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Get setting default values from settings.yaml (#6595)

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* Get setting default values from settings.yaml

* settings: Make the generator more robust and versatile

- Add support for resolving types and values in multiple compilers
- Add support for resolving types and values in clang 10
- Add support for using the host compiler for resolving the settings

This allows us to run the generator for the unit tests, since they now
need the settings_generated.h file to get the default setting values
from it.

* Fix regexps in settings.rb and add execution bit

* Fix git revision issue

* Fix issue with settings validation

* Fix issue with targets not defining USE_MAG

Co-authored-by: Alberto García Hierro <alberto@garciahierro.com>
This commit is contained in:
Michel Pastor 2021-04-07 17:48:09 +02:00 • committed by GitHub
parent 7b705bccac
commit fc0e5e2741
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85 changed files with 1708 additions and 1875 deletions
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150
src/main/navigation/navigation.c
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@ -39,6 +39,7 @@
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "fc/settings.h"
#include "flight/imu.h"
#include "flight/mixer.h"
@ -97,92 +98,96 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.general = {
.flags = {
.use_thr_mid_for_althold = 0,
.extra_arming_safety = NAV_EXTRA_ARMING_SAFETY_ON,
.user_control_mode = NAV_GPS_ATTI,
.rth_alt_control_mode = NAV_RTH_AT_LEAST_ALT,
.rth_climb_first = 1, // Climb first, turn after reaching safe altitude
.rth_climb_ignore_emerg = 0, // Ignore GPS loss on initial climb
.rth_tail_first = 0,
.disarm_on_landing = 0,
.rth_allow_landing = NAV_RTH_ALLOW_LANDING_ALWAYS,
.nav_overrides_motor_stop = NOMS_ALL_NAV,
.use_thr_mid_for_althold = SETTING_NAV_USE_MIDTHR_FOR_ALTHOLD_DEFAULT,
.extra_arming_safety = SETTING_NAV_EXTRA_ARMING_SAFETY_DEFAULT,
.user_control_mode = SETTING_NAV_USER_CONTROL_MODE_DEFAULT,
.rth_alt_control_mode = SETTING_NAV_RTH_ALT_MODE_DEFAULT,
.rth_climb_first = SETTING_NAV_RTH_CLIMB_FIRST_DEFAULT, // Climb first, turn after reaching safe altitude
.rth_climb_ignore_emerg = SETTING_NAV_RTH_CLIMB_IGNORE_EMERG_DEFAULT, // Ignore GPS loss on initial climb
.rth_tail_first = SETTING_NAV_RTH_TAIL_FIRST_DEFAULT,
.disarm_on_landing = SETTING_NAV_DISARM_ON_LANDING_DEFAULT,
.rth_allow_landing = SETTING_NAV_RTH_ALLOW_LANDING_DEFAULT,
.nav_overrides_motor_stop = SETTING_NAV_OVERRIDES_MOTOR_STOP_DEFAULT,
},
// General navigation parameters
.pos_failure_timeout = 5, // 5 sec
.waypoint_radius = 100, // 2m diameter
.waypoint_safe_distance = 10000, // centimeters - first waypoint should be closer than this
.max_auto_speed = 300, // 3 m/s = 10.8 km/h
.max_auto_climb_rate = 500, // 5 m/s
.max_manual_speed = 500,
.max_manual_climb_rate = 200,
.land_descent_rate = 200, // centimeters/s
.land_slowdown_minalt = 500, // altitude in centimeters
.land_slowdown_maxalt = 2000, // altitude in meters
.emerg_descent_rate = 500, // centimeters/s
.min_rth_distance = 500, // centimeters, if closer than this land immediately
.rth_altitude = 1000, // altitude in centimeters
.rth_home_altitude = 0, // altitude in centimeters
.rth_abort_threshold = 50000, // centimeters - 500m should be safe for all aircraft
.max_terrain_follow_altitude = 100, // max altitude in centimeters in terrain following mode
.safehome_max_distance = 20000, // Max distance that a safehome is from the arming point
.pos_failure_timeout = SETTING_NAV_POSITION_TIMEOUT_DEFAULT, // 5 sec
.waypoint_radius = SETTING_NAV_WP_RADIUS_DEFAULT, // 2m diameter
.waypoint_safe_distance = SETTING_NAV_WP_SAFE_DISTANCE_DEFAULT, // centimeters - first waypoint should be closer than this
