayPort && osdDisplayPort->cols == 30 && (osdDisplayPort->rows == 13 || osdDisplayPort->rows == 16));
return (!!osdDisplayPort && !!osdDisplayPort->vTable->readChar);
#else
return false;
#endif
@ -3334,18 +3409,25 @@ void mspWriteSimulatorOSD(sbuf_t *dst)
//scan displayBuffer iteratively
//no more than 80+3+2 bytes output in single run
//0 and 255 are special symbols
//255 - font bank switch
//0 - font bank switch, blink switch and character repeat
//255 [char] - font bank switch
//0 [flags,count] [char] - font bank switch, blink switch and character repeat
//original 0 is sent as 32
//original 0xff, 0x100 and 0x1ff are forcibly sent inside command 0
static uint8_t osdPos_y = 0;
static uint8_t osdPos_x = 0;
//indicate new format hitl 1.4.0
sbufWriteU8(dst, 255);
if (isOSDTypeSupportedBySimulator())
{
displayPort_t *osdDisplayPort = osdGetDisplayPort();
sbufWriteU8(dst, osdPos_y | (osdDisplayPort->rows == 16 ? 128: 0));
sbufWriteU8(dst, osdDisplayPort->rows);
sbufWriteU8(dst, osdDisplayPort->cols);
sbufWriteU8(dst, osdPos_y);
sbufWriteU8(dst, osdPos_x);
int bytesCount = 0;
@ -3356,7 +3438,7 @@ void mspWriteSimulatorOSD(sbuf_t *dst)
bool blink = false;
int count = 0;
int processedRows = 16;
int processedRows = osdDisplayPort->rows;
while (bytesCount < 80) //whole response should be less 155 bytes at worst.
{
@ -3367,7 +3449,7 @@ void mspWriteSimulatorOSD(sbuf_t *dst)
while ( true )
{
displayReadCharWithAttr(osdDisplayPort, osdPos_x, osdPos_y, &c, &attr);
if (c == 0 || c == 255) c = 32;
if (c == 0) c = 32;
//REVIEW: displayReadCharWithAttr() should return mode with _TEXT_ATTRIBUTES_BLINK_BIT !
//for max7456 it returns mode with MAX7456_MODE_BLINK instead (wrong)
@ -3382,7 +3464,7 @@ void mspWriteSimulatorOSD(sbuf_t *dst)
lastChar = c;
blink1 = blink2;
}
else if (lastChar != c || blink2 != blink1 || count == 63)
else if ((lastChar != c) || (blink2 != blink1) || (count == 63))
{
break;
}
@ -3390,12 +3472,12 @@ void mspWriteSimulatorOSD(sbuf_t *dst)
count++;
osdPos_x++;
if (osdPos_x == 30)
if (osdPos_x == osdDisplayPort->cols)
{
osdPos_x = 0;
osdPos_y++;
processedRows--;
if (osdPos_y == 16)
if (osdPos_y == osdDisplayPort->rows)
{
osdPos_y = 0;
}
@ -3403,6 +3485,7 @@ void mspWriteSimulatorOSD(sbuf_t *dst)
}
uint8_t cmd = 0;
uint8_t lastCharLow = (uint8_t)(lastChar & 0xff);
if (blink1 != blink)
{
cmd |= 128;//switch blink attr
@ -3418,27 +3501,27 @@ void mspWriteSimulatorOSD(sbuf_t *dst)
if (count == 1 && cmd == 64)
{
sbufWriteU8(dst, 255); //short command for bank switch
sbufWriteU8(dst, 255); //short command for bank switch with char following
sbufWriteU8(dst, lastChar & 0xff);
bytesCount += 2;
}
else if (count > 2 || cmd !=0 )
else if ((count > 2) || (cmd !=0) || (lastChar == 255) || (lastChar == 0x100) || (lastChar == 0x1ff))
{
cmd |= count; //long command for blink/bank switch and symbol repeat
sbufWriteU8(dst, 0);
sbufWriteU8(dst, cmd);
sbufWriteU8(dst, lastChar & 0xff);
sbufWriteU8(dst, lastCharLow);
bytesCount += 3;
}
else if (count == 2) //cmd == 0 here
{
sbufWriteU8(dst, lastChar & 0xff);
sbufWriteU8(dst, lastChar & 0xff);
sbufWriteU8(dst, lastCharLow);
sbufWriteU8(dst, lastCharLow);
bytesCount+=2;
}
else
{
sbufWriteU8(dst, lastChar & 0xff);
sbufWriteU8(dst, lastCharLow);
bytesCount++;
}
@ -3452,7 +3535,7 @@ void mspWriteSimulatorOSD(sbuf_t *dst)
}
else
{
sbufWriteU8(dst, 255);
sbufWriteU8(dst, 0);
}
}
#endif
@ -3586,6 +3669,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
}
#endif
ENABLE_ARMING_FLAG(SIMULATOR_MODE_HITL);
ENABLE_STATE(ACCELEROMETER_CALIBRATED);
LOG_DEBUG(SYSTEM, "Simulator enabled");
}
@ -3662,15 +3746,11 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT);
}
#if defined(USE_FAKE_BATT_SENSOR)
if (SIMULATOR_HAS_OPTION(HITL_EXT_BATTERY_VOLTAGE)) {
fakeBattSensorSetVbat(sbufReadU8(src) * 10);
simulatorData.vbat = sbufReadU8(src);
} else {
#endif
fakeBattSensorSetVbat((uint16_t)(SIMULATOR_FULL_BATTERY * 10.0f));
#if defined(USE_FAKE_BATT_SENSOR)
simulatorData.vbat = SIMULATOR_FULL_BATTERY;
}
#endif
if (SIMULATOR_HAS_OPTION(HITL_AIRSPEED)) {
simulatorData.airSpeed = sbufReadU16(src);

11
src/main/fc/fc_msp_box.c
View file

@ -202,7 +202,7 @@ void initActiveBoxIds(void)
//Camstab mode is enabled always
ADD_ACTIVE_BOX(BOXCAMSTAB);
if (STATE(MULTIROTOR)) {
if (STATE(MULTIROTOR) || platformTypeConfigured(PLATFORM_MULTIROTOR) || platformTypeConfigured(PLATFORM_TRICOPTER)) {
if ((sensors(SENSOR_ACC) || sensors(SENSOR_MAG))) {
ADD_ACTIVE_BOX(BOXHEADFREE);
ADD_ACTIVE_BOX(BOXHEADADJ);
@ -244,13 +244,13 @@ void initActiveBoxIds(void)
#endif
}
if (STATE(AIRPLANE)) {
if (STATE(AIRPLANE) || platformTypeConfigured(PLATFORM_AIRPLANE)) {
ADD_ACTIVE_BOX(BOXSOARING);
}
}
#ifdef USE_MR_BRAKING_MODE
if (mixerConfig()->platformType == PLATFORM_MULTIROTOR) {
if (mixerConfig()->platformType == PLATFORM_MULTIROTOR || platformTypeConfigured(PLATFORM_MULTIROTOR)) {
ADD_ACTIVE_BOX(BOXBRAKING);
}
#endif
@ -259,11 +259,12 @@ void initActiveBoxIds(void)
ADD_ACTIVE_BOX(BOXNAVALTHOLD);
}
if (STATE(AIRPLANE) || STATE(ROVER) || STATE(BOAT)) {
if (STATE(AIRPLANE) || STATE(ROVER) || STATE(BOAT) ||
platformTypeConfigured(PLATFORM_AIRPLANE) || platformTypeConfigured(PLATFORM_ROVER) || platformTypeConfigured(PLATFORM_BOAT)) {
ADD_ACTIVE_BOX(BOXMANUAL);
}
if (STATE(AIRPLANE)) {
if (STATE(AIRPLANE) || platformTypeConfigured(PLATFORM_AIRPLANE)) {
if (!feature(FEATURE_FW_LAUNCH)) {
ADD_ACTIVE_BOX(BOXNAVLAUNCH);
}

5
src/main/fc/fc_tasks.c
View file

@ -62,6 +62,7 @@
#include "io/osd.h"
#include "io/serial.h"
#include "io/rcdevice_cam.h"
#include "io/osd_joystick.h"
#include "io/smartport_master.h"
#include "io/vtx.h"
#include "io/vtx_msp.h"
@ -393,8 +394,12 @@ void fcTasksInit(void)
#endif
#endif
#ifdef USE_RCDEVICE
#ifdef USE_LED_STRIP
setTaskEnabled(TASK_RCDEVICE, rcdeviceIsEnabled() || osdJoystickEnabled());
#else
setTaskEnabled(TASK_RCDEVICE, rcdeviceIsEnabled());
#endif
#endif
#ifdef USE_PROGRAMMING_FRAMEWORK
setTaskEnabled(TASK_PROGRAMMING_FRAMEWORK, true);
#endif

5
src/main/fc/runtime_config.c
View file

@ -179,7 +179,8 @@ flightModeForTelemetry_e getFlightModeForTelemetry(void)
#ifdef USE_SIMULATOR
simulatorData_t simulatorData = {
.flags = 0,
.debugIndex = 0
.flags = 0,
.debugIndex = 0,
.vbat = 0
};
#endif

5
src/main/fc/runtime_config.h
View file

@ -139,7 +139,8 @@ typedef enum {
FW_HEADING_USE_YAW = (1 << 24),
ANTI_WINDUP_DEACTIVATED = (1 << 25),
LANDING_DETECTED = (1 << 26),
TAILSITTER = (1 << 27), //offset the pitch angle by 90 degrees
IN_FLIGHT_EMERG_REARM = (1 << 27),
TAILSITTER = (1 << 28), //offset the pitch angle by 90 degrees
} stateFlags_t;
#define DISABLE_STATE(mask) (stateFlags &= ~(mask))
@ -171,7 +172,7 @@ flightModeForTelemetry_e getFlightModeForTelemetry(void);
#define SIMULATOR_MSP_VERSION 2 // Simulator MSP version
#define SIMULATOR_BARO_TEMP 25 // °C
#define SIMULATOR_FULL_BATTERY 12.6f // Volts
#define SIMULATOR_FULL_BATTERY 126 // Volts*10
#define SIMULATOR_HAS_OPTION(flag) ((simulatorData.flags & flag) != 0)
typedef enum {

2
src/main/fc/settings.c
View file

@ -237,6 +237,8 @@ static uint16_t getValueOffset(const setting_t *value)
return value->offset + sizeof(pidProfile_t) * getConfigProfile();
case CONTROL_RATE_VALUE:
return value->offset + sizeof(controlRateConfig_t) * getConfigProfile();
case EZ_TUNE_VALUE:
return value->offset + sizeof(ezTuneSettings_t) * getConfigProfile();
case BATTERY_CONFIG_VALUE:
return value->offset + sizeof(batteryProfile_t) * getConfigBatteryProfile();
case MIXER_CONFIG_VALUE:

1
src/main/fc/settings.h
View file

@ -35,6 +35,7 @@ typedef enum {
CONTROL_RATE_VALUE = (2 << SETTING_SECTION_OFFSET),
BATTERY_CONFIG_VALUE = (3 << SETTING_SECTION_OFFSET),
MIXER_CONFIG_VALUE = (4 << SETTING_SECTION_OFFSET),
EZ_TUNE_VALUE = (5 << SETTING_SECTION_OFFSET)
} setting_section_e;
typedef enum {

