Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-25 17:25:18 +03:00
Code Issues Wiki Activity

Replace PASSTHROUGH with MANUAL flight mode (FW) (#2661)

Browse source 
* FW: add manual flight mode
* manual mode: separate roll and pitch expo
* manual flight mode: cleaning
* replace PASSTHRU mode with MANUAL mode
* manual mode: merge pitch and roll expo
* manual mode: add OSD menu for manual rates and expo
* manual mode: forgot to add yaw rate adjustment in OSD menu
* manual mode: add adjustments
* manual mode: move rates applications in fc_core
* group controlRateConfig settings by function
* group controlRateConfig settings by function: fix ALIENFLIGHTF3 default rates config
* manual mode rc adjustments: adapt to fc723121 changes
* manual mode: clean rc adjustments
* add new MSPv2 messages: MSP2_INAV_RATE_PROFILE and MSP2_INAV_SET_RATE_PROFILE
This commit is contained in:
shellixyz 2018-01-31 10:44:43 +01:00 • committed by Konstantin Sharlaimov
parent a9bf9453dc
commit fd40892d8e
29 changed files with 356 additions and 158 deletions
Download patch file Download diff file Expand all files Collapse all files

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

@ -531,15 +531,37 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP_RC_TUNING:
sbufWriteU8(dst, 100); //rcRate8 kept for compatibity reasons, this setting is no longer used
sbufWriteU8(dst, currentControlRateProfile->rcExpo8);
sbufWriteU8(dst, currentControlRateProfile->stabilized.rcExpo8);
for (int i = 0 ; i < 3; i++) {
sbufWriteU8(dst, currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t
sbufWriteU8(dst, currentControlRateProfile->stabilized.rates[i]); // R,P,Y see flight_dynamics_index_t
}
sbufWriteU8(dst, currentControlRateProfile->throttle.dynPID);
sbufWriteU8(dst, currentControlRateProfile->throttle.rcMid8);
sbufWriteU8(dst, currentControlRateProfile->throttle.rcExpo8);
sbufWriteU16(dst, currentControlRateProfile->throttle.pa_breakpoint);
sbufWriteU8(dst, currentControlRateProfile->stabilized.rcYawExpo8);
break;
case MSP2_INAV_RATE_PROFILE:
// throttle
sbufWriteU8(dst, currentControlRateProfile->throttle.rcMid8);
sbufWriteU8(dst, currentControlRateProfile->throttle.rcExpo8);
sbufWriteU8(dst, currentControlRateProfile->throttle.dynPID);
sbufWriteU16(dst, currentControlRateProfile->throttle.pa_breakpoint);
// stabilized
sbufWriteU8(dst, currentControlRateProfile->stabilized.rcExpo8);
sbufWriteU8(dst, currentControlRateProfile->stabilized.rcYawExpo8);
for (uint8_t i = 0 ; i < 3; ++i) {
sbufWriteU8(dst, currentControlRateProfile->stabilized.rates[i]); // R,P,Y see flight_dynamics_index_t
}
// manual
sbufWriteU8(dst, currentControlRateProfile->manual.rcExpo8);
sbufWriteU8(dst, currentControlRateProfile->manual.rcYawExpo8);
for (uint8_t i = 0 ; i < 3; ++i) {
sbufWriteU8(dst, currentControlRateProfile->manual.rates[i]); // R,P,Y see flight_dynamics_index_t
}
sbufWriteU8(dst, currentControlRateProfile->dynThrPID);
sbufWriteU8(dst, currentControlRateProfile->thrMid8);
sbufWriteU8(dst, currentControlRateProfile->thrExpo8);
sbufWriteU16(dst, currentControlRateProfile->tpa_breakpoint);
sbufWriteU8(dst, currentControlRateProfile->rcYawExpo8);
break;
case MSP_PID:
@ -1348,23 +1370,23 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
if (dataSize >= 10) {
sbufReadU8(src); //Read rcRate8, kept for protocol compatibility reasons
// need to cast away const to set controlRateProfile
((controlRateConfig_t*)currentControlRateProfile)->rcExpo8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcExpo8 = sbufReadU8(src);
for (int i = 0; i < 3; i++) {
rate = sbufReadU8(src);
if (i == FD_YAW) {
((controlRateConfig_t*)currentControlRateProfile)->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
}
else {
((controlRateConfig_t*)currentControlRateProfile)->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
}
}
rate = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);
((controlRateConfig_t*)currentControlRateProfile)->thrMid8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->thrExpo8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->tpa_breakpoint = sbufReadU16(src);
((controlRateConfig_t*)currentControlRateProfile)->throttle.dynPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);
((controlRateConfig_t*)currentControlRateProfile)->throttle.rcMid8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->throttle.rcExpo8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->throttle.pa_breakpoint = sbufReadU16(src);
if (dataSize >= 11) {
((controlRateConfig_t*)currentControlRateProfile)->rcYawExpo8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcYawExpo8 = sbufReadU8(src);
}
schedulePidGainsUpdate();
@ -1373,6 +1395,45 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
}
break;
case MSP2_INAV_SET_RATE_PROFILE:
if (dataSize == 15) {
controlRateConfig_t *currentControlRateProfile_p = (controlRateConfig_t*)currentControlRateProfile; // need to cast away const to set controlRateProfile
// throttle
currentControlRateProfile_p->throttle.rcMid8 = sbufReadU8(src);
currentControlRateProfile_p->throttle.rcExpo8 = sbufReadU8(src);
currentControlRateProfile_p->throttle.dynPID = sbufReadU8(src);
currentControlRateProfile_p->throttle.pa_breakpoint = sbufReadU16(src);
// stabilized
currentControlRateProfile_p->stabilized.rcExpo8 = sbufReadU8(src);
currentControlRateProfile_p->stabilized.rcYawExpo8 = sbufReadU8(src);
for (uint8_t i = 0; i < 3; ++i) {
rate = sbufReadU8(src);
if (i == FD_YAW) {
currentControlRateProfile_p->stabilized.rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
} else {
currentControlRateProfile_p->stabilized.rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
}
}
// manual
currentControlRateProfile_p->manual.rcExpo8 = sbufReadU8(src);
currentControlRateProfile_p->manual.rcYawExpo8 = sbufReadU8(src);
for (uint8_t i = 0; i < 3; ++i) {
rate = sbufReadU8(src);
if (i == FD_YAW) {
currentControlRateProfile_p->manual.rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
} else {
currentControlRateProfile_p->manual.rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
}
}
} else {
return MSP_RESULT_ERROR;
}
break;
case MSP_SET_MISC:
tmp = sbufReadU16(src);
if (tmp < 1600 && tmp > 1400)