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Merge pull request #2348 from betaflight/patch_v3.1.5 

Patch v3.1.5
This commit is contained in:
borisbstyle 2017-02-07 23:00:22 +01:00 committed by GitHub
parent 48aac64929 ab405b1bdf
commit 2b58d39311
12 changed files with 66 additions and 29 deletions
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2
src/main/config/config_eeprom.h
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@ -20,7 +20,7 @@
#include <stdint.h>
#include <stdbool.h>
#define EEPROM_CONF_VERSION 155
#define EEPROM_CONF_VERSION 156
bool isEEPROMContentValid(void);
bool loadEEPROM(void);

3
src/main/config/config_master.h
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@ -71,6 +71,7 @@
#define servoConfig(x) (&masterConfig.servoConfig)
#define servoMixerConfig(x) (&masterConfig.servoMixerConfig)
#define gimbalConfig(x) (&masterConfig.gimbalConfig)
#define channelForwardingConfig(x) (&masterConfig.channelForwardingConfig)
#define boardAlignment(x) (&masterConfig.boardAlignment)
#define imuConfig(x) (&masterConfig.imuConfig)
#define gyroConfig(x) (&masterConfig.gyroConfig)
@ -193,6 +194,8 @@ typedef struct master_s {
servoProfile_t servoProfile;
// gimbal-related configuration
gimbalConfig_t gimbalConfig;
// Channel forwarding start channel
channelForwardingConfig_t channelForwardingConfig;
#endif
boardAlignment_t boardAlignment;

1
src/main/fc/cli.c
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@ -664,6 +664,7 @@ static const clivalue_t valueTable[] = {
{ "servo_lowpass", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servoPwmRate, .config.minmax = { 50, 498 } },
{ "gimbal_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gimbalConfig()->mode, .config.lookup = { TABLE_GIMBAL_MODE } },
{ "channel_forwarding_start", VAR_UINT8 | MASTER_VALUE, &channelForwardingConfig()->startChannel, .config.minmax = { AUX1, MAX_SUPPORTED_RC_CHANNEL_COUNT } },
#endif
{ "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0, 255 } },

7
src/main/fc/config.c
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@ -800,6 +800,9 @@ void createDefaultConfig(master_t *config)
// gimbal
config->gimbalConfig.mode = GIMBAL_MODE_NORMAL;
// Channel forwarding;
config->channelForwardingConfig.startChannel = AUX1;
#endif
#ifdef GPS
@ -903,10 +906,9 @@ void activateConfig(void)
mixerUseConfigs(&masterConfig.airplaneConfig);
#ifdef USE_SERVOS
servoUseConfigs(&masterConfig.servoMixerConfig, masterConfig.servoProfile.servoConf, &masterConfig.gimbalConfig);
servoUseConfigs(&masterConfig.servoMixerConfig, masterConfig.servoProfile.servoConf, &masterConfig.gimbalConfig, &masterConfig.channelForwardingConfig);
#endif
imuConfigure(
&masterConfig.imuConfig,
&currentProfile->pidProfile,
@ -1179,6 +1181,7 @@ void changeControlRateProfile(uint8_t profileIndex)
profileIndex = MAX_RATEPROFILES - 1;
}
setControlRateProfile(profileIndex);
generateThrottleCurve();
}
void beeperOffSet(uint32_t mask)

2
src/main/fc/fc_rc.c
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@ -296,7 +296,7 @@ void updateRcCommands(void)
tmp = (uint32_t)(tmp - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck);
}
rcLookupThrottle(tmp);
rcCommand[THROTTLE] = rcLookupThrottle(tmp);
if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH) && !failsafeIsActive()) {
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);

4
src/main/flight/altitudehold.c
View File

@ -83,7 +83,7 @@ static void applyMultirotorAltHold(void)
AltHold = EstAlt;
isAltHoldChanged = 0;
}
rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig()->minthrottle, motorConfig()->maxthrottle);
rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, PWM_RANGE_MIN, PWM_RANGE_MAX);
}
} else {
// slow alt changes, mostly used for aerial photography
@ -97,7 +97,7 @@ static void applyMultirotorAltHold(void)
velocityControl = 0;
isAltHoldChanged = 0;
}
rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig()->minthrottle, motorConfig()->maxthrottle);
rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, PWM_RANGE_MIN, PWM_RANGE_MAX);
}
}

