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Fix ANGLE mode and HORIZON mode resetting the errorAngle when they are 

both attempted to be enabled at the same time.  Angle mode now takes
precedence over horizon mode.

Fix using aux settings that are not applicable to in-use aux channels -
prior to this it was possible to configure aux4 and then switch to
RX_SERIAL using a 7 channel system (3 aux channels) and aux4 would still
have been processed.
This commit is contained in:
Dominic Clifton 2014-08-26 21:28:23 +01:00
parent d15b56f14e
commit 1c6ea1d397
9 changed files with 97 additions and 68 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
src/main/config/runtime_config.c
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@ -24,15 +24,6 @@ uint8_t armingFlags = 0;
uint8_t stateFlags = 0;
uint16_t flightModeFlags = 0;
// each entry in the array is a bitmask, 3 bits per aux channel (only aux 1 to 4), aux1 is first, each bit corresponds to an rc channel reading
// bit 1 - stick LOW
// bit 2 - stick MIDDLE
// bit 3 - stick HIGH
// an option is enabled when ANY channel has an appropriate reading corresponding to the bit.
// an option is disabled when NO channel has an appropriate reading corresponding to the bit.
// example: 110000000001 - option is only enabled when AUX1 is LOW or AUX4 is MEDIUM or HIGH.
uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
static uint32_t enabledSensors = 0;
bool sensors(uint32_t mask)

27
src/main/config/runtime_config.h
View File

@ -17,33 +17,6 @@
#pragma once
enum {
BOXARM = 0,
BOXANGLE,
BOXHORIZON,
BOXBARO,
BOXMAG,
BOXHEADFREE,
BOXHEADADJ,
BOXCAMSTAB,
BOXCAMTRIG,
BOXGPSHOME,
BOXGPSHOLD,
BOXPASSTHRU,
BOXBEEPERON,
BOXLEDMAX,
BOXLEDLOW,
BOXLLIGHTS,
BOXCALIB,
BOXGOV,
BOXOSD,
BOXTELEMETRY,
BOXAUTOTUNE,
CHECKBOX_ITEM_COUNT
};
extern uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
// FIXME some of these are flight modes, some of these are general status indicators
typedef enum {
OK_TO_ARM = (1 << 0),

4
src/main/io/beeper.c
View File

@ -23,6 +23,10 @@
#include "drivers/system.h"
#include "flight/failsafe.h"
#include "sensors/sensors.h"
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "config/runtime_config.h"
#include "config/config.h"

41
src/main/io/rc_controls.c
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@ -43,6 +43,15 @@
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
// each entry in the array is a bitmask, 3 bits per aux channel (only aux 1 to 4), aux1 is first, each bit corresponds to an rc channel reading
// bit 1 - stick LOW
// bit 2 - stick MIDDLE
// bit 3 - stick HIGH
// an option is enabled when ANY channel has an appropriate reading corresponding to the bit.
// an option is disabled when NO channel has an appropriate reading corresponding to the bit.
// example: 110000000001 - option is only enabled when AUX1 is LOW or AUX4 is MEDIUM or HIGH.
uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
bool areSticksInApModePosition(uint16_t ap_mode)
{
return abs(rcCommand[ROLL]) < ap_mode && abs(rcCommand[PITCH]) < ap_mode;
@ -210,3 +219,35 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
return;
}
}
#define MAX_AUX_STATE_CHANNELS 8
void updateRcOptions(uint32_t *activate)
{
// Check AUX switches
// auxState is a bitmask, 3 bits per channel. aux1 is first.
// lower 16 bits contain aux 1 to 4, upper 16 bits contain aux 5 to 8
//
// the three bits are as follows:
// bit 1 is SET when the stick is less than 1300
// bit 2 is SET when the stick is between 1300 and 1700
// bit 3 is SET when the stick is above 1700
// if the value is 1300 or 1700 NONE of the three bits are set.
int i;
uint32_t auxState = 0;
for (i = 0; i < rxRuntimeConfig.auxChannelCount && i < MAX_AUX_STATE_CHANNELS; i++) {
uint32_t temp = (rcData[AUX1 + i] < 1300) << (3 * i) |
(1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (3 * i + 1) |
(rcData[AUX1 + i] > 1700) << (3 * i + 2);
if (i >= 4 && i < 8) {
temp <<= 16;
}
auxState |= temp;
}
for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
rcOptions[i] = (auxState & activate[i]) > 0;
}

