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Merge pull request #10761 from ctzsnooze/rc-update-msp-and-whitespace-fixes 

msp and other small fixes to bring 10727 up to date with 10723
This commit is contained in:
Michael Keller 2021-05-27 01:30:55 +12:00 committed by GitHub
parent b414be320f c26428232a
commit 12a4016ff0
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 58 additions and 54 deletions
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26
src/main/cli/cli.c
View File

@ -4957,7 +4957,7 @@ static void cliRcSmoothing(const char *cmdName, char *cmdline)
UNUSED(cmdline);
rcSmoothingFilter_t *rcSmoothingData = getRcSmoothingData();
cliPrint("# RC Smoothing Type: ");
if (rxConfig()->rc_smoothing_mode == ON) {
if (rxConfig()->rc_smoothing_mode) {
cliPrintLine("FILTER");
if (rcSmoothingAutoCalculate()) {
const uint16_t avgRxFrameUs = rcSmoothingData->averageFrameTimeUs;
@ -4969,22 +4969,22 @@ static void cliRcSmoothing(const char *cmdName, char *cmdline)
}
}
cliPrintf("# Active setpoint cutoff: %dhz ", rcSmoothingData->setpointCutoffFrequency);
if (rcSmoothingData->setpointCutoffSetting == 0) {
cliPrintLine("(auto)");
} else {
if (rcSmoothingData->setpointCutoffSetting) {
cliPrintLine("(manual)");
}
cliPrintf("# Active FF cutoff: %dhz (", rcSmoothingData->feedforwardCutoffFrequency);
if (rcSmoothingData->ffCutoffSetting == 0) {
cliPrintLine("auto)");
} else {
cliPrintLine("manual)");
cliPrintLine("(auto)");
}
cliPrintf("# Active throttle cutoff: %dhz (", rcSmoothingData->throttleCutoffFrequency);
if (rcSmoothingData->ffCutoffSetting == 0) {
cliPrintLine("auto)");
cliPrintf("# Active FF cutoff: %dhz ", rcSmoothingData->feedforwardCutoffFrequency);
if (rcSmoothingData->ffCutoffSetting) {
cliPrintLine("(manual)");
} else {
cliPrintLine("manual)");
cliPrintLine("(auto)");
}
cliPrintf("# Active throttle cutoff: %dhz ", rcSmoothingData->throttleCutoffFrequency);
if (rcSmoothingData->ffCutoffSetting) {
cliPrintLine("(manual)");
} else {
cliPrintLine("(auto)");
}
} else {
cliPrintLine("OFF");

2
src/main/cli/settings.c
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@ -473,7 +473,7 @@ static const char * const lookupTableOffOnAuto[] = {
};
const char* const lookupTableFeedforwardAveraging[] = {
"NONE", "2_POINT", "3_POINT", "4_POINT"
"OFF", "2_POINT", "3_POINT", "4_POINT"
};
static const char* const lookupTableDshotBitbangedTimer[] = {

5
src/main/fc/rc_controls.h
View File

@ -58,11 +58,6 @@ typedef enum {
CENTERED
} rollPitchStatus_e;
typedef enum {
OFF,
ON
} rcSmoothingMode_e;
#define ROL_LO (1 << (2 * ROLL))
#define ROL_CE (3 << (2 * ROLL))
#define ROL_HI (2 << (2 * ROLL))