172
src/main/fc/settings.yaml Executable file → Normal file
View file

@ -193,6 +193,9 @@ tables:
- name: nav_mc_althold_throttle
values: ["STICK", "MID_STICK", "HOVER"]
enum: navMcAltHoldThrottle_e
- name: led_pin_pwm_mode
values: ["SHARED_LOW", "SHARED_HIGH", "LOW", "HIGH"]
enum: led_pin_pwm_mode_e
constants:
RPYL_PID_MIN: 0
@ -1045,7 +1048,7 @@ groups:
max: PWM_RANGE_MAX
- name: nav_mc_hover_thr
description: "Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering."
default_value: 1500
default_value: 1300
field: nav.mc.hover_throttle
min: 1000
max: 2000
@ -1272,7 +1275,7 @@ groups:
min: 0
max: 100
- name: tpa_rate
description: "Throttle PID attenuation reduces influence of P on ROLL and PITCH as throttle increases. For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate."
description: "Throttle PID attenuation reduces influence of PDFF on ROLL and PITCH of multi-rotor, PIDFF on ROLL,PITCH,YAW OF fixed_wing as throttle increases. For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate."
default_value: 0
field: throttle.dynPID
min: 0
@ -1283,6 +1286,11 @@ groups:
field: throttle.pa_breakpoint
min: PWM_RANGE_MIN
max: PWM_RANGE_MAX
- name: tpa_on_yaw
description: "Throttle PID attenuation also reduces influence on YAW for multi-rotor, Should be set to ON for tilting rotors."
type: bool
field: throttle.dynPID_on_YAW
default_value: OFF
- name: fw_tpa_time_constant
description: "TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. See **PID Attenuation and scaling** Wiki for full details."
default_value: 1500
@ -1457,7 +1465,7 @@ groups:
type: bool
- name: ahrs_inertia_comp_method
description: "Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop"
default_value: VELNED
default_value: ADAPTIVE
field: inertia_comp_method
table: imu_inertia_comp_method
@ -1497,6 +1505,65 @@ groups:
min: 0
max: 99
- name: PG_EZ_TUNE
headers: ["flight/ez_tune.h"]
type: ezTuneSettings_t
value_type: EZ_TUNE_VALUE
members:
- name: ez_enabled
description: "Enables EzTune feature"
default_value: OFF
field: enabled
type: bool
- name: ez_filter_hz
description: "EzTune filter cutoff frequency"
default_value: 110
field: filterHz
min: 10
max: 300
- name: ez_axis_ratio
description: "EzTune axis ratio"
default_value: 110
field: axisRatio
min: 25
max: 175
- name: ez_response
description: "EzTune response"
default_value: 100
field: response
min: 0
max: 200
- name: ez_damping
description: "EzTune damping"
default_value: 100
field: damping
min: 0
max: 200
- name: ez_stability
description: "EzTune stability"
default_value: 100
field: stability
min: 0
max: 200
- name: ez_aggressiveness
description: "EzTune aggressiveness"
default_value: 100
field: aggressiveness
min: 0
max: 200
- name: ez_rate
description: "EzTune rate"
default_value: 100
field: rate
min: 0
max: 200
- name: ez_expo
description: "EzTune expo"
default_value: 100
field: expo
min: 0
max: 200
- name: PG_RPM_FILTER_CONFIG
headers: ["flight/rpm_filter.h"]
condition: USE_RPM_FILTER
@ -1856,12 +1923,6 @@ groups:
default_value: 0
min: 0
max: 200
- name: fw_iterm_throw_limit
description: "Limits max/min I-term value in stabilization PID controller in case of Fixed Wing. It solves the problem of servo saturation before take-off/throwing the airplane into the air. By default, error accumulated in I-term can not exceed 1/3 of servo throw (around 165us). Set 0 to disable completely."
default_value: 165
field: fixedWingItermThrowLimit
min: FW_ITERM_THROW_LIMIT_MIN
max: FW_ITERM_THROW_LIMIT_MAX
- name: fw_reference_airspeed
description: "Reference airspeed. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present."
default_value: 1500
@ -1910,6 +1971,12 @@ groups:
field: itermWindupPointPercent
min: 0
max: 90
- name: pid_iterm_limit_percent
description: "Limits max/min I-term value in stabilization PID controller. It solves the problem of servo saturation before take-off/throwing the airplane into the air. Or multirotors with low authority. By default, error accumulated in I-term can not exceed 33% of total pid throw (around 165us on deafult pidsum_limit of pitch/roll). Set 0 to disable completely."
default_value: 33
field: pidItermLimitPercent
min: 0
max: 200
- name: rate_accel_limit_roll_pitch
description: "Limits acceleration of ROLL/PITCH rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 5000 dps^2 and even > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 360 dps^2). When set correctly, it greatly improves stopping performance. Value of 0 disables limiting."
default_value: 0
@ -3498,66 +3565,95 @@ groups:
max: 6
default_value: 3
- name: osd_mah_used_precision
description: Number of digits used to display mAh used.
field: mAh_used_precision
- name: osd_mah_precision
description: Number of digits used for mAh precision. Currently used by mAh Used and Battery Remaining Capacity
field: mAh_precision
min: 4
max: 6
default_value: 4
- name: osd_use_pilot_logo
description: Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511
field: use_pilot_logo
type: bool
default_value: OFF
- name: osd_inav_to_pilot_logo_spacing
description: The space between the INAV and pilot logos, if `osd_use_pilot_logo` is `ON`. This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen.
field: inav_to_pilot_logo_spacing
min: 0
max: 20
default_value: 8
- name: osd_arm_screen_display_time
description: Amount of time to display the arm screen [ms]
field: arm_screen_display_time
min: 1000
max: 5000
default_value: 1500
- name: osd_switch_indicator_zero_name
description: "Character to use for OSD switch incicator 0."
field: osd_switch_indicator0_name
type: string
max: 5
default_value: "FLAP"
- name: osd_switch_indicator_one_name
description: "Character to use for OSD switch incicator 1."
field: osd_switch_indicator1_name
type: string
max: 5
default_value: "GEAR"
- name: osd_switch_indicator_two_name
description: "Character to use for OSD switch incicator 2."
field: osd_switch_indicator2_name
type: string
max: 5
default_value: "CAM"
- name: osd_switch_indicator_three_name
description: "Character to use for OSD switch incicator 3."
field: osd_switch_indicator3_name
type: string
max: 5
default_value: "LIGT"
- name: osd_switch_indicator_zero_channel
description: "RC Channel to use for OSD switch indicator 0."
field: osd_switch_indicator0_channel
min: 5
max: MAX_SUPPORTED_RC_CHANNEL_COUNT
default_value: 5
- name: osd_switch_indicator_one_channel
description: "RC Channel to use for OSD switch indicator 1."
field: osd_switch_indicator1_channel
min: 5
max: MAX_SUPPORTED_RC_CHANNEL_COUNT
default_value: 5
- name: osd_switch_indicator_two_channel
description: "RC Channel to use for OSD switch indicator 2."
field: osd_switch_indicator2_channel
min: 5
max: MAX_SUPPORTED_RC_CHANNEL_COUNT
default_value: 5
- name: osd_switch_indicator_three_channel
description: "RC Channel to use for OSD switch indicator 3."
field: osd_switch_indicator3_channel
min: 5
max: MAX_SUPPORTED_RC_CHANNEL_COUNT
default_value: 5
- name: osd_switch_indicators_align_left
description: "Align text to left of switch indicators"
field: osd_switch_indicators_align_left
type: bool
default_value: ON
- name: osd_system_msg_display_time
description: System message display cycle time for multiple messages (milliseconds).
field: system_msg_display_time
@ -3931,3 +4027,55 @@ groups:
default_value: 1.2
field: attnFilterCutoff
max: 100
- name: PG_LEDPIN_CONFIG
type: ledPinConfig_t
headers: ["drivers/light_ws2811strip.h"]
members:
- name: led_pin_pwm_mode
condition: USE_LED_STRIP
description: "PWM mode of LED pin."
default_value: "SHARED_LOW"
field: led_pin_pwm_mode
table: led_pin_pwm_mode
- name: PG_OSD_JOYSTICK_CONFIG
type: osdJoystickConfig_t
headers: ["io/osd_joystick.h"]
condition: USE_RCDEVICE && USE_LED_STRIP
members:
- name: osd_joystick_enabled
description: "Enable OSD Joystick emulation"
default_value: OFF
field: osd_joystick_enabled
type: bool
- name: osd_joystick_down
description: "PWM value for DOWN key"
default_value: 0
field: osd_joystick_down
min: 0
max: 100
- name: osd_joystick_up
description: "PWM value for UP key"
default_value: 48
field: osd_joystick_up
min: 0
max: 100
- name: osd_joystick_left
description: "PWM value for LEFT key"
default_value: 63
field: osd_joystick_left
min: 0
max: 100
- name: osd_joystick_right
description: "PWM value for RIGHT key"
default_value: 28
field: osd_joystick_right
min: 0
max: 100
- name: osd_joystick_enter
description: "PWM value for ENTER key"
default_value: 75
field: osd_joystick_enter
min: 0
max: 100

4
src/main/fc/stats.h
View file

@ -3,8 +3,8 @@
#ifdef USE_STATS
typedef struct statsConfig_s {
uint32_t stats_total_time; // [s]
uint32_t stats_total_dist; // [m]
uint32_t stats_total_time; // [Seconds]
uint32_t stats_total_dist; // [Metres]
#ifdef USE_ADC
uint32_t stats_total_energy; // deciWatt hour (x0.1Wh)
#endif

143
src/main/flight/ez_tune.c Normal file
View file

@ -0,0 +1,143 @@
/*
* This file is part of INAV Project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute 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.
*
* This file 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 this program. If not, see http://www.gnu.org/licenses/.
*/
#include "fc/config.h"
#include "config/config_reset.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "flight/ez_tune.h"
#include "fc/settings.h"
#include "flight/pid.h"
#include "sensors/gyro.h"
#include "fc/controlrate_profile.h"
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(ezTuneSettings_t, ezTune, PG_EZ_TUNE, 0);
PG_RESET_TEMPLATE(ezTuneSettings_t, ezTune,
.enabled = SETTING_EZ_ENABLED_DEFAULT,
.filterHz = SETTING_EZ_FILTER_HZ_DEFAULT,
.axisRatio = SETTING_EZ_AXIS_RATIO_DEFAULT,
.response = SETTING_EZ_RESPONSE_DEFAULT,
.damping = SETTING_EZ_DAMPING_DEFAULT,
.stability = SETTING_EZ_STABILITY_DEFAULT,
.aggressiveness = SETTING_EZ_AGGRESSIVENESS_DEFAULT,
.rate = SETTING_EZ_RATE_DEFAULT,
.expo = SETTING_EZ_EXPO_DEFAULT,
);
#define EZ_TUNE_PID_RP_DEFAULT { 40, 75, 23, 100 }
#define EZ_TUNE_PID_YAW_DEFAULT { 45, 80, 0, 100 }
#define EZ_TUNE_YAW_SCALE 0.5f
static float computePt1FilterDelayMs(uint8_t filterHz) {
return 1000.0f / (2.0f * M_PIf * filterHz);
}
static float getYawPidScale(float input) {
const float normalized = (input - 100) * 0.01f;
return 1.0f + (normalized * 0.5f);
}
/**
* Update INAV settings based on current EZTune settings
* This has to be called every time control profile is changed, or EZTune settings are changed
*/
void ezTuneUpdate(void) {
if (ezTune()->enabled) {
// Setup filtering
//Set Dterm LPF
pidProfileMutable()->dterm_lpf_hz = MAX(ezTune()->filterHz - 5, 50);
pidProfileMutable()->dterm_lpf_type = FILTER_PT2;
//Set main gyro filter
gyroConfigMutable()->gyro_main_lpf_hz = ezTune()->filterHz;
gyroConfigMutable()->gyro_main_lpf_type = FILTER_PT1;
//Set anti-aliasing filter
gyroConfigMutable()->gyro_anti_aliasing_lpf_hz = SETTING_GYRO_ANTI_ALIASING_LPF_HZ_DEFAULT;
gyroConfigMutable()->gyro_anti_aliasing_lpf_type = FILTER_PT1;
//Enable Smith predictor
pidProfileMutable()->smithPredictorDelay = computePt1FilterDelayMs(ezTune()->filterHz);
#ifdef USE_DYNAMIC_FILTERS
//Enable dynamic notch
gyroConfigMutable()->dynamicGyroNotchEnabled = 1;
gyroConfigMutable()->dynamicGyroNotchQ = 250;
gyroConfigMutable()->dynamicGyroNotchMinHz = MAX(ezTune()->filterHz * 0.667f, SETTING_DYNAMIC_GYRO_NOTCH_MIN_HZ_DEFAULT);
gyroConfigMutable()->dynamicGyroNotchMode = DYNAMIC_NOTCH_MODE_3D;
#endif
#ifdef USE_GYRO_KALMAN
//Make sure Kalman filter is enabled
gyroConfigMutable()->kalmanEnabled = 1;
if (ezTune()->filterHz < 150) {
gyroConfigMutable()->kalman_q = 200;
} else {
gyroConfigMutable()->kalman_q = scaleRangef(ezTune()->filterHz, 150, 300, 200, 400);
}
#endif
//Disable dynamic LPF
gyroConfigMutable()->useDynamicLpf = 0;
//Setup PID controller
const uint8_t pidDefaults[4] = EZ_TUNE_PID_RP_DEFAULT;
const uint8_t pidDefaultsYaw[4] = EZ_TUNE_PID_YAW_DEFAULT;
const float pitchRatio = ezTune()->axisRatio / 100.0f;
//Roll
pidProfileMutable()->bank_mc.pid[PID_ROLL].P = pidDefaults[0] * ezTune()->response / 100.0f;
pidProfileMutable()->bank_mc.pid[PID_ROLL].I = pidDefaults[1] * ezTune()->stability / 100.0f;
pidProfileMutable()->bank_mc.pid[PID_ROLL].D = pidDefaults[2] * ezTune()->damping / 100.0f;
pidProfileMutable()->bank_mc.pid[PID_ROLL].FF = pidDefaults[3] * ezTune()->aggressiveness / 100.0f;
//Pitch
pidProfileMutable()->bank_mc.pid[PID_PITCH].P = pidDefaults[0] * ezTune()->response / 100.0f * pitchRatio;
pidProfileMutable()->bank_mc.pid[PID_PITCH].I = pidDefaults[1] * ezTune()->stability / 100.0f * pitchRatio;
pidProfileMutable()->bank_mc.pid[PID_PITCH].D = pidDefaults[2] * ezTune()->damping / 100.0f * pitchRatio;
pidProfileMutable()->bank_mc.pid[PID_PITCH].FF = pidDefaults[3] * ezTune()->aggressiveness / 100.0f * pitchRatio;
//Yaw
pidProfileMutable()->bank_mc.pid[PID_YAW].P = pidDefaultsYaw[0] * getYawPidScale(ezTune()->response);
pidProfileMutable()->bank_mc.pid[PID_YAW].I = pidDefaultsYaw[1] * getYawPidScale(ezTune()->stability);
pidProfileMutable()->bank_mc.pid[PID_YAW].D = pidDefaultsYaw[2] * getYawPidScale(ezTune()->damping);
pidProfileMutable()->bank_mc.pid[PID_YAW].FF = pidDefaultsYaw[3] * getYawPidScale(ezTune()->aggressiveness);
//Setup rates
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[FD_ROLL] = scaleRange(ezTune()->rate, 0, 200, 30, 90);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[FD_PITCH] = scaleRange(ezTune()->rate, 0, 200, 30, 90);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[FD_YAW] = scaleRange(ezTune()->rate, 0, 200, 30, 90) - 10;
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcExpo8 = scaleRange(ezTune()->rate, 0, 200, 40, 100);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcYawExpo8 = scaleRange(ezTune()->rate, 0, 200, 40, 100);
}
}

