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GPS Rescue cms menu

This commit is contained in:
laz2wiringpi 2019-03-23 13:13:02 -04:00 committed by laz2wiringpi
parent 01e0c95810
commit 22485e3e6e
6 changed files with 221 additions and 0 deletions
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2
make/source.mk
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@ -123,6 +123,7 @@ COMMON_SRC = \
cms/cms_menu_blackbox.c \ cms/cms_menu_blackbox.c \
cms/cms_menu_builtin.c \ cms/cms_menu_builtin.c \
cms/cms_menu_failsafe.c \ cms/cms_menu_failsafe.c \
cms/cms_menu_gps_rescue.c\
cms/cms_menu_imu.c \ cms/cms_menu_imu.c \
cms/cms_menu_ledstrip.c \ cms/cms_menu_ledstrip.c \
cms/cms_menu_misc.c \ cms/cms_menu_misc.c \
@ -302,6 +303,7 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
cms/cms_menu_blackbox.c \ cms/cms_menu_blackbox.c \
cms/cms_menu_builtin.c \ cms/cms_menu_builtin.c \
cms/cms_menu_failsafe.c \ cms/cms_menu_failsafe.c \
cms/cms_menu_gps_rescue.c\
cms/cms_menu_imu.c \ cms/cms_menu_imu.c \
cms/cms_menu_ledstrip.c \ cms/cms_menu_ledstrip.c \
cms/cms_menu_misc.c \ cms/cms_menu_misc.c \

7
src/main/cms/cms_menu_failsafe.c
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@ -31,6 +31,10 @@
#include "cms/cms_types.h" #include "cms/cms_types.h"
#include "cms/cms_menu_failsafe.h" #include "cms/cms_menu_failsafe.h"
#ifdef USE_CMS_GPS_RESCUE_MENU
#include "cms/cms_menu_gps_rescue.h"
#endif
#include "config/feature.h" #include "config/feature.h"
#include "fc/config.h" #include "fc/config.h"
@ -73,6 +77,9 @@ static const OSD_Entry cmsx_menuFailsafeEntries[] =
{ "GUARD TIME", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &failsafeConfig_failsafe_delay, 0, 200, 1, 100 }, 0 }, { "GUARD TIME", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &failsafeConfig_failsafe_delay, 0, 200, 1, 100 }, 0 },
{ "STAGE 2 DELAY", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &failsafeConfig_failsafe_off_delay, 0, 200, 1, 100 }, 0 }, { "STAGE 2 DELAY", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &failsafeConfig_failsafe_off_delay, 0, 200, 1, 100 }, 0 },
{ "STAGE 2 THROTTLE", OME_UINT16, NULL, &(OSD_UINT16_t) { &failsafeConfig_failsafe_throttle, PWM_PULSE_MIN, PWM_PULSE_MAX, 1 }, 0 }, { "STAGE 2 THROTTLE", OME_UINT16, NULL, &(OSD_UINT16_t) { &failsafeConfig_failsafe_throttle, PWM_PULSE_MIN, PWM_PULSE_MAX, 1 }, 0 },
#ifdef USE_CMS_GPS_RESCUE_MENU
{ "GPS RESCUE", OME_Submenu, cmsMenuChange, &cmsx_menuGpsRescue, 0},
#endif
{ "BACK", OME_Back, NULL, NULL, 0 }, { "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 } { NULL, OME_END, NULL, NULL, 0 }
}; };

