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atbetaflight
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Merge remote-tracking branch 'multiwii/master'

This commit is contained in:
Dominic Clifton 2014-01-24 18:45:38 +00:00
parent c525213355 cc2a6f502e
commit 398fcffd1a
11 changed files with 3479 additions and 3425 deletions
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4
Makefile
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@ -68,8 +68,7 @@ COMMON_SRC = startup_stm32f10x_md_gcc.S \
$(STDPERIPH_SRC)
# Source files for the NAZE target
NAZE_SRC = drv_spi.c \
drv_adc.c \
NAZE_SRC = drv_adc.c \
drv_adxl345.c \
drv_bma280.c \
drv_bmp085.c \
@ -82,6 +81,7 @@ NAZE_SRC = drv_spi.c \
drv_mpu6050.c \
drv_l3g4200d.c \
drv_pwm.c \
drv_spi.c \
drv_timer.c \
$(COMMON_SRC)

6755
obj/baseflight.hex
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File diff suppressed because it is too large Load Diff

2
src/cli.c
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@ -124,6 +124,7 @@ const clivalue_t valueTable[] = {
{ "servo_pwm_rate", VAR_UINT16, &mcfg.servo_pwm_rate, 50, 498 },
{ "retarded_arm", VAR_UINT8, &mcfg.retarded_arm, 0, 1 },
{ "flaps_speed", VAR_UINT8, &mcfg.flaps_speed, 0, 100 },
{ "fixedwing_althold_dir", VAR_INT8, &mcfg.fixedwing_althold_dir, -1, 1 },
{ "serial_baudrate", VAR_UINT32, &mcfg.serial_baudrate, 1200, 115200 },
{ "softserial_baudrate", VAR_UINT32, &mcfg.softserial_baudrate, 9600, 19200 },
{ "softserial_inverted", VAR_UINT8, &mcfg.softserial_inverted, 0, 1 },
@ -131,6 +132,7 @@ const clivalue_t valueTable[] = {
{ "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, -1, 4 },
{ "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 2 },
{ "telemetry_softserial", VAR_UINT8, &mcfg.telemetry_softserial, 0, 1 },
{ "telemetry_switch", VAR_UINT8, &mcfg.telemetry_switch, 0, 1 },
{ "vbatscale", VAR_UINT8, &mcfg.vbatscale, 10, 200 },
{ "vbatmaxcellvoltage", VAR_UINT8, &mcfg.vbatmaxcellvoltage, 10, 50 },
{ "vbatmincellvoltage", VAR_UINT8, &mcfg.vbatmincellvoltage, 10, 50 },

5
src/config.c
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@ -13,7 +13,7 @@ master_t mcfg; // master config struct with data independent from profiles
config_t cfg; // profile config struct
const char rcChannelLetters[] = "AERT1234";
static const uint8_t EEPROM_CONF_VERSION = 55;
static const uint8_t EEPROM_CONF_VERSION = 56;
static uint32_t enabledSensors = 0;
static void resetConf(void);
@ -193,10 +193,13 @@ static void resetConf(void)
mcfg.power_adc_channel = 0;
mcfg.serialrx_type = 0;
mcfg.telemetry_softserial = 0;
mcfg.telemetry_switch = 0;
mcfg.midrc = 1500;
mcfg.mincheck = 1100;
mcfg.maxcheck = 1900;
mcfg.retarded_arm = 0; // disable arm/disarm on roll left/right
mcfg.flaps_speed = 0;
mcfg.fixedwing_althold_dir = 1;
// Motor/ESC/Servo
mcfg.minthrottle = 1150;
mcfg.maxthrottle = 1850;