43
src/main/flight/ez_tune.h Normal file
View file

@ -0,0 +1,43 @@
/*
* This file is part of INAV Project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute 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.
*
* This file 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 this program. If not, see http://www.gnu.org/licenses/.
*/
#pragma once
#include "config/parameter_group.h"
typedef struct ezTuneSettings_s {
uint8_t enabled;
uint16_t filterHz;
uint8_t axisRatio;
uint8_t response;
uint8_t damping;
uint8_t stability;
uint8_t aggressiveness;
uint8_t rate;
uint8_t expo;
} ezTuneSettings_t;
PG_DECLARE_PROFILE(ezTuneSettings_t, ezTune);
void ezTuneUpdate(void);

19
src/main/flight/imu.c
View file

@ -746,28 +746,25 @@ static void imuCalculateEstimatedAttitude(float dT)
}
if (imuConfig()->inertia_comp_method == COMPMETHOD_ADAPTIVE && isGPSTrustworthy() && STATE(AIRPLANE))
{
//pick the best centrifugal acceleration between velned and turnrate
fpVector3_t compansatedGravityBF_velned;
vectorAdd(&compansatedGravityBF_velned, &imuMeasuredAccelBF, &vEstcentrifugalAccelBF_velned);
float velned_magnitude = fabsf(fast_fsqrtf(vectorNormSquared(&compansatedGravityBF_velned)) - GRAVITY_CMSS);
float velned_error = fabsf(fast_fsqrtf(vectorNormSquared(&compansatedGravityBF_velned)) - GRAVITY_CMSS);
fpVector3_t compansatedGravityBF_turnrate;
vectorAdd(&compansatedGravityBF_turnrate, &imuMeasuredAccelBF, &vEstcentrifugalAccelBF_turnrate);
float turnrate_magnitude = fabsf(fast_fsqrtf(vectorNormSquared(&compansatedGravityBF_turnrate)) - GRAVITY_CMSS);
if (velned_magnitude > turnrate_magnitude)
{
compansatedGravityBF = compansatedGravityBF_turnrate;
}
else
{
compansatedGravityBF = compansatedGravityBF_velned;
}
float turnrate_error = fabsf(fast_fsqrtf(vectorNormSquared(&compansatedGravityBF_turnrate)) - GRAVITY_CMSS);
compansatedGravityBF = velned_error > turnrate_error? compansatedGravityBF_turnrate:compansatedGravityBF_velned;
}
else if (imuConfig()->inertia_comp_method == COMPMETHOD_VELNED && isGPSTrustworthy())
else if (((imuConfig()->inertia_comp_method == COMPMETHOD_VELNED) || (imuConfig()->inertia_comp_method == COMPMETHOD_ADAPTIVE)) && isGPSTrustworthy())
{
//velned centrifugal force compensation, quad will use this method
vectorAdd(&compansatedGravityBF, &imuMeasuredAccelBF, &vEstcentrifugalAccelBF_velned);
}
else if (STATE(AIRPLANE))
{
//turnrate centrifugal force compensation
vectorAdd(&compansatedGravityBF, &imuMeasuredAccelBF, &vEstcentrifugalAccelBF_turnrate);
}
else

18
src/main/flight/mixer_profile.c
View file

@ -23,6 +23,7 @@
#include "fc/runtime_config.h"
#include "fc/settings.h"
#include "fc/rc_modes.h"
#include "fc/cli.h"
#include "programming/logic_condition.h"
#include "navigation/navigation.h"
@ -34,7 +35,7 @@ int currentMixerProfileIndex;
bool isMixerTransitionMixing;
bool isMixerTransitionMixing_requested;
mixerProfileAT_t mixerProfileAT;
int nextProfileIndex;
int nextMixerProfileIndex;
PG_REGISTER_ARRAY_WITH_RESET_FN(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles, PG_MIXER_PROFILE, 1);
@ -81,7 +82,7 @@ void pgResetFn_mixerProfiles(mixerProfile_t *instance)
void activateMixerConfig(){
currentMixerProfileIndex = getConfigMixerProfile();
currentMixerConfig = *mixerConfig();
nextProfileIndex = (currentMixerProfileIndex + 1) % MAX_MIXER_PROFILE_COUNT;
nextMixerProfileIndex = (currentMixerProfileIndex + 1) % MAX_MIXER_PROFILE_COUNT;
}
void mixerConfigInit(void)
@ -108,6 +109,14 @@ void setMixerProfileAT(void)
mixerProfileAT.transitionTransEndTime = mixerProfileAT.transitionStartTime + (timeMs_t)currentMixerConfig.switchTransitionTimer * 100;
}
bool platformTypeConfigured(flyingPlatformType_e platformType)
{
if (!isModeActivationConditionPresent(BOXMIXERPROFILE)){
return false;
}
return mixerConfigByIndex(nextMixerProfileIndex)->platformType == platformType;
}
bool checkMixerATRequired(mixerProfileATRequest_e required_action)
{
//return false if mixerAT condition is not required or setting is not valid
@ -163,7 +172,7 @@ bool mixerATUpdateState(mixerProfileATRequest_e required_action)
isMixerTransitionMixing_requested = true;
if (millis() > mixerProfileAT.transitionTransEndTime){
isMixerTransitionMixing_requested = false;
outputProfileHotSwitch(nextProfileIndex);
outputProfileHotSwitch(nextMixerProfileIndex);
mixerProfileAT.phase = MIXERAT_PHASE_IDLE;
reprocessState = true;
//transition is done
@ -188,8 +197,9 @@ bool checkMixerProfileHotSwitchAvalibility(void)
}
void outputProfileUpdateTask(timeUs_t currentTimeUs)
{
{
UNUSED(currentTimeUs);
if(cliMode) return;
bool mixerAT_inuse = mixerProfileAT.phase != MIXERAT_PHASE_IDLE;
// transition mode input for servo mix and motor mix
if (!FLIGHT_MODE(FAILSAFE_MODE) && (!mixerAT_inuse))

2
src/main/flight/mixer_profile.h
View file

@ -55,6 +55,7 @@ bool mixerATUpdateState(mixerProfileATRequest_e required_action);
extern mixerConfig_t currentMixerConfig;
extern int currentMixerProfileIndex;
extern int nextMixerProfileIndex;
extern bool isMixerTransitionMixing;
#define mixerConfig() (&(mixerProfiles(systemConfig()->current_mixer_profile_index)->mixer_config))
#define mixerConfigMutable() ((mixerConfig_t *) mixerConfig())
@ -72,6 +73,7 @@ static inline const mixerProfile_t* mixerProfiles_CopyArray_by_index(int _index)
#define mixerMotorMixersByIndex(index) (mixerProfiles(index)->MotorMixers)
#define mixerServoMixersByIndex(index) (mixerProfiles(index)->ServoMixers)
bool platformTypeConfigured(flyingPlatformType_e platformType);
bool outputProfileHotSwitch(int profile_index);
bool checkMixerProfileHotSwitchAvalibility(void);
void activateMixerConfig(void);

76
src/main/flight/pid.c
View file

@ -161,7 +161,7 @@ static EXTENDED_FASTRAM filterApplyFnPtr dTermLpfFilterApplyFn;
static EXTENDED_FASTRAM bool levelingEnabled = false;
#define FIXED_WING_LEVEL_TRIM_MAX_ANGLE 10.0f // Max angle auto trimming can demand
#define FIXED_WING_LEVEL_TRIM_DIVIDER 500.0f
#define FIXED_WING_LEVEL_TRIM_DIVIDER 50.0f
#define FIXED_WING_LEVEL_TRIM_MULTIPLIER 1.0f / FIXED_WING_LEVEL_TRIM_DIVIDER
#define FIXED_WING_LEVEL_TRIM_CONTROLLER_LIMIT FIXED_WING_LEVEL_TRIM_DIVIDER * FIXED_WING_LEVEL_TRIM_MAX_ANGLE
@ -264,8 +264,8 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
.max_angle_inclination[FD_PITCH] = SETTING_MAX_ANGLE_INCLINATION_PIT_DEFAULT,
.pidSumLimit = SETTING_PIDSUM_LIMIT_DEFAULT,
.pidSumLimitYaw = SETTING_PIDSUM_LIMIT_YAW_DEFAULT,
.pidItermLimitPercent = SETTING_PID_ITERM_LIMIT_PERCENT_DEFAULT,
.fixedWingItermThrowLimit = SETTING_FW_ITERM_THROW_LIMIT_DEFAULT,
.fixedWingReferenceAirspeed = SETTING_FW_REFERENCE_AIRSPEED_DEFAULT,
.fixedWingCoordinatedYawGain = SETTING_FW_TURN_ASSIST_YAW_GAIN_DEFAULT,
.fixedWingCoordinatedPitchGain = SETTING_FW_TURN_ASSIST_PITCH_GAIN_DEFAULT,
@ -531,7 +531,7 @@ void updatePIDCoefficients(void)
pidState[axis].kT = 0.0f;
}
else {
const float axisTPA = (axis == FD_YAW) ? 1.0f : tpaFactor;
const float axisTPA = (axis == FD_YAW && (!currentControlRateProfile->throttle.dynPID_on_YAW)) ? 1.0f : tpaFactor;
pidState[axis].kP = pidBank()->pid[axis].P / FP_PID_RATE_P_MULTIPLIER * axisTPA;
pidState[axis].kI = pidBank()->pid[axis].I / FP_PID_RATE_I_MULTIPLIER;
pidState[axis].kD = pidBank()->pid[axis].D / FP_PID_RATE_D_MULTIPLIER * axisTPA;
@ -766,8 +766,9 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
applyItermLimiting(pidState);
if (pidProfile()->fixedWingItermThrowLimit != 0) {
pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -pidProfile()->fixedWingItermThrowLimit, pidProfile()->fixedWingItermThrowLimit);
if (pidProfile()->pidItermLimitPercent != 0){
float itermLimit = pidState->pidSumLimit * pidProfile()->pidItermLimitPercent * 0.01f;
pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -itermLimit, +itermLimit);
}
axisPID[axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf + newDTerm, -pidState->pidSumLimit, +pidState->pidSumLimit);
@ -841,6 +842,12 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
pidState->errorGyroIf += (itermErrorRate * pidState->kI * antiWindupScaler * dT)
+ ((newOutputLimited - newOutput) * pidState->kT * antiWindupScaler * dT);
if (pidProfile()->pidItermLimitPercent != 0){
float itermLimit = pidState->pidSumLimit * pidProfile()->pidItermLimitPercent * 0.01f;
pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -itermLimit, +itermLimit);
}
// Don't grow I-term if motors are at their limit
applyItermLimiting(pidState);
@ -1037,7 +1044,7 @@ void checkItermLimitingActive(pidState_t *pidState)
shouldActivate = isFixedWingItermLimitActive(pidState->stickPosition);
} else
{
shouldActivate = mixerIsOutputSaturated();
shouldActivate = mixerIsOutputSaturated(); //just in case, since it is already managed by itermWindupPointPercent
}
pidState->itermLimitActive = STATE(ANTI_WINDUP) || shouldActivate;
@ -1076,7 +1083,7 @@ void FAST_CODE pidController(float dT)
// In case Yaw override is active, we engage the Heading Hold state
if (isFlightAxisAngleOverrideActive(FD_YAW)) {
headingHoldState = HEADING_HOLD_ENABLED;
headingHoldTarget = getFlightAxisAngleOverride(FD_YAW, 0);
headingHoldTarget = DECIDEGREES_TO_DEGREES(getFlightAxisAngleOverride(FD_YAW, 0));
}
if (headingHoldState == HEADING_HOLD_UPDATE_HEADING) {
@ -1138,7 +1145,7 @@ void FAST_CODE pidController(float dT)
canUseFpvCameraMix = false; // FPVANGLEMIX is incompatible with TURN_ASSISTANT
}
if (canUseFpvCameraMix && IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX) && currentControlRateProfile->misc.fpvCamAngleDegrees) {
if (canUseFpvCameraMix && IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX) && currentControlRateProfile->misc.fpvCamAngleDegrees && STATE(MULTIROTOR)) {
pidApplyFpvCameraAngleMix(pidState, currentControlRateProfile->misc.fpvCamAngleDegrees);
}
@ -1251,7 +1258,7 @@ void pidInit(void)
navPidInit(
&fixedWingLevelTrimController,
0.0f,
(float)pidProfile()->fixedWingLevelTrimGain / 100000.0f,
(float)pidProfile()->fixedWingLevelTrimGain / 100.0f,
0.0f,
0.0f,
2.0f,
@ -1263,47 +1270,52 @@ void pidInit(void)
const pidBank_t * pidBank(void) {
return usedPidControllerType == PID_TYPE_PIFF ? &pidProfile()->bank_fw : &pidProfile()->bank_mc;
}
pidBank_t * pidBankMutable(void) {
return usedPidControllerType == PID_TYPE_PIFF ? &pidProfileMutable()->bank_fw : &pidProfileMutable()->bank_mc;
}
bool isFixedWingLevelTrimActive(void)
{
return IS_RC_MODE_ACTIVE(BOXAUTOLEVEL) && !areSticksDeflected() &&
(FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) &&
!FLIGHT_MODE(SOARING_MODE) && !FLIGHT_MODE(MANUAL_MODE) &&
!navigationIsControllingAltitude();
}
void updateFixedWingLevelTrim(timeUs_t currentTimeUs)
{
if (!STATE(AIRPLANE)) {
return;
}
static timeUs_t previousUpdateTimeUs;
static bool previousArmingState;
const float dT = US2S(currentTimeUs - previousUpdateTimeUs);
static bool previousArmingState = false;
/*
* On every ARM reset the controller
*/
if (ARMING_FLAG(ARMED) && !previousArmingState) {
navPidReset(&fixedWingLevelTrimController);
}
/*
* On disarm update the default value
*/
if (!ARMING_FLAG(ARMED) && previousArmingState) {
if (ARMING_FLAG(ARMED)) {
if (!previousArmingState) { // On every ARM reset the controller
navPidReset(&fixedWingLevelTrimController);
}
} else if (previousArmingState) { // On disarm update the default value
pidProfileMutable()->fixedWingLevelTrim = constrainf(fixedWingLevelTrim, -FIXED_WING_LEVEL_TRIM_MAX_ANGLE, FIXED_WING_LEVEL_TRIM_MAX_ANGLE);
}
previousArmingState = ARMING_FLAG(ARMED);
// return if not active or disarmed
if (!IS_RC_MODE_ACTIVE(BOXAUTOLEVEL) || !ARMING_FLAG(ARMED)) {
return;
}
static timeUs_t previousUpdateTimeUs;
const float dT = US2S(currentTimeUs - previousUpdateTimeUs);
previousUpdateTimeUs = currentTimeUs;
/*
* Prepare flags for the PID controller
*/
pidControllerFlags_e flags = PID_LIMIT_INTEGRATOR;
//Iterm should freeze when sticks are deflected
if (
!IS_RC_MODE_ACTIVE(BOXAUTOLEVEL) ||
areSticksDeflected() ||
(!FLIGHT_MODE(ANGLE_MODE) && !FLIGHT_MODE(HORIZON_MODE) && !FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) ||
FLIGHT_MODE(SOARING_MODE) ||
navigationIsControllingAltitude()
) {
// Iterm should freeze when conditions for setting level trim aren't met
if (!isFixedWingLevelTrimActive()) {
flags |= PID_FREEZE_INTEGRATOR;
}
@ -1321,8 +1333,6 @@ void updateFixedWingLevelTrim(timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_AUTOLEVEL, 4, output);
fixedWingLevelTrim = pidProfile()->fixedWingLevelTrim + (output * FIXED_WING_LEVEL_TRIM_MULTIPLIER);
previousArmingState = !!ARMING_FLAG(ARMED);
}
float getFixedWingLevelTrim(void)