183
src/main/cms/cms_menu_gps_rescue.c Normal file
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@ -0,0 +1,183 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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.
*
* Cleanflight and Betaflight are distributed in the hope that they
* 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 software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <ctype.h>
#include "platform.h"
#ifdef USE_CMS_GPS_RESCUE_MENU
#include "cms/cms.h"
#include "cms/cms_types.h"
#include "cms/cms_menu_gps_rescue.h"
#include "config/feature.h"
#include "fc/config.h"
#include "flight/gps_rescue.h"
static uint16_t gpsRescueConfig_angle; //degrees
static uint16_t gpsRescueConfig_initialAltitudeM; //meters
static uint16_t gpsRescueConfig_descentDistanceM; //meters
static uint16_t gpsRescueConfig_rescueGroundspeed; // centimeters per second
static uint16_t gpsRescueConfig_throttleMin;
static uint16_t gpsRescueConfig_throttleMax;
static uint16_t gpsRescueConfig_throttleHover;
static uint8_t gpsRescueConfig_minSats;
static uint16_t gpsRescueConfig_minRescueDth; //meters
static uint8_t gpsRescueConfig_allowArmingWithoutFix;
static uint16_t gpsRescueConfig_throttleP, gpsRescueConfig_throttleI, gpsRescueConfig_throttleD;
static uint16_t gpsRescueConfig_velP, gpsRescueConfig_velI, gpsRescueConfig_velD;
static uint16_t gpsRescueConfig_yawP;
static long cms_menuGpsRescuePidOnEnter(void)
{
gpsRescueConfig_throttleP = gpsRescueConfig()->throttleP;
gpsRescueConfig_throttleI = gpsRescueConfig()->throttleI;
gpsRescueConfig_throttleD = gpsRescueConfig()->throttleD;
gpsRescueConfig_yawP = gpsRescueConfig()->yawP;
gpsRescueConfig_velP = gpsRescueConfig()->velP;
gpsRescueConfig_velI = gpsRescueConfig()->velI;
gpsRescueConfig_velD = gpsRescueConfig()->velD;
return 0;
}
static long cms_menuGpsRescuePidOnExit(const OSD_Entry *self)
{
UNUSED(self);
gpsRescueConfigMutable()->throttleP = gpsRescueConfig_throttleP;
gpsRescueConfigMutable()->throttleI = gpsRescueConfig_throttleI;
gpsRescueConfigMutable()->throttleD = gpsRescueConfig_throttleD;
gpsRescueConfigMutable()->yawP = gpsRescueConfig_yawP;
gpsRescueConfigMutable()->velP = gpsRescueConfig_velP;
gpsRescueConfigMutable()->velI = gpsRescueConfig_velI;
gpsRescueConfigMutable()->velD = gpsRescueConfig_velD;
return 0;
}
const OSD_Entry cms_menuGpsRescuePidEntries[] =
{
{"--- GPS RESCUE PID---", OME_Label, NULL, NULL, 0},
{ "THROTTLE P", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleP, 0, 500, 1 }, 0 },
{ "THROTTLE I", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleI, 0, 500, 1 }, 0 },
{ "THROTTLE D", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleD, 0, 500, 1 }, 0 },
{ "YAW P", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_yawP, 0, 500, 1 }, 0 },
{ "VELOCITY P", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_velP, 0, 500, 1 }, 0 },
{ "VELOCITY I", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_velI, 0, 500, 1 }, 0 },
{ "VELOCITY D", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_velD, 0, 500, 1 }, 0 },
{"BACK", OME_Back, NULL, NULL, 0},
{NULL, OME_END, NULL, NULL, 0}
};
CMS_Menu cms_menuGpsRescuePid = {
#ifdef CMS_MENU_DEBUG
.GUARD_text = "MENUGPSRPID",
.GUARD_type = OME_MENU,
#endif
.onEnter = cms_menuGpsRescuePidOnEnter,
.onExit = cms_menuGpsRescuePidOnExit,
.entries = cms_menuGpsRescuePidEntries,
};
static long cmsx_menuGpsRescueOnEnter(void)
{
gpsRescueConfig_angle = gpsRescueConfig()->angle;
gpsRescueConfig_initialAltitudeM = gpsRescueConfig()->initialAltitudeM;
gpsRescueConfig_descentDistanceM = gpsRescueConfig()->descentDistanceM;
gpsRescueConfig_rescueGroundspeed = gpsRescueConfig()->rescueGroundspeed;
gpsRescueConfig_throttleMin = gpsRescueConfig()->throttleMin ;
gpsRescueConfig_throttleMax = gpsRescueConfig()->throttleMax;
gpsRescueConfig_throttleHover = gpsRescueConfig()->throttleHover;
gpsRescueConfig_minSats = gpsRescueConfig()->minSats;
gpsRescueConfig_minRescueDth = gpsRescueConfig()->minRescueDth;
gpsRescueConfig_allowArmingWithoutFix = gpsRescueConfig()->allowArmingWithoutFix;
return 0;
}
static long cmsx_menuGpsRescueOnExit(const OSD_Entry *self)
{
UNUSED(self);
gpsRescueConfigMutable()->angle = gpsRescueConfig_angle;
gpsRescueConfigMutable()->initialAltitudeM = gpsRescueConfig_initialAltitudeM;
gpsRescueConfigMutable()->descentDistanceM = gpsRescueConfig_descentDistanceM;
gpsRescueConfigMutable()->rescueGroundspeed = gpsRescueConfig_rescueGroundspeed;
gpsRescueConfigMutable()->throttleMin = gpsRescueConfig_throttleMin;
gpsRescueConfigMutable()->throttleMax = gpsRescueConfig_throttleMax;
gpsRescueConfigMutable()->throttleHover = gpsRescueConfig_throttleHover;
gpsRescueConfigMutable()->minSats = gpsRescueConfig_minSats;
gpsRescueConfigMutable()->minRescueDth = gpsRescueConfig_minRescueDth;
gpsRescueConfigMutable()->allowArmingWithoutFix = gpsRescueConfig_allowArmingWithoutFix;
return 0;
}
const OSD_Entry cmsx_menuGpsRescueEntries[] =
{
{"--- GPS RESCUE ---", OME_Label, NULL, NULL, 0},
{ "ANGLE", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_angle, 0, 200 ,1 }, 0 },
{ "MIN DIST HOME M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_minRescueDth, 50, 1000 ,1 }, 0 },
{ "INITAL ALT M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_initialAltitudeM, 20, 100, 1 }, 0 },
{ "DESCENT DIST M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_descentDistanceM, 30, 500, 1 }, 0 },
{ "GROUND SPEED C/M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_rescueGroundspeed, 30, 3000, 1 }, 0 },
{ "THROTTLE MIN", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleMin, 1000, 2000, 1 }, 0 },
{ "THROTTLE MAX", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleMax, 1000, 2000, 1 }, 0 },
{ "THROTTLE HOV", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleHover, 1000, 2000, 1 }, 0 },
{ "ARM WITHOUT FIX", OME_Bool, NULL, &gpsRescueConfig_allowArmingWithoutFix, 0 },
{ "MIN SATELITES", OME_UINT8, NULL, &(OSD_UINT8_t){ &gpsRescueConfig_minSats, 5, 50, 1 }, 0 },
{ "GPS RESCUE PID", OME_Submenu, cmsMenuChange, &cms_menuGpsRescuePid, 0},
{"BACK", OME_Back, NULL, NULL, 0},
{NULL, OME_END, NULL, NULL, 0}
};
CMS_Menu cmsx_menuGpsRescue = {
#ifdef CMS_MENU_DEBUG
.GUARD_text = "MENUGPSRES",
.GUARD_type = OME_MENU,
#endif
.onEnter = cmsx_menuGpsRescueOnEnter,
.onExit = cmsx_menuGpsRescueOnExit,
.entries = cmsx_menuGpsRescueEntries,
};
#endif