6
src/main/flight/servos.c
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@ -59,6 +59,7 @@ static gimbalConfig_t *gimbalConfig;
int16_t servo[MAX_SUPPORTED_SERVOS];
static int useServo;
static servoParam_t *servoConf;
static channelForwardingConfig_t *channelForwardingConfig;
#define COUNT_SERVO_RULES(rules) (sizeof(rules) / sizeof(servoMixer_t))
@ -144,11 +145,12 @@ const mixerRules_t servoMixers[] = {
static servoMixer_t *customServoMixers;
void servoUseConfigs(servoMixerConfig_t *servoMixerConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse)
void servoUseConfigs(servoMixerConfig_t *servoMixerConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse, struct channelForwardingConfig_s *channelForwardingConfigToUse)
{
servoMixerConfig = servoMixerConfigToUse;
servoConf = servoParamsToUse;
gimbalConfig = gimbalConfigToUse;
channelForwardingConfig = channelForwardingConfigToUse;
}
int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
@ -252,7 +254,7 @@ void servoMixerLoadMix(int index, servoMixer_t *customServoMixers)
STATIC_UNIT_TESTED void forwardAuxChannelsToServos(uint8_t firstServoIndex)
{
// start forwarding from this channel
uint8_t channelOffset = AUX1;
uint8_t channelOffset = channelForwardingConfig->startChannel;
uint8_t servoOffset;
for (servoOffset = 0; servoOffset < MAX_AUX_CHANNEL_COUNT && channelOffset < MAX_SUPPORTED_RC_CHANNEL_COUNT; servoOffset++) {

6
src/main/flight/servos.h
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@ -122,6 +122,10 @@ typedef struct servoProfile_s {
servoParam_t servoConf[MAX_SUPPORTED_SERVOS];
} servoProfile_t;
typedef struct channelForwardingConfig_s {
uint8_t startChannel;
} channelForwardingConfig_t;
extern int16_t servo[MAX_SUPPORTED_SERVOS];
void servoTable(void);
@ -131,7 +135,7 @@ void filterServos(void);
void servoMixerInit(servoMixer_t *customServoMixers);
struct gimbalConfig_s;
void servoUseConfigs(servoMixerConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse);
void servoUseConfigs(servoMixerConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse, struct channelForwardingConfig_s *channelForwardingConfigToUse);
void servoMixerLoadMix(int index, servoMixer_t *customServoMixers);
void loadCustomServoMixer(void);
void servoConfigureOutput(void);

27
src/main/io/vtx_smartaudio.c
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@ -950,8 +950,14 @@ else
saCmsPitFMode = 0;
saCmsStatusString[0] = "-FR"[saCmsOpmodel];
if (saCmsFselMode == 0) {
saCmsStatusString[2] = "ABEFR"[saDevice.chan / 8];
saCmsStatusString[3] = '1' + (saDevice.chan % 8);
} else {
saCmsStatusString[2] = 'U';
saCmsStatusString[3] = 'F';
}
if ((saDevice.mode & SA_MODE_GET_PITMODE)
&& (saDevice.mode & SA_MODE_GET_OUT_RANGE_PITMODE))
@ -1067,6 +1073,8 @@ static long saCmsConfigPitFModeByGvar(displayPort_t *pDisp, const void *self)
return 0;
}
static long saCmsConfigFreqModeByGvar(displayPort_t *pDisp, const void *self); // Forward
static long saCmsConfigOpmodelByGvar(displayPort_t *pDisp, const void *self)
{
UNUSED(pDisp);
@ -1086,6 +1094,10 @@ static long saCmsConfigOpmodelByGvar(displayPort_t *pDisp, const void *self)
// out-range receivers from getting blinded.
saCmsPitFMode = 0;
saCmsConfigPitFModeByGvar(pDisp, self);
// Direct frequency mode is not available in RACE opmodel
saCmsFselMode = 0;
saCmsConfigFreqModeByGvar(pDisp, self);
} else {
// Trying to go back to unknown state; bounce back
saCmsOpmodel = SACMS_OPMODEL_UNDEF + 1;
@ -1194,7 +1206,6 @@ static long saCmsCommence(displayPort_t *pDisp, const void *self)
// Setup band, freq and power.
saSetBandChan(saCmsBand - 1, saCmsChan - 1);
saSetPowerByIndex(saCmsPower - 1);
// If in pit mode, cancel it.
@ -1211,6 +1222,8 @@ static long saCmsCommence(displayPort_t *pDisp, const void *self)
saSetFreq(saCmsUserFreq);
}
saSetPowerByIndex(saCmsPower - 1);
return MENU_CHAIN_BACK;
}
@ -1256,15 +1269,15 @@ static long saCmsSetUserFreqOnEnter(void)
return 0;
}
static long saCmsSetUserFreq(displayPort_t *pDisp, const void *self)
static long saCmsConfigUserFreq(displayPort_t *pDisp, const void *self)
{
UNUSED(pDisp);
UNUSED(self);
saCmsUserFreq = saCmsUserFreqNew;
saSetFreq(saCmsUserFreq);
//saSetFreq(saCmsUserFreq);
return 0;
return MENU_CHAIN_BACK;
}
static OSD_Entry saCmsMenuPORFreqEntries[] = {
@ -1293,7 +1306,7 @@ static OSD_Entry saCmsMenuUserFreqEntries[] = {
{ "CUR FREQ", OME_UINT16, NULL, &(OSD_UINT16_t){ &saCmsUserFreq, 5000, 5900, 0 }, DYNAMIC },
{ "NEW FREQ", OME_UINT16, NULL, &(OSD_UINT16_t){ &saCmsUserFreqNew, 5000, 5900, 1 }, 0 },
{ "SET", OME_Funcall, saCmsSetUserFreq, NULL, 0 },
{ "SET", OME_Funcall, saCmsConfigUserFreq, NULL, 0 },
{ "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 }
@ -1314,8 +1327,8 @@ static OSD_TAB_t saCmsEntFselMode = { &saCmsFselMode, 1, saCmsFselModeNames };
static OSD_Entry saCmsMenuConfigEntries[] = {
{ "- SA CONFIG -", OME_Label, NULL, NULL, 0 },
{ "OP MODEL", OME_TAB, saCmsConfigOpmodelByGvar, &(OSD_TAB_t){ &saCmsOpmodel, 2, saCmsOpmodelNames }, 0 },
{ "FSEL MODE", OME_TAB, saCmsConfigFreqModeByGvar, &saCmsEntFselMode, 0 },
{ "OP MODEL", OME_TAB, saCmsConfigOpmodelByGvar, &(OSD_TAB_t){ &saCmsOpmodel, 2, saCmsOpmodelNames }, DYNAMIC },
{ "FSEL MODE", OME_TAB, saCmsConfigFreqModeByGvar, &saCmsEntFselMode, DYNAMIC },
{ "PIT FMODE", OME_TAB, saCmsConfigPitFModeByGvar, &saCmsEntPitFMode, 0 },
{ "POR FREQ", OME_Submenu, (CMSEntryFuncPtr)saCmsORFreqGetString, &saCmsMenuPORFreq, OPTSTRING },
{ "STATX", OME_Submenu, cmsMenuChange, &saCmsMenuStats, 0 },