13
src/main/flight/pid.h
View file

@ -31,10 +31,6 @@
#define HEADING_HOLD_RATE_LIMIT_MAX 250
#define HEADING_HOLD_RATE_LIMIT_DEFAULT 90
#define FW_ITERM_THROW_LIMIT_DEFAULT 165
#define FW_ITERM_THROW_LIMIT_MIN 0
#define FW_ITERM_THROW_LIMIT_MAX 500
#define AXIS_ACCEL_MIN_LIMIT 50
#define HEADING_HOLD_ERROR_LPF_FREQ 2
@ -106,8 +102,8 @@ typedef struct pidProfile_s {
pidBank_t bank_mc;
uint8_t dterm_lpf_type; // Dterm LPF type: PT1, BIQUAD
uint16_t dterm_lpf_hz;
uint16_t dterm_lpf_hz;
uint8_t yaw_lpf_hz;
uint8_t heading_hold_rate_limit; // Maximum rotation rate HEADING_HOLD mode can feed to yaw rate PID controller
@ -121,15 +117,15 @@ typedef struct pidProfile_s {
uint16_t pidSumLimit;
uint16_t pidSumLimitYaw;
uint16_t pidItermLimitPercent;
// Airplane-specific parameters
uint16_t fixedWingItermThrowLimit;
float fixedWingReferenceAirspeed; // Reference tuning airspeed for the airplane - the speed for which PID gains are tuned
float fixedWingCoordinatedYawGain; // This is the gain of the yaw rate required to keep the yaw rate consistent with the turn rate for a coordinated turn.
float fixedWingCoordinatedPitchGain; // This is the gain of the pitch rate to keep the pitch angle constant during coordinated turns.
float fixedWingItermLimitOnStickPosition; //Do not allow Iterm to grow when stick position is above this point
uint16_t fixedWingYawItermBankFreeze; // Freeze yaw Iterm when bank angle is more than this many degrees
float navVelXyDTermLpfHz;
uint8_t navVelXyDtermAttenuation; // VEL_XY dynamic Dterm scale: Dterm will be attenuatedby this value (in percent) when UAV is traveling with more than navVelXyDtermAttenuationStart percents of max velocity
uint8_t navVelXyDtermAttenuationStart; // VEL_XY dynamic Dterm scale: Dterm attenuation will begin at this percent of max velocity
@ -221,5 +217,6 @@ void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRa
pidType_e pidIndexGetType(pidIndex_e pidIndex);
bool isFixedWingLevelTrimActive(void);
void updateFixedWingLevelTrim(timeUs_t currentTimeUs);
float getFixedWingLevelTrim(void);

109
src/main/flight/servos.c
View file

@ -103,8 +103,14 @@ void pgResetFn_servoParams(servoParam_t *instance)
int16_t servo[MAX_SUPPORTED_SERVOS];
static uint8_t servoRuleCount = 0;
static servoMixer_t currentServoMixer[MAX_SERVO_RULES];
/*
//Was used to keep track of servo rules in all mixer_profile, In order to Apply mixer speed limit when rules turn off
static servoMixer_t currentServoMixer[MAX_SERVO_RULES*MAX_MIXER_PROFILE_COUNT];
static bool currentServoMixerActivative[MAX_SERVO_RULES*MAX_MIXER_PROFILE_COUNT];// if true, the rule is used by current servo mixer
static bool currentServoMixerActivative[MAX_SERVO_RULES*MAX_MIXER_PROFILE_COUNT]; // if true, the rule is used by current servo mixer
*/
static bool servoOutputEnabled;
static bool mixerUsesServos;
@ -115,7 +121,7 @@ static biquadFilter_t servoFilter[MAX_SUPPORTED_SERVOS];
static bool servoFilterIsSet;
static servoMetadata_t servoMetadata[MAX_SUPPORTED_SERVOS];
static rateLimitFilter_t servoSpeedLimitFilter[MAX_SERVO_RULES*MAX_MIXER_PROFILE_COUNT];
static rateLimitFilter_t servoSpeedLimitFilter[MAX_SERVO_RULES];
STATIC_FASTRAM pt1Filter_t rotRateFilter;
STATIC_FASTRAM pt1Filter_t targetRateFilter;
@ -137,6 +143,33 @@ void servoComputeScalingFactors(uint8_t servoIndex) {
servoMetadata[servoIndex].scaleMin = (servoParams(servoIndex)->middle - servoParams(servoIndex)->min) / 500.0f;
}
void computeServoCount(void)
{
static bool firstRun = true;
if (!firstRun) {
return;
}
minServoIndex = 255;
maxServoIndex = 0;
for (int j = 0; j < MAX_MIXER_PROFILE_COUNT; j++) {
for (int i = 0; i < MAX_SERVO_RULES; i++) {
// check if done
if (mixerServoMixersByIndex(j)[i].rate == 0){
break;
}
if (mixerServoMixersByIndex(j)[i].targetChannel < minServoIndex) {
minServoIndex = mixerServoMixersByIndex(j)[i].targetChannel;
}
if (mixerServoMixersByIndex(j)[i].targetChannel > maxServoIndex) {
maxServoIndex = mixerServoMixersByIndex(j)[i].targetChannel;
}
mixerUsesServos = true;
}
}
firstRun = false;
}
void servosInit(void)
{
// give all servos a default command
@ -147,12 +180,12 @@ void servosInit(void)
/*
* load mixer
*/
computeServoCount();
loadCustomServoMixer();
// If there are servo rules after all, update variables
if (servoRuleCount > 0) {
if (mixerUsesServos) {
servoOutputEnabled = true;
mixerUsesServos = true;
}
for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
@ -161,8 +194,8 @@ void servosInit(void)
}
int getServoCount(void)
{
if (servoRuleCount) {
{
if (mixerUsesServos) {
return 1 + maxServoIndex - minServoIndex;
}
else {
@ -173,30 +206,17 @@ int getServoCount(void)
void loadCustomServoMixer(void)
{
servoRuleCount = 0;
minServoIndex = 255;
maxServoIndex = 0;
memset(currentServoMixer, 0, sizeof(currentServoMixer));
for (int j = 0; j < MAX_MIXER_PROFILE_COUNT; j++) {
const servoMixer_t* tmp_customServoMixers = &mixerServoMixersByIndex(j)[0];
// load custom mixer into currentServoMixer
for (int i = 0; i < MAX_SERVO_RULES; i++) {
// check if done
if (tmp_customServoMixers[i].rate == 0)
break;
if (tmp_customServoMixers[i].targetChannel < minServoIndex) {
minServoIndex = tmp_customServoMixers[i].targetChannel;
}
if (tmp_customServoMixers[i].targetChannel > maxServoIndex) {
maxServoIndex = tmp_customServoMixers[i].targetChannel;
}
memcpy(&currentServoMixer[servoRuleCount], &tmp_customServoMixers[i], sizeof(servoMixer_t));
currentServoMixerActivative[servoRuleCount] = j==currentMixerProfileIndex;
servoRuleCount++;
// load custom mixer into currentServoMixer
for (int i = 0; i < MAX_SERVO_RULES; i++) {
// check if done
if (customServoMixers(i)->rate == 0){
break;
}
currentServoMixer[servoRuleCount] = *customServoMixers(i);
servoSpeedLimitFilter[servoRuleCount].state = 0;
servoRuleCount++;
}
}
@ -353,9 +373,6 @@ void servoMixer(float dT)
inputRaw = 0;
}
#endif
if (!currentServoMixerActivative[i]) {
inputRaw = 0;
}
/*
* Apply mixer speed limit. 1 [one] speed unit is defined as 10us/s:
* 0 = no limiting
@ -368,20 +385,6 @@ void servoMixer(float dT)
servo[target] += ((int32_t)inputLimited * currentServoMixer[i].rate) / 100;
}
/*
* When not armed, apply servo low position to all outputs that include a throttle or stabilizet throttle in the mix
*/
if (!ARMING_FLAG(ARMED)) {
for (int i = 0; i < servoRuleCount; i++) {
const uint8_t target = currentServoMixer[i].targetChannel;
const uint8_t from = currentServoMixer[i].inputSource;
if (from == INPUT_STABILIZED_THROTTLE || from == INPUT_RC_THROTTLE) {
servo[target] = motorConfig()->mincommand;
}
}
}
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
/*
@ -412,6 +415,20 @@ void servoMixer(float dT)
*/
servo[i] = constrain(servo[i], servoParams(i)->min, servoParams(i)->max);
}
/*
* When not armed, apply servo low position to all outputs that include a throttle or stabilizet throttle in the mix
*/
if (!ARMING_FLAG(ARMED)) {
for (int i = 0; i < servoRuleCount; i++) {
const uint8_t target = currentServoMixer[i].targetChannel;
const uint8_t from = currentServoMixer[i].inputSource;
if (from == INPUT_STABILIZED_THROTTLE || from == INPUT_RC_THROTTLE) {
servo[target] = motorConfig()->mincommand;
}
}
}
}
#define SERVO_AUTOTRIM_TIMER_MS 2000
@ -438,7 +455,6 @@ void processServoAutotrimMode(void)
if (ARMING_FLAG(ARMED)) {
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
for (int i = 0; i < servoRuleCount; i++) {
if (!currentServoMixerActivative[i]) {continue;}
// Reset servo middle accumulator
const uint8_t target = currentServoMixer[i].targetChannel;
const uint8_t source = currentServoMixer[i].inputSource;
@ -461,7 +477,6 @@ void processServoAutotrimMode(void)
if (ARMING_FLAG(ARMED)) {
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
for (int i = 0; i < servoRuleCount; i++) {
if (!currentServoMixerActivative[i]) {continue;}
const uint8_t target = currentServoMixer[i].targetChannel;
const uint8_t source = currentServoMixer[i].inputSource;
if (source == axis) {
@ -474,7 +489,6 @@ void processServoAutotrimMode(void)
if ((millis() - trimStartedAt) > SERVO_AUTOTRIM_TIMER_MS) {
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
for (int i = 0; i < servoRuleCount; i++) {
if (!currentServoMixerActivative[i]) {continue;}
const uint8_t target = currentServoMixer[i].targetChannel;
const uint8_t source = currentServoMixer[i].inputSource;
if (source == axis) {
@ -508,7 +522,6 @@ void processServoAutotrimMode(void)
if (trimState == AUTOTRIM_SAVE_PENDING) {
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
for (int i = 0; i < servoRuleCount; i++) {
if (!currentServoMixerActivative[i]) {continue;}
const uint8_t target = currentServoMixer[i].targetChannel;
const uint8_t source = currentServoMixer[i].inputSource;
if (source == axis) {