.max_auto_speed = SETTING_NAV_AUTO_SPEED_DEFAULT, // 3 m/s = 10.8 km/h
.max_auto_climb_rate = SETTING_NAV_AUTO_CLIMB_RATE_DEFAULT, // 5 m/s
.max_manual_speed = SETTING_NAV_MANUAL_SPEED_DEFAULT,
.max_manual_climb_rate = SETTING_NAV_MANUAL_CLIMB_RATE_DEFAULT,
.land_descent_rate = SETTING_NAV_LANDING_SPEED_DEFAULT, // centimeters/s
.land_slowdown_minalt = SETTING_NAV_LAND_SLOWDOWN_MINALT_DEFAULT, // altitude in centimeters
.land_slowdown_maxalt = SETTING_NAV_LAND_SLOWDOWN_MAXALT_DEFAULT, // altitude in meters
.emerg_descent_rate = SETTING_NAV_EMERG_LANDING_SPEED_DEFAULT, // centimeters/s
.min_rth_distance = SETTING_NAV_MIN_RTH_DISTANCE_DEFAULT, // centimeters, if closer than this land immediately
.rth_altitude = SETTING_NAV_RTH_ALTITUDE_DEFAULT, // altitude in centimeters
.rth_home_altitude = SETTING_NAV_RTH_HOME_ALTITUDE_DEFAULT, // altitude in centimeters
.rth_abort_threshold = SETTING_NAV_RTH_ABORT_THRESHOLD_DEFAULT, // centimeters - 500m should be safe for all aircraft
.max_terrain_follow_altitude = SETTING_NAV_MAX_TERRAIN_FOLLOW_ALT_DEFAULT, // max altitude in centimeters in terrain following mode
.safehome_max_distance = SETTING_SAFEHOME_MAX_DISTANCE_DEFAULT, // Max distance that a safehome is from the arming point
},
// MC-specific
.mc = {
.max_bank_angle = 30, // degrees
.hover_throttle = 1500,
.auto_disarm_delay = 2000, // milliseconds - time before disarming when auto disarm is enabled and landing is confirmed
.braking_speed_threshold = 100, // Braking can become active above 1m/s
.braking_disengage_speed = 75, // Stop when speed goes below 0.75m/s
.braking_timeout = 2000, // Timeout barking after 2s
.braking_boost_factor = 100, // A 100% boost by default
.braking_boost_timeout = 750, // Timout boost after 750ms
.braking_boost_speed_threshold = 150, // Boost can happen only above 1.5m/s
.braking_boost_disengage_speed = 100, // Disable boost at 1m/s
.braking_bank_angle = 40, // Max braking angle
.posDecelerationTime = 120, // posDecelerationTime * 100
.posResponseExpo = 10, // posResponseExpo * 100
.slowDownForTurning = true,
.max_bank_angle = SETTING_NAV_MC_BANK_ANGLE_DEFAULT, // degrees
.hover_throttle = SETTING_NAV_MC_HOVER_THR_DEFAULT,
.auto_disarm_delay = SETTING_NAV_MC_AUTO_DISARM_DELAY_DEFAULT, // milliseconds - time before disarming when auto disarm is enabled and landing is confirmed
#ifdef USE_MR_BRAKING_MODE
.braking_speed_threshold = SETTING_NAV_MC_BRAKING_SPEED_THRESHOLD_DEFAULT, // Braking can become active above 1m/s
.braking_disengage_speed = SETTING_NAV_MC_BRAKING_DISENGAGE_SPEED_DEFAULT, // Stop when speed goes below 0.75m/s
.braking_timeout = SETTING_NAV_MC_BRAKING_TIMEOUT_DEFAULT, // Timeout barking after 2s
.braking_boost_factor = SETTING_NAV_MC_BRAKING_BOOST_FACTOR_DEFAULT, // A 100% boost by default
.braking_boost_timeout = SETTING_NAV_MC_BRAKING_BOOST_TIMEOUT_DEFAULT, // Timout boost after 750ms
.braking_boost_speed_threshold = SETTING_NAV_MC_BRAKING_BOOST_SPEED_THRESHOLD_DEFAULT, // Boost can happen only above 1.5m/s
.braking_boost_disengage_speed = SETTING_NAV_MC_BRAKING_BOOST_DISENGAGE_SPEED_DEFAULT, // Disable boost at 1m/s
.braking_bank_angle = SETTING_NAV_MC_BRAKING_BANK_ANGLE_DEFAULT, // Max braking angle
#endif
.posDecelerationTime = SETTING_NAV_MC_POS_DECELERATION_TIME_DEFAULT, // posDecelerationTime * 100
.posResponseExpo = SETTING_NAV_MC_POS_EXPO_DEFAULT, // posResponseExpo * 100
.slowDownForTurning = SETTING_NAV_MC_WP_SLOWDOWN_DEFAULT,
},
// Fixed wing
.fw = {
.max_bank_angle = 35, // degrees
.max_climb_angle = 20, // degrees
.max_dive_angle = 15, // degrees
.cruise_throttle = 1400,
.cruise_speed = 0, // cm/s
.control_smoothness = 0,
.max_throttle = 1700,
.min_throttle = 1200,
.pitch_to_throttle = 10, // pwm units per degree of pitch (10pwm units ~ 1% throttle)
.pitch_to_throttle_smooth = 6,