23
src/main/cms/cms_menu_gps_rescue.h Normal file
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@ -0,0 +1,23 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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.
*
* Cleanflight and Betaflight are distributed in the hope that they
* 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 software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
extern CMS_Menu cmsx_menuGpsRescue;

4
src/main/target/common_post.h
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@ -280,6 +280,10 @@
#undef USE_ACRO_TRAINER #undef USE_ACRO_TRAINER
#endif #endif
#if (!defined(USE_GPS_RESCUE) || !defined(USE_CMS_FAILSAFE_MENU))
#undef USE_CMS_GPS_RESCUE_MENU
#endif
#ifndef USE_BEEPER #ifndef USE_BEEPER
#undef BEEPER_PIN #undef BEEPER_PIN
#undef BEEPER_PWM_HZ #undef BEEPER_PWM_HZ

2
src/main/target/common_pre.h
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@ -296,6 +296,8 @@
#define USE_ESCSERIAL_SIMONK #define USE_ESCSERIAL_SIMONK
#define USE_SERIAL_4WAY_SK_BOOTLOADER #define USE_SERIAL_4WAY_SK_BOOTLOADER
#define USE_CMS_FAILSAFE_MENU #define USE_CMS_FAILSAFE_MENU
#define USE_CMS_GPS_RESCUE_MENU
#define USE_SMART_FEEDFORWARD
#define USE_TELEMETRY_SENSORS_DISABLED_DETAILS #define USE_TELEMETRY_SENSORS_DISABLED_DETAILS
// Re-enable this after 4.0 has been released, and remove the define from STM32F4DISCOVERY // Re-enable this after 4.0 has been released, and remove the define from STM32F4DISCOVERY
//#define USE_VTX_TABLE //#define USE_VTX_TABLE