50
src/main/io/displayport_msp_bf_compat.c
View file

@ -96,10 +96,31 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
case SYM_AH_DECORATION_DOWN:
return BF_SYM_AH_DECORATION_DOWN;
case SYM_DIRECTION:
return BF_SYM_DIRECTION;
*/
case SYM_DIRECTION:
return BF_SYM_ARROW_NORTH;
case SYM_DIRECTION + 1: // NE pointing arrow
return BF_SYM_ARROW_7;
case SYM_DIRECTION + 2: // E pointing arrow
return BF_SYM_ARROW_EAST;
case SYM_DIRECTION + 3: // SE pointing arrow
return BF_SYM_ARROW_3;
case SYM_DIRECTION + 4: // S pointing arrow
return BF_SYM_ARROW_SOUTH;
case SYM_DIRECTION + 5: // SW pointing arrow
return BF_SYM_ARROW_15;
case SYM_DIRECTION + 6: // W pointing arrow
return BF_SYM_ARROW_WEST;
case SYM_DIRECTION + 7: // NW pointing arrow
return BF_SYM_ARROW_11;
case SYM_VOLT:
return BF_SYM_VOLT;
@ -187,13 +208,9 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
case SYM_ALT_M:
return BF_SYM_M;
/*
case SYM_TRIP_DIST:
return BF_SYM_TRIP_DIST;
case SYM_TOTAL:
return BF_SYM_TOTAL;
return BF_SYM_TOTAL_DISTANCE;
/*
case SYM_ALT_KM:
return BF_SYM_ALT_KM;
@ -226,20 +243,19 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
/*
case SYM_NM:
return BF_SYM_NM;
*/
case SYM_WIND_HORIZONTAL:
return BF_SYM_WIND_HORIZONTAL;
return 'W'; // W for wind
/*
case SYM_WIND_VERTICAL:
return BF_SYM_WIND_VERTICAL;
case SYM_3D_KT:
return BF_SYM_3D_KT;
case SYM_AIR:
return BF_SYM_AIR;
*/
case SYM_AIR:
return 'A'; // A for airspeed
case SYM_3D_KMH:
return BF_SYM_KPH;
@ -334,10 +350,12 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
case SYM_PITCH_DOWN:
return BF_SYM_PITCH_DOWN;
*/
case SYM_GFORCE:
return BF_SYM_GFORCE;
return 'G';
/*
case SYM_GFORCE_X:
return BF_SYM_GFORCE_X;

5
src/main/io/displayport_msp_osd.c
View file

@ -42,6 +42,7 @@
#include "drivers/osd_symbols.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "io/osd.h"
#include "io/displayport_msp.h"
@ -113,6 +114,10 @@ static void checkVtxPresent(void)
if (vtxActive && (millis()-vtxHeartbeat) > VTX_TIMEOUT) {
vtxActive = false;
}
if (ARMING_FLAG(SIMULATOR_MODE_HITL)) {
vtxActive = true;
}
}
static int output(displayPort_t *displayPort, uint8_t cmd, uint8_t *subcmd, int len)

649
src/main/io/osd.c
View file

File diff suppressed because it is too large Load diff

189
src/main/io/osd.h
View file

@ -274,15 +274,17 @@ typedef enum {
OSD_PILOT_NAME,
OSD_PAN_SERVO_CENTRED,
OSD_MULTI_FUNCTION,
OSD_ODOMETER,
OSD_PILOT_LOGO,
OSD_ITEM_COUNT // MUST BE LAST
} osd_items_e;
typedef enum {
OSD_UNIT_IMPERIAL,
OSD_UNIT_METRIC,
OSD_UNIT_METRIC_MPH, // Old UK units, all metric except speed in mph
OSD_UNIT_UK, // Show everything in imperial, temperature in C
OSD_UNIT_GA, // General Aviation: Knots, Nautical Miles, Feet, Degrees C
OSD_UNIT_METRIC_MPH, // Old UK units, all metric except speed in mph
OSD_UNIT_UK, // Show everything in imperial, temperature in C
OSD_UNIT_GA, // General Aviation: Knots, Nautical Miles, Feet, Degrees C
OSD_UNIT_MAX = OSD_UNIT_GA,
} osd_unit_e;
@ -343,111 +345,112 @@ PG_DECLARE(osdLayoutsConfig_t, osdLayoutsConfig);
typedef struct osdConfig_s {
// Alarms
uint8_t rssi_alarm; // rssi %
uint16_t time_alarm; // fly minutes
uint16_t alt_alarm; // positive altitude in m
uint16_t dist_alarm; // home distance in m
uint16_t neg_alt_alarm; // abs(negative altitude) in m
uint8_t current_alarm; // current consumption in A
int16_t imu_temp_alarm_min;
int16_t imu_temp_alarm_max;
int16_t esc_temp_alarm_min;
int16_t esc_temp_alarm_max;
float gforce_alarm;
float gforce_axis_alarm_min;
float gforce_axis_alarm_max;
uint8_t rssi_alarm; // rssi %
uint16_t time_alarm; // fly minutes
uint16_t alt_alarm; // positive altitude in m
uint16_t dist_alarm; // home distance in m
uint16_t neg_alt_alarm; // abs(negative altitude) in m
uint8_t current_alarm; // current consumption in A
int16_t imu_temp_alarm_min;
int16_t imu_temp_alarm_max;
int16_t esc_temp_alarm_min;
int16_t esc_temp_alarm_max;
float gforce_alarm;
float gforce_axis_alarm_min;
float gforce_axis_alarm_max;
#ifdef USE_SERIALRX_CRSF
int8_t snr_alarm; //CRSF SNR alarm in dB
int8_t link_quality_alarm;
int16_t rssi_dbm_alarm; // in dBm
int16_t rssi_dbm_max; // Perfect RSSI. Set to High end of curve. RSSI at 100%
int16_t rssi_dbm_min; // Worst RSSI. Set to low end of curve or RX sensitivity level. RSSI at 0%
int8_t snr_alarm; //CRSF SNR alarm in dB
int8_t link_quality_alarm;
int16_t rssi_dbm_alarm; // in dBm
int16_t rssi_dbm_max; // Perfect RSSI. Set to High end of curve. RSSI at 100%
int16_t rssi_dbm_min; // Worst RSSI. Set to low end of curve or RX sensitivity level. RSSI at 0%
#endif
#ifdef USE_BARO
int16_t baro_temp_alarm_min;
int16_t baro_temp_alarm_max;
int16_t baro_temp_alarm_min;
int16_t baro_temp_alarm_max;
#endif
#ifdef USE_TEMPERATURE_SENSOR
osd_alignment_e temp_label_align;
#endif
#ifdef USE_PITOT
float airspeed_alarm_min;
float airspeed_alarm_max;
float airspeed_alarm_min;
float airspeed_alarm_max;
#endif
videoSystem_e video_system;
uint8_t row_shiftdown;
int16_t msp_displayport_fullframe_interval;
videoSystem_e video_system;
uint8_t row_shiftdown;
int16_t msp_displayport_fullframe_interval;
// Preferences
uint8_t main_voltage_decimals;
uint8_t ahi_reverse_roll;
uint8_t ahi_max_pitch;
uint8_t crosshairs_style; // from osd_crosshairs_style_e
int8_t horizon_offset;
int8_t camera_uptilt;
bool ahi_camera_uptilt_comp;
uint8_t camera_fov_h;
uint8_t camera_fov_v;
uint8_t hud_margin_h;
uint8_t hud_margin_v;
bool hud_homing;
bool hud_homepoint;
uint8_t hud_radar_disp;
uint16_t hud_radar_range_min;
uint16_t hud_radar_range_max;
uint8_t hud_radar_alt_difference_display_time;
uint8_t hud_radar_distance_display_time;
uint8_t hud_wp_disp;
uint8_t main_voltage_decimals;
uint8_t ahi_reverse_roll;
uint8_t ahi_max_pitch;
uint8_t crosshairs_style; // from osd_crosshairs_style_e
int8_t horizon_offset;
int8_t camera_uptilt;
bool ahi_camera_uptilt_comp;
uint8_t camera_fov_h;
uint8_t camera_fov_v;
uint8_t hud_margin_h;
uint8_t hud_margin_v;
bool hud_homing;
bool hud_homepoint;
uint8_t hud_radar_disp;
uint16_t hud_radar_range_min;
uint16_t hud_radar_range_max;
uint8_t hud_radar_alt_difference_display_time;
uint8_t hud_radar_distance_display_time;
uint8_t hud_wp_disp;
uint8_t left_sidebar_scroll; // from osd_sidebar_scroll_e
uint8_t right_sidebar_scroll; // from osd_sidebar_scroll_e
uint8_t sidebar_scroll_arrows;
uint8_t left_sidebar_scroll; // from osd_sidebar_scroll_e
uint8_t right_sidebar_scroll; // from osd_sidebar_scroll_e
uint8_t sidebar_scroll_arrows;
uint8_t units; // from osd_unit_e
uint8_t stats_energy_unit; // from osd_stats_energy_unit_e
uint8_t stats_min_voltage_unit; // from osd_stats_min_voltage_unit_e
uint8_t stats_page_auto_swap_time; // stats page auto swap interval time (seconds)
uint8_t units; // from osd_unit_e
uint8_t stats_energy_unit; // from osd_stats_energy_unit_e
uint8_t stats_min_voltage_unit; // from osd_stats_min_voltage_unit_e
uint8_t stats_page_auto_swap_time; // stats page auto swap interval time (seconds)
#ifdef USE_WIND_ESTIMATOR
bool estimations_wind_compensation; // use wind compensation for estimated remaining flight/distance
#endif
uint8_t coordinate_digits;
bool osd_failsafe_switch_layout;
uint8_t plus_code_digits; // Number of digits to use in OSD_PLUS_CODE
uint8_t plus_code_short;
uint8_t ahi_style;
uint8_t force_grid; // Force a pixel based OSD to use grid mode.
uint8_t ahi_bordered; // Only used by the AHI widget
uint8_t ahi_width; // In pixels, only used by the AHI widget
uint8_t ahi_height; // In pixels, only used by the AHI widget
int8_t ahi_vertical_offset; // Offset from center in pixels. Positive moves the AHI down. Widget only.
int8_t sidebar_horizontal_offset; // Horizontal offset from default position. Units are grid slots for grid OSDs, pixels for pixel based OSDs. Positive values move sidebars closer to the edges.
uint8_t left_sidebar_scroll_step; // How many units each sidebar step represents. 0 means the default value for the scroll type.
uint8_t right_sidebar_scroll_step; // Same as left_sidebar_scroll_step, but for the right sidebar.
bool osd_home_position_arm_screen;
uint8_t pan_servo_index; // Index of the pan servo used for home direction offset
int8_t pan_servo_pwm2centideg; // Centidegrees of servo rotation per us pwm
uint8_t pan_servo_offcentre_warning; // Degrees around the centre, that is assumed camera is wanted to be facing forwards, but isn't centred
bool pan_servo_indicator_show_degrees; // Show the degrees of offset for the pan servo
uint8_t crsf_lq_format;
uint8_t sidebar_height; // sidebar height in rows, 0 turns off sidebars leaving only level indicator arrows
uint8_t telemetry; // use telemetry on displayed pixel line 0
uint8_t esc_rpm_precision; // Number of characters used for the RPM numbers.
uint16_t system_msg_display_time; // system message display time for multiple messages (ms)
uint8_t mAh_used_precision; // Number of numbers used for mAh drawn. Plently of packs now are > 9999 mAh
uint8_t ahi_pitch_interval; // redraws AHI at set pitch interval (Not pixel OSD)
char osd_switch_indicator0_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 0.
uint8_t osd_switch_indicator0_channel; // RC Channel to use for switch indicator 0.
char osd_switch_indicator1_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 1.
uint8_t osd_switch_indicator1_channel; // RC Channel to use for switch indicator 1.
char osd_switch_indicator2_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 2.
uint8_t osd_switch_indicator2_channel; // RC Channel to use for switch indicator 2.
char osd_switch_indicator3_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 3.
uint8_t osd_switch_indicator3_channel; // RC Channel to use for switch indicator 3.
bool osd_switch_indicators_align_left; // Align switch indicator name to left of the switch.
bool estimations_wind_compensation; // use wind compensation for estimated remaining flight/distance
#endif
uint8_t coordinate_digits;
bool osd_failsafe_switch_layout;
uint8_t plus_code_digits; // Number of digits to use in OSD_PLUS_CODE
uint8_t plus_code_short;
uint8_t ahi_style;
uint8_t force_grid; // Force a pixel based OSD to use grid mode.
uint8_t ahi_bordered; // Only used by the AHI widget
uint8_t ahi_width; // In pixels, only used by the AHI widget
uint8_t ahi_height; // In pixels, only used by the AHI widget
int8_t ahi_vertical_offset; // Offset from center in pixels. Positive moves the AHI down. Widget only.
int8_t sidebar_horizontal_offset; // Horizontal offset from default position. Units are grid slots for grid OSDs, pixels for pixel based OSDs. Positive values move sidebars closer to the edges.
uint8_t left_sidebar_scroll_step; // How many units each sidebar step represents. 0 means the default value for the scroll type.
uint8_t right_sidebar_scroll_step; // Same as left_sidebar_scroll_step, but for the right sidebar.
bool osd_home_position_arm_screen;
uint8_t pan_servo_index; // Index of the pan servo used for home direction offset
int8_t pan_servo_pwm2centideg; // Centidegrees of servo rotation per us pwm
uint8_t pan_servo_offcentre_warning; // Degrees around the centre, that is assumed camera is wanted to be facing forwards, but isn't centred
bool pan_servo_indicator_show_degrees; // Show the degrees of offset for the pan servo
uint8_t crsf_lq_format;
uint8_t sidebar_height; // sidebar height in rows, 0 turns off sidebars leaving only level indicator arrows
uint8_t telemetry; // use telemetry on displayed pixel line 0
uint8_t esc_rpm_precision; // Number of characters used for the RPM numbers.
uint16_t system_msg_display_time; // system message display time for multiple messages (ms)
uint8_t mAh_precision; // Number of numbers used for mAh drawn. Plently of packs now are > 9999 mAh
uint8_t ahi_pitch_interval; // redraws AHI at set pitch interval (Not pixel OSD)
char osd_switch_indicator0_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 0.
uint8_t osd_switch_indicator0_channel; // RC Channel to use for switch indicator 0.
char osd_switch_indicator1_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 1.
uint8_t osd_switch_indicator1_channel; // RC Channel to use for switch indicator 1.
char osd_switch_indicator2_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 2.
uint8_t osd_switch_indicator2_channel; // RC Channel to use for switch indicator 2.
char osd_switch_indicator3_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 3.
uint8_t osd_switch_indicator3_channel; // RC Channel to use for switch indicator 3.
bool osd_switch_indicators_align_left; // Align switch indicator name to left of the switch.
bool use_pilot_logo; // If enabled, the pilot logo (last 40 characters of page 2 font) will be used with the INAV logo.
uint8_t inav_to_pilot_logo_spacing; // The space between the INAV and pilot logos, if pilot logo is used. This number may be adjusted so that it fits the odd/even col width.
uint16_t arm_screen_display_time; // Length of time the arm screen is displayed
} osdConfig_t;
PG_DECLARE(osdConfig_t, osdConfig);
@ -483,7 +486,7 @@ void osdStartedSaveProcess(void);
void osdShowEEPROMSavedNotification(void);
void osdCrosshairPosition(uint8_t *x, uint8_t *y);
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length, bool leadingZeros);
void osdFormatAltitudeSymbol(char *buff, int32_t alt);
void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max);
// Returns a heading angle in degrees normalized to [0, 360).