16
src/gps.c
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@ -9,6 +9,7 @@
#define GPS_TIMEOUT (2500)
// How many entries in gpsInitData array below
#define GPS_INIT_ENTRIES (5)
#define GPS_BAUD_DELAY (100)
typedef struct gpsInitData_t {
uint32_t baudrate;
@ -70,6 +71,7 @@ typedef struct gpsData_t {
uint32_t lastLastMessage; // last-last valid GPS message. Used to calculate delta.
uint32_t state_position; // incremental variable for loops
uint32_t state_ts; // timestamp for last state_position increment
} gpsData_t;
@ -83,6 +85,7 @@ static void gpsSetState(uint8_t state)
{
gpsData.state = state;
gpsData.state_position = 0;
gpsData.state_ts = millis();
}
void gpsInit(uint8_t baudrate)
@ -114,31 +117,34 @@ void gpsInitHardware(void)
// nothing to do, just set baud rate and try receiving some stuff and see if it parses
serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
gpsSetState(GPS_RECEIVINGDATA);
return;
break;
case GPS_UBLOX:
// UBX will run at mcfg.baudrate, it shouldn't be "autodetected". So here we force it to that rate
// UBX will run at mcfg.gps_baudrate, it shouldn't be "autodetected". So here we force it to that rate
// Wait until GPS transmit buffer is empty
if (!isSerialTransmitBufferEmpty(core.gpsport))
break;
if (gpsData.state == GPS_INITIALIZING) {
uint32_t m = millis();
if (m - gpsData.state_ts < GPS_BAUD_DELAY)
return;
if (gpsData.state_position < GPS_INIT_ENTRIES) {
// try different speed to INIT
serialSetBaudRate(core.gpsport, gpsInitData[gpsData.state_position].baudrate);
// but print our FIXED init string for the baudrate we want to be at
serialPrint(core.gpsport, gpsInitData[mcfg.gps_baudrate].ubx);
serialPrint(core.gpsport, gpsInitData[gpsData.baudrateIndex].ubx);
gpsData.state_position++;
gpsData.state_ts = m;
} else {
// we're now (hopefully) at the correct rate, next state will switch to it
gpsData.baudrateIndex = mcfg.gps_baudrate;
gpsSetState(GPS_INITDONE);
}
} else {
// GPS_INITDONE, set our real baud rate and push some ublox config strings
if (gpsData.state_position == 0)
serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);

2
src/imu.c
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@ -315,7 +315,7 @@ static void getEstimatedAttitude(void)
acc_calc(deltaT); // rotate acc vector into earth frame
if (cfg.throttle_angle_correction) {
int cosZ = EstG.V.Z / (acc_1G * 100.0f);
int cosZ = ((int32_t)(EstG.V.Z * 100.0f)) / acc_1G;
throttleAngleCorrection = cfg.throttle_angle_correction * constrain(100 - cosZ, 0, 100) / 8;
}
}

38
src/mixer.c
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@ -43,12 +43,12 @@ static const motorMixer_t mixerY6[] = {
};
static const motorMixer_t mixerHex6P[] = {
{ 1.0f, -1.0f, 0.866025f, 1.0f }, // REAR_R
{ 1.0f, -1.0f, -0.866025f, -1.0f }, // FRONT_R
{ 1.0f, 1.0f, 0.866025f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -0.866025f, -1.0f }, // FRONT_L
{ 1.0f, 0.0f, -0.866025f, 1.0f }, // FRONT
{ 1.0f, 0.0f, 0.866025f, -1.0f }, // REAR
{ 1.0f, -0.866025f, 0.5f, 1.0f }, // REAR_R
{ 1.0f, -0.866025f, -0.5f, -1.0f }, // FRONT_R
{ 1.0f, 0.866025f, 0.5f, 1.0f }, // REAR_L
{ 1.0f, 0.866025f, -0.5f, -1.0f }, // FRONT_L
{ 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
};
static const motorMixer_t mixerY4[] = {
@ -59,12 +59,12 @@ static const motorMixer_t mixerY4[] = {
};
static const motorMixer_t mixerHex6X[] = {
{ 1.0f, -0.866025f, 1.0f, 1.0f }, // REAR_R
{ 1.0f, -0.866025f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 0.866025f, 1.0f, -1.0f }, // REAR_L
{ 1.0f, 0.866025f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, -0.866025f, 0.0f, -1.0f }, // RIGHT
{ 1.0f, 0.866025f, 0.0f, 1.0f }, // LEFT
{ 1.0f, -0.5f, 0.866025f, 1.0f }, // REAR_R
{ 1.0f, -0.5f, -0.866025f, 1.0f }, // FRONT_R
{ 1.0f, 0.5f, 0.866025f, -1.0f }, // REAR_L
{ 1.0f, 0.5f, -0.866025f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT
{ 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT
};
static const motorMixer_t mixerOctoX8[] = {
@ -211,6 +211,14 @@ void mixerInit(void)
}
}
}
// set flag that we're on something with wings
if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING ||
mcfg.mixerConfiguration == MULTITYPE_AIRPLANE)
f.FIXED_WING = 1;
else
f.FIXED_WING = 0;
mixerResetMotors();
}
@ -463,7 +471,11 @@ void mixTable(void)
// forward AUX1-4 to servo outputs (not constrained)
if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) {
int offset = 0;
if (feature(FEATURE_SERVO_TILT))
// offset servos based off number already used in mixer types
// airplane and servo_tilt together can't be used
if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING)
offset = 4;
else if (mixers[mcfg.mixerConfiguration].useServo)
offset = 2;
for (i = 0; i < 4; i++)
pwmWriteServo(i + offset, rcData[AUX1 + i]);