23
src/main/msp/msp.c
View File

@ -1487,8 +1487,8 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, rxConfig()->spektrum_sat_bind);
sbufWriteU16(dst, rxConfig()->rx_min_usec);
sbufWriteU16(dst, rxConfig()->rx_max_usec);
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolation)
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolationInterval)
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolation
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolationInterval
sbufWriteU16(dst, rxConfig()->airModeActivateThreshold * 10 + 1000);
#ifdef USE_RX_SPI
sbufWriteU8(dst, rxSpiConfig()->rx_spi_protocol);
@ -1502,7 +1502,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, rxConfig()->fpvCamAngleDegrees);
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcSmoothingChannels
#if defined(USE_RC_SMOOTHING_FILTER)
sbufWriteU8(dst, rxConfig()->rc_smoothing_mode);
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rc_smoothing_type
sbufWriteU8(dst, rxConfig()->rc_smoothing_setpoint_cutoff);
sbufWriteU8(dst, rxConfig()->rc_smoothing_feedforward_cutoff);
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rc_smoothing_input_type
@ -1524,6 +1524,12 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, rxConfig()->rc_smoothing_auto_factor_rpy);
#else
sbufWriteU8(dst, 0);
#endif
// Added in MSP API 1.44
#if defined(USE_RC_SMOOTHING_FILTER)
sbufWriteU8(dst, rxConfig()->rc_smoothing_mode);
#else
sbufWriteU8(dst, 0);
#endif
break;
case MSP_FAILSAFE_CONFIG:
@ -3256,7 +3262,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
// Added in MSP API 1.40
sbufReadU8(src); // not required in API 1.44, was rxConfigMutable()->rcSmoothingChannels
#if defined(USE_RC_SMOOTHING_FILTER)
configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_mode, sbufReadU8(src));
sbufReadU8(src); // not required in API 1.44, was rc_smoothing_type
configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_setpoint_cutoff, sbufReadU8(src));
configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_feedforward_cutoff, sbufReadU8(src));
sbufReadU8(src); // not required in API 1.44, was rc_smoothing_input_type
@ -3290,7 +3296,14 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU8(src);
#endif
}
if (sbufBytesRemaining(src) >= 1) {
// Added in MSP API 1.44
#if defined(USE_RC_SMOOTHING_FILTER)
configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_mode, sbufReadU8(src));
#else
sbufReadU8(src);
#endif
}
break;
case MSP_SET_FAILSAFE_CONFIG:
failsafeConfigMutable()->failsafe_delay = sbufReadU8(src);

2
src/main/pg/rx.c
View File

@ -59,7 +59,7 @@ void pgResetFn_rxConfig(rxConfig_t *rxConfig)
.fpvCamAngleDegrees = 0,
.airModeActivateThreshold = 25,
.max_aux_channel = DEFAULT_AUX_CHANNEL_COUNT,
.rc_smoothing_mode = ON,
.rc_smoothing_mode = 1,
.rc_smoothing_setpoint_cutoff = 0,
.rc_smoothing_feedforward_cutoff = 0,
.rc_smoothing_throttle_cutoff = 0,