6
src/main/io/vtx_string.c
View File

@ -53,10 +53,12 @@ const char * const vtx58ChannelNames[] = {
bool vtx58_Freq2Bandchan(uint16_t freq, uint8_t *pBand, uint8_t *pChan)
{
uint8_t band;
int8_t band;
uint8_t chan;
for (band = 0 ; band < 5 ; band++) {
// Use reverse lookup order so that 5880Mhz
// get Raceband 7 instead of Fatshark 8.
for (band = 4 ; band >= 0 ; band--) {
for (chan = 0 ; chan < 8 ; chan++) {
if (vtx58FreqTable[band][chan] == freq) {
*pBand = band + 1;

25
src/main/io/vtx_tramp.c
View File

@ -134,6 +134,8 @@ void trampCmdU16(uint8_t cmd, uint16_t param)
void trampSetFreq(uint16_t freq)
{
trampConfFreq = freq;
if(trampConfFreq != trampCurFreq)
trampFreqRetries = TRAMP_MAX_RETRIES;
}
void trampSendFreq(uint16_t freq)
@ -149,6 +151,8 @@ void trampSetBandChan(uint8_t band, uint8_t chan)
void trampSetRFPower(uint16_t level)
{
trampConfPower = level;
if(trampConfPower != trampCurPower)
trampPowerRetries = TRAMP_MAX_RETRIES;
}
void trampSendRFPower(uint16_t level)
@ -163,13 +167,6 @@ bool trampCommitChanges()
return false;
trampStatus = TRAMP_STATUS_SET_FREQ_PW;
if(trampConfFreq != trampCurFreq)
trampFreqRetries = TRAMP_MAX_RETRIES;
if(trampConfPower != trampCurPower)
trampPowerRetries = TRAMP_MAX_RETRIES;
return true;
}
@ -511,6 +508,18 @@ static long trampCmsConfigChan(displayPort_t *pDisp, const void *self)
return 0;
}
static long trampCmsConfigPower(displayPort_t *pDisp, const void *self)
{
UNUSED(pDisp);
UNUSED(self);
if (trampCmsPower == 0)
// Bounce back
trampCmsPower = 1;
return 0;
}
static OSD_INT16_t trampCmsEntTemp = { &trampCurTemp, -100, 300, 0 };
static const char * const trampCmsPitmodeNames[] = {
@ -598,7 +607,7 @@ static OSD_Entry trampMenuEntries[] =
{ "BAND", OME_TAB, trampCmsConfigBand, &trampCmsEntBand, 0 },
{ "CHAN", OME_TAB, trampCmsConfigChan, &trampCmsEntChan, 0 },
{ "(FREQ)", OME_UINT16, NULL, &trampCmsEntFreqRef, DYNAMIC },
{ "POWER", OME_TAB, NULL, &trampCmsEntPower, 0 },
{ "POWER", OME_TAB, trampCmsConfigPower, &trampCmsEntPower, 0 },
{ "T(C)", OME_INT16, NULL, &trampCmsEntTemp, DYNAMIC },
{ "SET", OME_Submenu, cmsMenuChange, &trampCmsMenuCommence, 0 },

2
src/main/target/SIRINFPV/target.c
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@ -31,7 +31,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM3 - PB8
DEF_TIM(TIM17,CH1, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM4 - PB9
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM5 - PB0 - *TIM3_CH3
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM6 - PB1 - *TIM3_CH4
DEF_TIM(TIM8,CH3N, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED),// PWM6 - PB1 - *TIM3_CH4
};