8
src/mw.c
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@ -831,6 +831,8 @@ void loop(void)
if (f.BARO_MODE) {
static uint8_t isAltHoldChanged = 0;
static int16_t AltHoldCorr = 0;
if (!f.FIXED_WING) {
// multirotor alt hold
if (cfg.alt_hold_fast_change) {
// rapid alt changes
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) {
@ -860,6 +862,12 @@ void loop(void)
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
rcCommand[THROTTLE] = constrain(rcCommand[THROTTLE], mcfg.minthrottle + 150, mcfg.maxthrottle);
}
} else {
// handle fixedwing-related althold. UNTESTED! and probably wrong
// most likely need to check changes on pitch channel and 'reset' althold similar to
// how throttle does it on multirotor
rcCommand[PITCH] += BaroPID * mcfg.fixedwing_althold_dir;
}
}
}
#endif

5
src/mw.h
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@ -101,6 +101,7 @@ enum {
BOXCALIB,
BOXGOV,
BOXOSD,
BOXTELEMETRY,
CHECKBOXITEMS
};
@ -265,6 +266,7 @@ typedef struct master_t {
uint16_t maxcheck; // maximum rc end
uint8_t retarded_arm; // allow disarsm/arm on throttle down + roll left/right
uint8_t flaps_speed; // airplane mode flaps, 0 = no flaps, > 0 = flap speed, larger = faster
int8_t fixedwing_althold_dir; // +1 or -1 for pitch/althold gain. later check if need more than just sign
uint8_t rssi_aux_channel; // Read rssi from channel. 1+ = AUX1+, 0 to disable.
@ -278,7 +280,7 @@ typedef struct master_t {
uint8_t softserial_inverted; // use inverted softserial input and output signals
uint8_t telemetry_softserial; // Serial to use for Telemetry. 0:USART1, 1:SoftSerial1 (Enable FEATURE_SOFTSERIAL first)
uint8_t telemetry_switch; // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed.
config_t profile[3]; // 3 separate profiles
uint8_t current_profile; // currently loaded profile
@ -314,6 +316,7 @@ typedef struct flags_t {
uint8_t SMALL_ANGLES_25;
uint8_t CALIBRATE_MAG;
uint8_t VARIO_MODE;
uint8_t FIXED_WING; // set when in flying_wing or airplane mode. currently used by althold selection code
} flags_t;
extern int16_t gyroZero[3];

7
src/serial.c
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@ -84,6 +84,7 @@ struct box_t {
{ BOXCALIB, "CALIB;", 17 },
{ BOXGOV, "GOVERNOR;", 18 },
{ BOXOSD, "OSD SW;", 19 },
{ BOXTELEMETRY, "TELEMETRY;", 20 },
{ CHECKBOXITEMS, NULL, 0xFF }
};
@ -265,6 +266,8 @@ void serialInit(uint32_t baudrate)
if (feature(FEATURE_INFLIGHT_ACC_CAL))
availableBoxes[idx++] = BOXCALIB;
availableBoxes[idx++] = BOXOSD;
if (feature(FEATURE_TELEMETRY && mcfg.telemetry_switch))
availableBoxes[idx++] = BOXTELEMETRY;
numberBoxItems = idx;
}
@ -321,7 +324,8 @@ static void evaluateCommand(void)
case MSP_SET_MISC:
read16(); // powerfailmeter
mcfg.minthrottle = read16();
read32(); // mcfg.maxthrottle, mcfg.mincommand
mcfg.maxthrottle = read16();
mcfg.mincommand = read16();
cfg.failsafe_throttle = read16();
read16();
read32();
@ -378,6 +382,7 @@ static void evaluateCommand(void)
rcOptions[BOXCALIB] << BOXCALIB |
rcOptions[BOXGOV] << BOXGOV |
rcOptions[BOXOSD] << BOXOSD |
rcOptions[BOXTELEMETRY] << BOXTELEMETRY |
f.ARMED << BOXARM;
for (i = 0; i < numberBoxItems; i++) {
int flag = (tmp & (1 << availableBoxes[i]));

8
src/telemetry.c
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@ -228,7 +228,11 @@ void initTelemetry(void)
void updateTelemetryState(void)
{
bool State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : f.ARMED;
bool State;
if (!mcfg.telemetry_switch)
State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : f.ARMED;
else
State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : rcOptions[BOXTELEMETRY];
if (State != telemetryEnabled) {
if (mcfg.telemetry_softserial == TELEMETRY_UART) {
@ -246,7 +250,7 @@ static uint8_t cycleNum = 0;
void sendTelemetry(void)
{
if (mcfg.telemetry_softserial == TELEMETRY_UART && !f.ARMED)
if (mcfg.telemetry_softserial == TELEMETRY_UART && ((!f.ARMED && !mcfg.telemetry_switch) || (mcfg.telemetry_switch && !rcOptions[BOXTELEMETRY])))
return;
if (serialTotalBytesWaiting(core.telemport) != 0)