53
src/main/pg/rx.h
View File

@ -29,42 +29,39 @@
typedef struct rxConfig_s {
uint8_t rcmap[RX_MAPPABLE_CHANNEL_COUNT]; // mapping of radio channels to internal RPYTA+ order
uint8_t serialrx_provider; // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_RX_SERIAL first.
uint8_t serialrx_inverted; // invert the serial RX protocol compared to it's default setting
uint8_t halfDuplex; // allow rx to operate in half duplex mode on F4, ignored for F1 and F3.
uint8_t serialrx_provider; // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_RX_SERIAL first.
uint8_t serialrx_inverted; // invert the serial RX protocol compared to it's default setting
uint8_t halfDuplex; // allow rx to operate in half duplex mode on F4, ignored for F1 and F3.
ioTag_t spektrum_bind_pin_override_ioTag;
ioTag_t spektrum_bind_plug_ioTag;
uint8_t spektrum_sat_bind; // number of bind pulses for Spektrum satellite receivers
uint8_t spektrum_sat_bind_autoreset; // whenever we will reset (exit) binding mode after hard reboot
uint8_t spektrum_sat_bind; // number of bind pulses for Spektrum satellite receivers
uint8_t spektrum_sat_bind_autoreset; // whenever we will reset (exit) binding mode after hard reboot
uint8_t rssi_channel;
uint8_t rssi_scale;
uint8_t rssi_invert;
uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
uint16_t mincheck; // minimum rc end
uint16_t maxcheck; // maximum rc end
uint8_t fpvCamAngleDegrees; // Camera angle to be scaled into rc commands
uint8_t airModeActivateThreshold; // Throttle setpoint percent where airmode gets activated
uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
uint16_t mincheck; // minimum rc end
uint16_t maxcheck; // maximum rc end
uint8_t fpvCamAngleDegrees; // Camera angle to be scaled into rc commands
uint8_t airModeActivateThreshold; // Throttle setpoint percent where airmode gets activated
uint16_t rx_min_usec;
uint16_t rx_max_usec;
uint8_t max_aux_channel;
uint8_t rssi_src_frame_errors; // true to use frame drop flags in the rx protocol
int8_t rssi_offset; // offset applied to the RSSI value before it is returned
uint8_t rc_smoothing_mode; // Whether filter based rc smoothing is on or off
uint8_t rc_smoothing_setpoint_cutoff; // Filter cutoff frequency for the setpoint filter (0 = auto)
uint8_t rc_smoothing_feedforward_cutoff; // Filter cutoff frequency for the feedforward filter (0 = auto)
uint8_t rc_smoothing_throttle_cutoff; // Filter cutoff frequency for the setpoint filter (0 = auto)
uint8_t rc_smoothing_debug_axis; // Axis to log as debug values when debug_mode = RC_SMOOTHING
uint8_t rc_smoothing_auto_factor_rpy; // Used to adjust the "smoothness" determined by the auto cutoff calculations
uint8_t rc_smoothing_auto_factor_throttle; // Used to adjust the "smoothness" determined by the auto cutoff calculations
uint8_t rssi_src_frame_lpf_period; // Period of the cutoff frequency for the source frame RSSI filter (in 0.1 s)
uint8_t srxl2_unit_id; // Spektrum SRXL2 RX unit id
uint8_t srxl2_baud_fast; // Select Spektrum SRXL2 fast baud rate
uint8_t sbus_baud_fast; // Select SBus fast baud rate
uint8_t crsf_use_rx_snr; // Use RX SNR (in dB) instead of RSSI dBm for CRSF
uint32_t msp_override_channels_mask; // Channels to override when the MSP override mode is enabled
uint8_t rssi_src_frame_errors; // true to use frame drop flags in the rx protocol
int8_t rssi_offset; // offset applied to the RSSI value before it is returned
uint8_t rc_smoothing_mode; // Whether filter based rc smoothing is on or off
uint8_t rc_smoothing_setpoint_cutoff; // Filter cutoff frequency for the setpoint filter (0 = auto)
uint8_t rc_smoothing_feedforward_cutoff; // Filter cutoff frequency for the feedforward filter (0 = auto)
uint8_t rc_smoothing_throttle_cutoff; // Filter cutoff frequency for the setpoint filter (0 = auto)
uint8_t rc_smoothing_debug_axis; // Axis to log as debug values when debug_mode = RC_SMOOTHING
uint8_t rc_smoothing_auto_factor_rpy; // Used to adjust the "smoothness" determined by the auto cutoff calculations
uint8_t rc_smoothing_auto_factor_throttle; // Used to adjust the "smoothness" determined by the auto cutoff calculations
uint8_t rssi_src_frame_lpf_period; // Period of the cutoff frequency for the source frame RSSI filter (in 0.1 s)
uint8_t srxl2_unit_id; // Spektrum SRXL2 RX unit id
uint8_t srxl2_baud_fast; // Select Spektrum SRXL2 fast baud rate
uint8_t sbus_baud_fast; // Select SBus fast baud rate
uint8_t crsf_use_rx_snr; // Use RX SNR (in dB) instead of RSSI dBm for CRSF
uint32_t msp_override_channels_mask; // Channels to override when the MSP override mode is enabled
} rxConfig_t;
PG_DECLARE(rxConfig_t, rxConfig);

1
src/test/unit/pid_unittest.cc
View File

@ -560,7 +560,6 @@ TEST(pidControllerTest, testFeedForward) {
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].F);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].F);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].F);
}
TEST(pidControllerTest, testItermRelax) {