12
src/main/io/osd_hud.c
View file

@ -256,18 +256,18 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu
case OSD_UNIT_IMPERIAL:
{
if (poiType == 1) {
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_MILE, 0, 4, 4);
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_MILE, 0, 4, 4, false);
} else {
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_MILE, 0, 3, 3);
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_MILE, 0, 3, 3, false);
}
}
break;
case OSD_UNIT_GA:
{
if (poiType == 1) {
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), (uint32_t)FEET_PER_NAUTICALMILE, 0, 4, 4);
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), (uint32_t)FEET_PER_NAUTICALMILE, 0, 4, 4, false);
} else {
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), (uint32_t)FEET_PER_NAUTICALMILE, 0, 3, 3);
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), (uint32_t)FEET_PER_NAUTICALMILE, 0, 3, 3, false);
}
}
break;
@ -278,9 +278,9 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu
case OSD_UNIT_METRIC:
{
if (poiType == 1) {
osdFormatCentiNumber(buff, poiDistance * 100, METERS_PER_KILOMETER, 0, 4, 4);
osdFormatCentiNumber(buff, poiDistance * 100, METERS_PER_KILOMETER, 0, 4, 4, false);
} else {
osdFormatCentiNumber(buff, poiDistance * 100, METERS_PER_KILOMETER, 0, 3, 3);
osdFormatCentiNumber(buff, poiDistance * 100, METERS_PER_KILOMETER, 0, 3, 3, false);
}
}
break;

74
src/main/io/osd_joystick.c Normal file
View file

@ -0,0 +1,74 @@
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#include "common/crc.h"
#include "common/maths.h"
#include "common/streambuf.h"
#include "common/utils.h"
#include "build/build_config.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "fc/settings.h"
#include "fc/runtime_config.h"
#include "drivers/time.h"
#include "drivers/light_ws2811strip.h"
#include "io/serial.h"
#include "io/rcdevice.h"
#include "osd_joystick.h"
#ifdef USE_RCDEVICE
#ifdef USE_LED_STRIP
PG_REGISTER_WITH_RESET_TEMPLATE(osdJoystickConfig_t, osdJoystickConfig, PG_OSD_JOYSTICK_CONFIG, 0);
PG_RESET_TEMPLATE(osdJoystickConfig_t, osdJoystickConfig,
.osd_joystick_enabled = SETTING_OSD_JOYSTICK_ENABLED_DEFAULT,
.osd_joystick_down = SETTING_OSD_JOYSTICK_DOWN_DEFAULT,
.osd_joystick_up = SETTING_OSD_JOYSTICK_UP_DEFAULT,
.osd_joystick_left = SETTING_OSD_JOYSTICK_LEFT_DEFAULT,
.osd_joystick_right = SETTING_OSD_JOYSTICK_RIGHT_DEFAULT,
.osd_joystick_enter = SETTING_OSD_JOYSTICK_ENTER_DEFAULT
);
bool osdJoystickEnabled(void) {
return osdJoystickConfig()->osd_joystick_enabled;
}
void osdJoystickSimulate5KeyButtonPress(uint8_t operation) {
switch (operation) {
case RCDEVICE_CAM_KEY_ENTER:
ledPinStartPWM( osdJoystickConfig()->osd_joystick_enter );
break;
case RCDEVICE_CAM_KEY_LEFT:
ledPinStartPWM( osdJoystickConfig()->osd_joystick_left );
break;
case RCDEVICE_CAM_KEY_UP:
ledPinStartPWM( osdJoystickConfig()->osd_joystick_up );
break;
case RCDEVICE_CAM_KEY_RIGHT:
ledPinStartPWM( osdJoystickConfig()->osd_joystick_right );
break;
case RCDEVICE_CAM_KEY_DOWN:
ledPinStartPWM( osdJoystickConfig()->osd_joystick_down );
break;
}
}
void osdJoystickSimulate5KeyButtonRelease(void) {
ledPinStopPWM();
}
#endif
#endif

26
src/main/io/osd_joystick.h Normal file
View file

@ -0,0 +1,26 @@
#pragma once
#include "config/parameter_group.h"
#ifdef USE_RCDEVICE
#ifdef USE_LED_STRIP
typedef struct osdJoystickConfig_s {
bool osd_joystick_enabled;
uint8_t osd_joystick_down;
uint8_t osd_joystick_up;
uint8_t osd_joystick_left;
uint8_t osd_joystick_right;
uint8_t osd_joystick_enter;
} osdJoystickConfig_t;
PG_DECLARE(osdJoystickConfig_t, osdJoystickConfig);
bool osdJoystickEnabled(void);
// 5 key osd cable simulation
void osdJoystickSimulate5KeyButtonPress(uint8_t operation);
void osdJoystickSimulate5KeyButtonRelease(void);
#endif
#endif

14
src/main/io/osd_utils.c
View file

@ -38,7 +38,7 @@ int digitCount(int32_t value)
}
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length)
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length, bool leadingZeros)
{
char *ptr = buff;
char *dec;
@ -86,7 +86,11 @@ bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int ma
// Done counting. Time to write the characters.
// Write spaces at the start
while (remaining > 0) {
*ptr = SYM_BLANK;
if (leadingZeros)
*ptr = '0';
else
*ptr = SYM_BLANK;
ptr++;
remaining--;
}
@ -98,7 +102,11 @@ bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int ma
// Add any needed remaining leading spaces
while(rem_spaces > 0)
{
*ptr = SYM_BLANK;
if (leadingZeros)
*ptr = '0';
else
*ptr = SYM_BLANK;
ptr++;
remaining--;
rem_spaces--;

2
src/main/io/osd_utils.h
View file

@ -33,6 +33,6 @@ int digitCount(int32_t value);
* of the same length. If the value doesn't fit into the provided length
* it will be divided by scale and true will be returned.
*/
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length, bool leadingZeros);
#endif

80
src/main/io/rcdevice_cam.c
View file

@ -29,6 +29,7 @@
#include "io/beeper.h"
#include "io/rcdevice_cam.h"
#include "io/osd_joystick.h"
#include "rx/rx.h"
@ -47,6 +48,14 @@ bool waitingDeviceResponse = false;
static bool isFeatureSupported(uint8_t feature)
{
#ifndef UNIT_TEST
#ifdef USE_LED_STRIP
if (!rcdeviceIsEnabled() && osdJoystickEnabled() ) {
return true;
}
#endif
#endif
if (camDevice->info.features & feature) {
return true;
}
@ -72,6 +81,7 @@ static void rcdeviceCameraControlProcess(void)
}
uint8_t behavior = RCDEVICE_PROTOCOL_CAM_CTRL_UNKNOWN_CAMERA_OPERATION;
uint8_t behavior1 = RCDEVICE_PROTOCOL_CAM_CTRL_UNKNOWN_CAMERA_OPERATION;
switch (i) {
case BOXCAMERA1:
if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_WIFI_BUTTON)) {
@ -81,11 +91,13 @@ static void rcdeviceCameraControlProcess(void)
if (!ARMING_FLAG(ARMED)) {
behavior = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_WIFI_BTN;
}
behavior1 = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_WIFI_BTN;
}
break;
case BOXCAMERA2:
if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_POWER_BUTTON)) {
behavior = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_POWER_BTN;
behavior1 = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_POWER_BTN;
}
break;
case BOXCAMERA3:
@ -94,16 +106,43 @@ static void rcdeviceCameraControlProcess(void)
if (!ARMING_FLAG(ARMED)) {
behavior = RCDEVICE_PROTOCOL_CAM_CTRL_CHANGE_MODE;
}
behavior1 = RCDEVICE_PROTOCOL_CAM_CTRL_CHANGE_MODE;
}
break;
default:
break;
}
if (behavior != RCDEVICE_PROTOCOL_CAM_CTRL_UNKNOWN_CAMERA_OPERATION) {
if ((behavior != RCDEVICE_PROTOCOL_CAM_CTRL_UNKNOWN_CAMERA_OPERATION) && rcdeviceIsEnabled()) {
runcamDeviceSimulateCameraButton(camDevice, behavior);
switchStates[switchIndex].isActivated = true;
}
#ifndef UNIT_TEST
#ifdef USE_LED_STRIP
else if ((behavior1 != RCDEVICE_PROTOCOL_CAM_CTRL_UNKNOWN_CAMERA_OPERATION) && osdJoystickEnabled()) {
switch (behavior1) {
case RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_WIFI_BTN:
osdJoystickSimulate5KeyButtonPress(RCDEVICE_CAM_KEY_ENTER);
break;
case RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_POWER_BTN:
osdJoystickSimulate5KeyButtonPress(RCDEVICE_CAM_KEY_UP);
break;
case RCDEVICE_PROTOCOL_CAM_CTRL_CHANGE_MODE:
osdJoystickSimulate5KeyButtonPress(RCDEVICE_CAM_KEY_DOWN);
break;
}
switchStates[switchIndex].isActivated = true;
}
#endif
#endif
UNUSED(behavior1);
} else {
#ifndef UNIT_TEST
#ifdef USE_LED_STRIP
if (osdJoystickEnabled() && switchStates[switchIndex].isActivated) {
osdJoystickSimulate5KeyButtonRelease();
}
#endif
#endif
switchStates[switchIndex].isActivated = false;
}
}
@ -225,14 +264,24 @@ static void rcdevice5KeySimulationProcess(timeUs_t currentTimeUs)
}
#endif
if (camDevice->serialPort == 0 || ARMING_FLAG(ARMED)) {
if (ARMING_FLAG(ARMED)) {
return;
}
if (isButtonPressed) {
if (IS_MID(YAW) && IS_MID(PITCH) && IS_MID(ROLL)) {
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE);
waitingDeviceResponse = true;
if ( rcdeviceIsEnabled() ) {
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE);
waitingDeviceResponse = true;
}
#ifndef UNIT_TEST
#ifdef USE_LED_STRIP
else if (osdJoystickEnabled()) {
osdJoystickSimulate5KeyButtonRelease();
isButtonPressed = false;
}
#endif
#endif
}
} else {
if (waitingDeviceResponse) {
@ -266,16 +315,33 @@ static void rcdevice5KeySimulationProcess(timeUs_t currentTimeUs)
}
if (key != RCDEVICE_CAM_KEY_NONE) {
rcdeviceSend5KeyOSDCableSimualtionEvent(key);
if ( rcdeviceIsEnabled() ) {
rcdeviceSend5KeyOSDCableSimualtionEvent(key);
waitingDeviceResponse = true;
}
#ifndef UNIT_TEST
#ifdef USE_LED_STRIP
else if (osdJoystickEnabled()) {
if ( key == RCDEVICE_CAM_KEY_CONNECTION_OPEN ) {
rcdeviceInMenu = true;
} else if ( key == RCDEVICE_CAM_KEY_CONNECTION_CLOSE ) {
rcdeviceInMenu = false;
} else {
osdJoystickSimulate5KeyButtonPress(key);
}
}
#endif
#endif
isButtonPressed = true;
waitingDeviceResponse = true;
}
}
}
void rcdeviceUpdate(timeUs_t currentTimeUs)
{
rcdeviceReceive(currentTimeUs);
if ( rcdeviceIsEnabled() ) {
rcdeviceReceive(currentTimeUs);
}
rcdeviceCameraControlProcess();