.pitch_to_throttle_thresh = 50,
.loiter_radius = 7500, // 75m
.max_bank_angle = SETTING_NAV_FW_BANK_ANGLE_DEFAULT, // degrees
.max_climb_angle = SETTING_NAV_FW_CLIMB_ANGLE_DEFAULT, // degrees
.max_dive_angle = SETTING_NAV_FW_DIVE_ANGLE_DEFAULT, // degrees
.cruise_throttle = SETTING_NAV_FW_CRUISE_THR_DEFAULT,
.cruise_speed = SETTING_NAV_FW_CRUISE_SPEED_DEFAULT, // cm/s
.control_smoothness = SETTING_NAV_FW_CONTROL_SMOOTHNESS_DEFAULT,
.max_throttle = SETTING_NAV_FW_MAX_THR_DEFAULT,
.min_throttle = SETTING_NAV_FW_MIN_THR_DEFAULT,
.pitch_to_throttle = SETTING_NAV_FW_PITCH2THR_DEFAULT, // pwm units per degree of pitch (10pwm units ~ 1% throttle)
.pitch_to_throttle_smooth = SETTING_NAV_FW_PITCH2THR_SMOOTHING_DEFAULT,
.pitch_to_throttle_thresh = SETTING_NAV_FW_PITCH2THR_THRESHOLD_DEFAULT,
.loiter_radius = SETTING_NAV_FW_LOITER_RADIUS_DEFAULT, // 75m
//Fixed wing landing
.land_dive_angle = 2, // 2 degrees dive by default
.land_dive_angle = SETTING_NAV_FW_LAND_DIVE_ANGLE_DEFAULT, // 2 degrees dive by default
// Fixed wing launch
.launch_velocity_thresh = 300, // 3 m/s
.launch_accel_thresh = 1.9f * 981, // cm/s/s (1.9*G)
.launch_time_thresh = 40, // 40ms
.launch_throttle = 1700,
.launch_idle_throttle = 1000, // Motor idle or MOTOR_STOP
.launch_motor_timer = 500, // ms
.launch_motor_spinup_time = 100, // ms, time to gredually increase throttle from idle to launch
.launch_end_time = 3000, // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode
.launch_min_time = 0, // ms, min time in launch mode
.launch_timeout = 5000, // ms, timeout for launch procedure
.launch_max_altitude = 0, // cm, altitude where to consider launch ended
.launch_climb_angle = 18, // 18 degrees
.launch_max_angle = 45, // 45 deg
.cruise_yaw_rate = 20, // 20dps
.allow_manual_thr_increase = false,
.useFwNavYawControl = 0,
.yawControlDeadband = 0,
.launch_velocity_thresh = SETTING_NAV_FW_LAUNCH_VELOCITY_DEFAULT, // 3 m/s
.launch_accel_thresh = SETTING_NAV_FW_LAUNCH_ACCEL_DEFAULT, // cm/s/s (1.9*G)
.launch_time_thresh = SETTING_NAV_FW_LAUNCH_DETECT_TIME_DEFAULT, // 40ms
.launch_throttle = SETTING_NAV_FW_LAUNCH_THR_DEFAULT,
.launch_idle_throttle = SETTING_NAV_FW_LAUNCH_IDLE_THR_DEFAULT, // Motor idle or MOTOR_STOP
.launch_motor_timer = SETTING_NAV_FW_LAUNCH_MOTOR_DELAY_DEFAULT, // ms
.launch_motor_spinup_time = SETTING_NAV_FW_LAUNCH_SPINUP_TIME_DEFAULT, // ms, time to gredually increase throttle from idle to launch
.launch_end_time = SETTING_NAV_FW_LAUNCH_END_TIME_DEFAULT, // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode
.launch_min_time = SETTING_NAV_FW_LAUNCH_MIN_TIME_DEFAULT, // ms, min time in launch mode
.launch_timeout = SETTING_NAV_FW_LAUNCH_TIMEOUT_DEFAULT, // ms, timeout for launch procedure
.launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT, // cm, altitude where to consider launch ended
.launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT, // 18 degrees
.launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT, // 45 deg
.cruise_yaw_rate = SETTING_NAV_FW_CRUISE_YAW_RATE_DEFAULT, // 20dps
.allow_manual_thr_increase = SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE_DEFAULT,
.useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT,
.yawControlDeadband = SETTING_NAV_FW_YAW_DEADBAND_DEFAULT,
}
);
@ -3432,7 +3437,10 @@ void navigationUsePIDs(void)
multicopterPosXyCoefficients.dTermAttenuation = pidProfile()->navVelXyDtermAttenuation / 100.0f;
multicopterPosXyCoefficients.dTermAttenuationStart = pidProfile()->navVelXyDtermAttenuationStart / 100.0f;
multicopterPosXyCoefficients.dTermAttenuationEnd = pidProfile()->navVelXyDtermAttenuationEnd / 100.0f;
#ifdef USE_MR_BRAKING_MODE
multicopterPosXyCoefficients.breakingBoostFactor = (float) navConfig()->mc.braking_boost_factor / 100.0f;
#endif
// Initialize altitude hold PID-controllers (pos_z, vel_z, acc_z
navPidInit(