29
src/main/io/rc_controls.h
View File

@ -17,6 +17,33 @@
#pragma once
enum {
BOXARM = 0,
BOXANGLE,
BOXHORIZON,
BOXBARO,
BOXMAG,
BOXHEADFREE,
BOXHEADADJ,
BOXCAMSTAB,
BOXCAMTRIG,
BOXGPSHOME,
BOXGPSHOLD,
BOXPASSTHRU,
BOXBEEPERON,
BOXLEDMAX,
BOXLEDLOW,
BOXLLIGHTS,
BOXCALIB,
BOXGOV,
BOXOSD,
BOXTELEMETRY,
BOXAUTOTUNE,
CHECKBOX_ITEM_COUNT
};
extern uint8_t rcOptions[CHECKBOX_ITEM_COUNT];
typedef enum rc_alias {
ROLL = 0,
PITCH,
@ -66,3 +93,5 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, uint32_t *activate, bool retarded_arm);
void updateRcOptions(uint32_t *activate);

47
src/main/mw.c
View File

@ -439,9 +439,6 @@ void executePeriodicTasks(void)
void processRx(void)
{
int i;
uint32_t auxState = 0;
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
@ -474,30 +471,14 @@ void processRx(void)
updateInflightCalibrationState();
}
// Check AUX switches
updateRcOptions(currentProfile->activate);
// auxState is a bitmask, 3 bits per channel. aux1 is first.
// lower 16 bits contain aux 1 to 4, upper 16 bits contain aux 5 to 8
//
// the three bits are as follows:
// bit 1 is SET when the stick is less than 1300
// bit 2 is SET when the stick is between 1300 and 1700
// bit 3 is SET when the stick is above 1700
// if the value is 1300 or 1700 NONE of the three bits are set.
for (i = 0; i < 4; i++) {
auxState |= (rcData[AUX1 + i] < 1300) << (3 * i) |
(1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (3 * i + 1) |
(rcData[AUX1 + i] > 1700) << (3 * i + 2);
auxState |= ((rcData[AUX5 + i] < 1300) << (3 * i) |
(1300 < rcData[AUX5 + i] && rcData[AUX5 + i] < 1700) << (3 * i + 1) |
(rcData[AUX5 + i] > 1700) << (3 * i + 2)) << 16;
}
for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
rcOptions[i] = (auxState & currentProfile->activate[i]) > 0;
bool canUseHorizonMode = true;
if ((rcOptions[BOXANGLE] || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
resetErrorAngle();
ENABLE_FLIGHT_MODE(ANGLE_MODE);
@ -506,15 +487,17 @@ void processRx(void)
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (rcOptions[BOXHORIZON]) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
resetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (rcOptions[BOXHORIZON] && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
resetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;

4
src/main/rx/rx.c
View File

@ -99,6 +99,8 @@ void updateSerialRxFunctionConstraint(functionConstraint_t *functionConstraintTo
}
#endif
#define STICK_CHANNEL_COUNT 4
void rxInit(rxConfig_t *rxConfig, failsafe_t *initialFailsafe)
{
uint8_t i;
@ -123,6 +125,8 @@ void rxInit(rxConfig_t *rxConfig, failsafe_t *initialFailsafe)
if (feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM)) {
rxPwmInit(&rxRuntimeConfig, &rcReadRawFunc);
}
rxRuntimeConfig.auxChannelCount = rxRuntimeConfig.channelCount - STICK_CHANNEL_COUNT;
}
#ifdef SERIAL_RX

1
src/main/rx/rx.h
View File

@ -62,6 +62,7 @@ typedef struct rxConfig_s {
typedef struct rxRuntimeConfig_s {
uint8_t channelCount; // number of rc channels as reported by current input driver
uint8_t auxChannelCount;
} rxRuntimeConfig_t;
extern rxRuntimeConfig_t rxRuntimeConfig;

3
src/main/telemetry/telemetry.c
View File

@ -29,6 +29,9 @@
#include "drivers/serial_softserial.h"
#include "io/serial.h"
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "config/runtime_config.h"
#include "config/config.h"