19
src/main/io/vtx_tramp.c
View file

@ -575,16 +575,27 @@ const char * const trampPowerNames_5G8_800[VTX_TRAMP_5G8_MAX_POWER_COUNT + 1] =
const uint16_t trampPowerTable_1G3_800[VTX_TRAMP_1G3_MAX_POWER_COUNT] = { 25, 200, 800 };
const char * const trampPowerNames_1G3_800[VTX_TRAMP_1G3_MAX_POWER_COUNT + 1] = { "---", "25 ", "200", "800" };
const uint16_t trampPowerTable_1G3_2000[VTX_TRAMP_1G3_MAX_POWER_COUNT] = { 25, 200, 2000 };
const char * const trampPowerNames_1G3_2000[VTX_TRAMP_1G3_MAX_POWER_COUNT + 1] = { "---", "25 ", "200", "2000" };
static void vtxProtoUpdatePowerMetadata(uint16_t maxPower)
{
switch (vtxSettingsConfig()->frequencyGroup) {
case FREQUENCYGROUP_1G3:
vtxState.metadata.powerTablePtr = trampPowerTable_1G3_800;
vtxState.metadata.powerTableCount = VTX_TRAMP_1G3_MAX_POWER_COUNT;
if (maxPower >= 2000) {
vtxState.metadata.powerTablePtr = trampPowerTable_1G3_2000;
vtxState.metadata.powerTableCount = VTX_TRAMP_1G3_MAX_POWER_COUNT;
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_1G3_800;
impl_vtxDevice.capability.powerCount = VTX_TRAMP_1G3_MAX_POWER_COUNT;
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_1G3_2000;
impl_vtxDevice.capability.powerCount = VTX_TRAMP_1G3_MAX_POWER_COUNT;
}
else {
vtxState.metadata.powerTablePtr = trampPowerTable_1G3_800;
vtxState.metadata.powerTableCount = VTX_TRAMP_1G3_MAX_POWER_COUNT;
impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_1G3_800;
impl_vtxDevice.capability.powerCount = VTX_TRAMP_1G3_MAX_POWER_COUNT;
}
impl_vtxDevice.capability.bandCount = VTX_TRAMP_1G3_BAND_COUNT;
impl_vtxDevice.capability.channelCount = VTX_TRAMP_1G3_CHANNEL_COUNT;
impl_vtxDevice.capability.bandNames = (char **)vtx1G3BandNames;

5
src/main/msp/msp_protocol_v2_inav.h
View file

@ -94,3 +94,8 @@
#define MSP2_INAV_RATE_DYNAMICS 0x2060
#define MSP2_INAV_SET_RATE_DYNAMICS 0x2061
#define MSP2_INAV_EZ_TUNE 0x2070
#define MSP2_INAV_EZ_TUNE_SET 0x2071
#define MSP2_INAV_SELECT_MIXER_PROFILE 0x2080

99
src/main/navigation/navigation.c
View file

@ -62,6 +62,7 @@
#include "sensors/acceleration.h"
#include "sensors/boardalignment.h"
#include "sensors/battery.h"
#include "sensors/gyro.h"
#include "programming/global_variables.h"
@ -223,6 +224,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
static navWapointHeading_t wpHeadingControl;
navigationPosControl_t posControl;
navSystemStatus_t NAV_Status;
static bool landingDetectorIsActive;
EXTENDED_FASTRAM multicopterPosXyCoefficients_t multicopterPosXyCoefficients;
@ -949,7 +951,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
/** MIXER AUTOMATED TRANSITION mode, alternated althod ***************************************************/
[NAV_STATE_MIXERAT_INITIALIZE] = {
.persistentId = NAV_PERSISTENT_ID_MIXERAT_INITIALIZE,
@ -992,7 +994,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_IDLE,
[NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE,
}
},
};
@ -1514,7 +1516,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || !validateRTHSanityChecker()) {
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
if (checkMixerATRequired(MIXERAT_REQUEST_LAND)){
return NAV_FSM_EVENT_SWITCH_TO_MIXERAT;
}
@ -2660,11 +2662,15 @@ bool findNearestSafeHome(void)
*-----------------------------------------------------------*/
void updateHomePosition(void)
{
// Disarmed and have a valid position, constantly update home
// Disarmed and have a valid position, constantly update home before first arm (depending on setting)
// Update immediately after arming thereafter if reset on each arm (required to avoid home reset after emerg in flight rearm)
static bool setHome = false;
navSetWaypointFlags_t homeUpdateFlags = NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING;
if (!ARMING_FLAG(ARMED)) {
if (posControl.flags.estPosStatus >= EST_USABLE) {
const navigationHomeFlags_t validHomeFlags = NAV_HOME_VALID_XY | NAV_HOME_VALID_Z;
bool setHome = (posControl.rthState.homeFlags & validHomeFlags) != validHomeFlags;
setHome = (posControl.rthState.homeFlags & validHomeFlags) != validHomeFlags;
switch ((nav_reset_type_e)positionEstimationConfig()->reset_home_type) {
case NAV_RESET_NEVER:
break;
@ -2675,24 +2681,16 @@ void updateHomePosition(void)
setHome = true;
break;
}
if (setHome) {
#if defined(USE_SAFE_HOME)
findNearestSafeHome();
#endif
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
// save the current location in case it is replaced by a safehome or HOME_RESET
posControl.rthState.originalHomePosition = posControl.rthState.homePosition.pos;
}
}
}
else {
static bool isHomeResetAllowed = false;
// If pilot so desires he may reset home position to current position
if (IS_RC_MODE_ACTIVE(BOXHOMERESET)) {
if (isHomeResetAllowed && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && (posControl.flags.estPosStatus >= EST_USABLE)) {
const navSetWaypointFlags_t homeUpdateFlags = STATE(GPS_FIX_HOME) ? (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING) : (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, homeUpdateFlags, navigationActualStateHomeValidity());
homeUpdateFlags = 0;
homeUpdateFlags = STATE(GPS_FIX_HOME) ? (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING) : (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
setHome = true;
isHomeResetAllowed = false;
}
}
@ -2707,6 +2705,22 @@ void updateHomePosition(void)
posControl.homeDirection = calculateBearingToDestination(tmpHomePos);
updateHomePositionCompatibility();
}
setHome &= !STATE(IN_FLIGHT_EMERG_REARM); // prevent reset following emerg in flight rearm
}
if (setHome && (!ARMING_FLAG(WAS_EVER_ARMED) || ARMING_FLAG(ARMED))) {
#if defined(USE_SAFE_HOME)
findNearestSafeHome();
#endif
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, homeUpdateFlags, navigationActualStateHomeValidity());
if (ARMING_FLAG(ARMED) && positionEstimationConfig()->reset_altitude_type == NAV_RESET_ON_EACH_ARM) {
posControl.rthState.homePosition.pos.z = 0; // force to 0 if reference altitude also reset every arm
}
// save the current location in case it is replaced by a safehome or HOME_RESET
posControl.rthState.originalHomePosition = posControl.rthState.homePosition.pos;
setHome = false;
}
}
@ -2879,6 +2893,9 @@ static void updateNavigationFlightStatistics(void)
}
}
/*
* Total travel distance in cm
*/
uint32_t getTotalTravelDistance(void)
{
return lrintf(posControl.totalTripDistance);
@ -2949,14 +2966,15 @@ void updateLandingStatus(timeMs_t currentTimeMs)
}
lastUpdateTimeMs = currentTimeMs;
static bool landingDetectorIsActive;
DEBUG_SET(DEBUG_LANDING, 0, landingDetectorIsActive);
DEBUG_SET(DEBUG_LANDING, 1, STATE(LANDING_DETECTED));
if (!ARMING_FLAG(ARMED)) {
if (STATE(LANDING_DETECTED)) {
landingDetectorIsActive = false;
}
resetLandingDetector();
landingDetectorIsActive = false;
if (!IS_RC_MODE_ACTIVE(BOXARM)) {
DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
}
@ -2993,11 +3011,28 @@ void resetLandingDetector(void)
posControl.flags.resetLandingDetector = true;
}
void resetLandingDetectorActiveState(void)
{
landingDetectorIsActive = false;
}
bool isFlightDetected(void)
{
return STATE(AIRPLANE) ? isFixedWingFlying() : isMulticopterFlying();
}
bool isProbablyStillFlying(void)
{
bool inFlightSanityCheck;
if (STATE(MULTIROTOR)) {
inFlightSanityCheck = posControl.actualState.velXY > MC_LAND_CHECK_VEL_XY_MOVING || averageAbsGyroRates() > 4.0f;
} else {
inFlightSanityCheck = isGPSHeadingValid();
}
return landingDetectorIsActive && inFlightSanityCheck;
}
/*-----------------------------------------------------------
* Z-position controller
*-----------------------------------------------------------*/
@ -3916,14 +3951,14 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
}
// CRUISE has priority over COURSE_HOLD and AH
if (IS_RC_MODE_ACTIVE(BOXNAVCRUISE) && STATE(AIRPLANE)) {
if (IS_RC_MODE_ACTIVE(BOXNAVCRUISE)) {
if ((FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))
return NAV_FSM_EVENT_SWITCH_TO_CRUISE;
}
// PH has priority over COURSE_HOLD
// CRUISE has priority on AH
if (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) && STATE(AIRPLANE)) {
if (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD)) {
if (IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && ((FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivatePosHold && canActivateAltHold))) {
return NAV_FSM_EVENT_SWITCH_TO_CRUISE;
}
@ -3937,12 +3972,11 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
if ((FLIGHT_MODE(NAV_ALTHOLD_MODE)) || (canActivateAltHold))
return NAV_FSM_EVENT_SWITCH_TO_ALTHOLD;
}
}
else {
} else {
canActivateWaypoint = false;
// Launch mode can be activated if feature FW_LAUNCH is enabled or BOX is turned on prior to arming (avoid switching to LAUNCH in flight)
canActivateLaunchMode = isNavLaunchEnabled();
canActivateLaunchMode = isNavLaunchEnabled() && (!sensors(SENSOR_GPS) || (sensors(SENSOR_GPS) && !isGPSHeadingValid()));
}
return NAV_FSM_EVENT_SWITCH_TO_IDLE;
@ -4021,7 +4055,8 @@ bool navigationPositionEstimateIsHealthy(void)
navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
{
const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) || (STATE(FIXED_WING_LEGACY) && (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) || IS_RC_MODE_ACTIVE(BOXNAVCRUISE)));
const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) ||
IS_RC_MODE_ACTIVE(BOXNAVCRUISE) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD));
if (usedBypass) {
*usedBypass = false;
@ -4051,13 +4086,13 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
}
}
/*
* Don't allow arming if any of JUMP waypoint has invalid settings
* First WP can't be JUMP
* Can't jump to immediately adjacent WPs (pointless)
* Can't jump beyond WP list
* Only jump to geo-referenced WP types
*/
/*
* Don't allow arming if any of JUMP waypoint has invalid settings
* First WP can't be JUMP
* Can't jump to immediately adjacent WPs (pointless)
* Can't jump beyond WP list
* Only jump to geo-referenced WP types
*/
if (posControl.waypointCount) {
for (uint8_t wp = posControl.startWpIndex; wp < posControl.waypointCount + posControl.startWpIndex; wp++){
if (posControl.waypointList[wp].action == NAV_WP_ACTION_JUMP){

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

@ -610,6 +610,8 @@ const char * fixedWingLaunchStateMessage(void);
float calculateAverageSpeed(void);
void updateLandingStatus(timeMs_t currentTimeMs);
bool isProbablyStillFlying(void);
void resetLandingDetectorActiveState(void);
const navigationPIDControllers_t* getNavigationPIDControllers(void);

2
src/main/navigation/navigation_fixedwing.c
View file

@ -695,7 +695,7 @@ bool isFixedWingFlying(void)
bool velCondition = posControl.actualState.velXY > 250.0f || airspeed > 250.0f;
bool launchCondition = isNavLaunchEnabled() && fixedWingLaunchStatus() == FW_LAUNCH_FLYING;
return (isImuHeadingValid() && throttleCondition && velCondition) || launchCondition;
return (isGPSHeadingValid() && throttleCondition && velCondition) || launchCondition;
}
/*-----------------------------------------------------------

21
src/main/navigation/navigation_pos_estimator.c
View file

@ -54,6 +54,7 @@
#include "sensors/opflow.h"
navigationPosEstimator_t posEstimator;
static float initialBaroAltitudeOffset = 0.0f;
PG_REGISTER_WITH_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, PG_POSITION_ESTIMATION_CONFIG, 5);
@ -110,6 +111,25 @@ static bool updateTimer(navigationTimer_t * tim, timeUs_t interval, timeUs_t cur
static bool shouldResetReferenceAltitude(void)
{
/* Reference altitudes reset constantly when disarmed.
* On arming ref altitudes saved as backup in case of emerg in flight rearm
* If emerg in flight rearm active ref altitudes reset to backup values to avoid unwanted altitude reset */
static float backupInitialBaroAltitudeOffset = 0.0f;
static int32_t backupGpsOriginAltitude = 0;
static bool emergRearmResetCheck = false;
if (ARMING_FLAG(ARMED) && emergRearmResetCheck) {
if (STATE(IN_FLIGHT_EMERG_REARM)) {
initialBaroAltitudeOffset = backupInitialBaroAltitudeOffset;
posControl.gpsOrigin.alt = backupGpsOriginAltitude;
} else {
backupInitialBaroAltitudeOffset = initialBaroAltitudeOffset;
backupGpsOriginAltitude = posControl.gpsOrigin.alt;
}
}
emergRearmResetCheck = !ARMING_FLAG(ARMED);
switch ((nav_reset_type_e)positionEstimationConfig()->reset_altitude_type) {
case NAV_RESET_NEVER:
return false;
@ -305,7 +325,6 @@ void onNewGPSData(void)
*/
void updatePositionEstimator_BaroTopic(timeUs_t currentTimeUs)
{
static float initialBaroAltitudeOffset = 0.0f;
float newBaroAlt = baroCalculateAltitude();
/* If we are required - keep altitude at zero */

16
src/main/programming/logic_condition.c
View file

@ -56,6 +56,7 @@
#include "io/vtx.h"
#include "drivers/vtx_common.h"
#include "drivers/light_ws2811strip.h"
PG_REGISTER_ARRAY_WITH_RESET_FN(logicCondition_t, MAX_LOGIC_CONDITIONS, logicConditions, PG_LOGIC_CONDITIONS, 4);
@ -474,6 +475,17 @@ static int logicConditionCompute(
return false;
}
break;
#ifdef LED_PIN
case LOGIC_CONDITION_LED_PIN_PWM:
if (operandA >=0 && operandA <= 100) {
ledPinStartPWM((uint8_t)operandA);
} else {
ledPinStopPWM();
}
return operandA;
break;
#endif
default:
return false;
@ -704,6 +716,10 @@ static int logicConditionGetFlightOperandValue(int operand) {
return constrain(attitude.values.pitch / 10, -180, 180);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_YAW: // deg
return constrain(attitude.values.yaw / 10, 0, 360);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_IS_ARMED: // 0/1
return ARMING_FLAG(ARMED) ? 1 : 0;
break;

8
src/main/programming/logic_condition.h
View file

@ -81,7 +81,8 @@ typedef enum {
LOGIC_CONDITION_TIMER = 49,
LOGIC_CONDITION_DELTA = 50,
LOGIC_CONDITION_APPROX_EQUAL = 51,
LOGIC_CONDITION_LAST = 52,
LOGIC_CONDITION_LED_PIN_PWM = 52,
LOGIC_CONDITION_LAST = 53,
} logicOperation_e;
typedef enum logicOperandType_s {
@ -135,8 +136,9 @@ typedef enum {
LOGIC_CONDITION_OPERAND_FLIGHT_AGL_STATUS, //0,1,2 // 35
LOGIC_CONDITION_OPERAND_FLIGHT_AGL, //0,1,2 // 36
LOGIC_CONDITION_OPERAND_FLIGHT_RANGEFINDER_RAW, //int // 37
LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_MIXER_PROFILE, //int // 39
LOGIC_CONDITION_OPERAND_FLIGHT_MIXER_TRANSITION_ACTIVE, //0,1 // 40
LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_MIXER_PROFILE, //int // 38
LOGIC_CONDITION_OPERAND_FLIGHT_MIXER_TRANSITION_ACTIVE, //0,1 // 39
LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_YAW, // deg // 40
} logicFlightOperands_e;
typedef enum {

19
src/main/rx/jetiexbus.c
View file

@ -63,7 +63,12 @@
#define JETIEXBUS_BAUDRATE 125000 // EX Bus 125000; EX Bus HS 250000 not supported
#define JETIEXBUS_OPTIONS (SERIAL_STOPBITS_1 | SERIAL_PARITY_NO)
#define JETIEXBUS_MIN_FRAME_GAP 1000
#define JETIEXBUS_CHANNEL_COUNT 16 // most Jeti TX transmit 16 channels
#ifdef USE_24CHANNELS
#define JETIEXBUS_CHANNEL_COUNT 24
#else
#define JETIEXBUS_CHANNEL_COUNT 16
#endif
#define EXBUS_START_CHANNEL_FRAME (0x3E)
@ -153,6 +158,7 @@ static void jetiExBusDataReceive(uint16_t c, void *data)
static timeUs_t jetiExBusTimeLast = 0;
static uint8_t *jetiExBusFrame;
static uint8_t jetiExBusFrameMaxSize;
const timeUs_t now = microsISR();
// Check if we shall reset frame position due to time
@ -169,11 +175,13 @@ static void jetiExBusDataReceive(uint16_t c, void *data)
case EXBUS_START_CHANNEL_FRAME:
jetiExBusFrameState = EXBUS_STATE_IN_PROGRESS;
jetiExBusFrame = jetiExBusChannelFrame;
jetiExBusFrameMaxSize = EXBUS_MAX_CHANNEL_FRAME_SIZE;
break;
case EXBUS_START_REQUEST_FRAME:
jetiExBusRequestState = EXBUS_STATE_IN_PROGRESS;
jetiExBusFrame = jetiExBusRequestFrame;
jetiExBusFrameMaxSize = EXBUS_MAX_CHANNEL_FRAME_SIZE;
break;
default:
@ -181,6 +189,15 @@ static void jetiExBusDataReceive(uint16_t c, void *data)
}
}
if (jetiExBusFramePosition == jetiExBusFrameMaxSize) {
// frame overrun
jetiExBusFrameReset();
jetiExBusFrameState = EXBUS_STATE_ZERO;
jetiExBusRequestState = EXBUS_STATE_ZERO;
return;
}
// Store in frame copy
jetiExBusFrame[jetiExBusFramePosition] = (uint8_t)c;
jetiExBusFramePosition++;

6
src/main/rx/rx.h
View file

@ -83,7 +83,11 @@ typedef enum {
SERIALRX_FBUS,
} rxSerialReceiverType_e;
#define MAX_SUPPORTED_RC_CHANNEL_COUNT 18
#ifdef USE_24CHANNELS
#define MAX_SUPPORTED_RC_CHANNEL_COUNT 26
#else
#define MAX_SUPPORTED_RC_CHANNEL_COUNT 18
#endif
#define NON_AUX_CHANNEL_COUNT 4
#define MAX_AUX_CHANNEL_COUNT (MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT)

10
src/main/sensors/battery.c
View file

@ -84,7 +84,7 @@ static bool batteryUseCapacityThresholds = false;
static bool batteryFullWhenPluggedIn = false;
static bool profileAutoswitchDisable = false;
static uint16_t vbat = 0; // battery voltage in 0.1V steps (filtered)
static uint16_t vbat = 0; // battery voltage in 0.01V steps (filtered)
static uint16_t powerSupplyImpedance = 0; // calculated impedance in milliohm
static uint16_t sagCompensatedVBat = 0; // calculated no load vbat
static bool powerSupplyImpedanceIsValid = false;
@ -297,6 +297,14 @@ static void updateBatteryVoltage(timeUs_t timeDelta, bool justConnected)
vbat = 0;
break;
}
#ifdef USE_SIMULATOR
if (ARMING_FLAG(SIMULATOR_MODE_HITL) && SIMULATOR_HAS_OPTION(HITL_SIMULATE_BATTERY)) {
vbat = ((uint16_t)simulatorData.vbat)*10;
return;
}
#endif
if (justConnected) {
pt1FilterReset(&vbatFilterState, vbat);
} else {

9
src/main/target/AIKONF4/target.h
View file

@ -86,14 +86,7 @@
#define USE_MAG
#define MAG_I2C_BUS DEFAULT_I2C_BUS
#define USE_MAG_AK8963
#define USE_MAG_AK8975
#define USE_MAG_HMC5883
#define USE_MAG_QMC5883
#define USE_MAG_IST8310
#define USE_MAG_IST8308
#define USE_MAG_MAG3110
#define USE_MAG_LIS3MDL
#define USE_MAG_ALL
#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS

11
src/main/target/AIRBOTF4/target.h
View file

@ -41,14 +41,7 @@
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C2
#define USE_MAG_HMC5883
#define USE_MAG_AK8963
#define USE_MAG_AK8975
#define USE_MAG_MAG3110
#define USE_MAG_QMC5883
#define USE_MAG_IST8310
#define USE_MAG_IST8308
#define USE_MAG_LIS3MDL
#define USE_MAG_ALL
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C2
@ -139,4 +132,4 @@
#define TARGET_IO_PORTD 0xffff
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_ESC_SENSOR

7
src/main/target/AIRBOTF7/target.h
View file

@ -70,12 +70,7 @@
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C1
#define USE_MAG_HMC5883
#define USE_MAG_QMC5883
#define USE_MAG_IST8310
#define USE_MAG_IST8308
#define USE_MAG_MAG3110
#define USE_MAG_LIS3MDL
#define USE_MAG_ALL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1

8
src/main/target/ALIENFLIGHTF4/target.h
View file

@ -46,13 +46,7 @@
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C1
#define USE_MAG_MPU9250
#define USE_MAG_HMC5883
#define USE_MAG_MAG3110
#define USE_MAG_QMC5883
#define USE_MAG_IST8310
#define USE_MAG_IST8308
#define USE_MAG_LIS3MDL
#define USE_MAG_ALL
#define TEMPERATURE_I2C_BUS BUS_I2C1

9
src/main/target/ALIENFLIGHTNGF7/target.h
View file

@ -44,14 +44,7 @@
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C1
#define USE_MAG_AK8963
#define USE_MAG_MPU9250
#define USE_MAG_HMC5883
#define USE_MAG_MAG3110
#define USE_MAG_QMC5883
#define USE_MAG_IST8310
#define USE_MAG_IST8308
#define USE_MAG_LIS3MDL
#define USE_MAG_ALL
#define AK8963_CS_PIN PC15
#define AK8963_SPI_BUS BUS_SPI3

7
src/main/target/ANYFC/target.h
View file

@ -35,12 +35,7 @@
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C2
#define USE_MAG_HMC5883
#define USE_MAG_MAG3110
#define USE_MAG_QMC5883
#define USE_MAG_IST8310
#define USE_MAG_IST8308
#define USE_MAG_LIS3MDL
#define USE_MAG_ALL
#define TEMPERATURE_I2C_BUS BUS_I2C2

7
src/main/target/ANYFCF7/target.h
View file

@ -35,12 +35,7 @@
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C2
#define USE_MAG_HMC5883
#define USE_MAG_QMC5883
#define USE_MAG_IST8310
#define USE_MAG_IST8308
#define USE_MAG_MAG3110
#define USE_MAG_LIS3MDL
#define USE_MAG_ALL
#define TEMPERATURE_I2C_BUS BUS_I2C2

7
src/main/target/ANYFCM7/target.h
View file

@ -35,12 +35,7 @@
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C2
#define USE_MAG_HMC5883
#define USE_MAG_QMC5883
#define USE_MAG_IST8310
#define USE_MAG_IST8308
#define USE_MAG_MAG3110
#define USE_MAG_LIS3MDL
#define USE_MAG_ALL
#define TEMPERATURE_I2C_BUS BUS_I2C2

8
src/main/target/AOCODARCF405AIO/target.h
View file

@ -98,13 +98,7 @@
// Mag
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C1
#define USE_MAG_HMC5883
#define USE_MAG_QMC5883
#define USE_MAG_IST8310
#define USE_MAG_IST8308
#define USE_MAG_MAG3110
#define USE_MAG_LIS3MDL
#define USE_MAG_MLX90393
#define USE_MAG_ALL
/*** Onboard Flash ***/
#define USE_SPI_DEVICE_3

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