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Merge tag 'v3.1.2'

This commit is contained in:
borisbstyle 2017-02-02 00:23:33 +01:00
parent afc229d07f 70807d016b
commit 51b19855dd
6 changed files with 24 additions and 30 deletions
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1
Makefile
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@ -595,7 +595,6 @@ COMMON_SRC = \
fc/fc_msp.c \
fc/fc_tasks.c \
fc/rc_controls.c \
fc/rc_curves.c \
fc/runtime_config.c \
fc/cli.c \
flight/altitudehold.c \

24
src/main/fc/cli.c
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@ -598,28 +598,28 @@ static const clivalue_t valueTable[] = {
{ "frsky_unit", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &telemetryConfig()->frsky_unit, .config.lookup = { TABLE_UNIT } },
{ "frsky_vfas_precision", VAR_UINT8 | MASTER_VALUE, &telemetryConfig()->frsky_vfas_precision, .config.minmax = { FRSKY_VFAS_PRECISION_LOW, FRSKY_VFAS_PRECISION_HIGH } },
{ "frsky_vfas_cell_voltage", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &telemetryConfig()->frsky_vfas_cell_voltage, .config.lookup = { TABLE_OFF_ON } },
{ "hott_alarm_sound_int", VAR_UINT8 | MASTER_VALUE, &telemetryConfig()->hottAlarmSoundInterval, .config.minmax = { 0, 120 } },
{ "pid_in_telemetry", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &telemetryConfig()->pidValuesAsTelemetry, .config.lookup = {TABLE_OFF_ON } },
{ "hott_alarm_int", VAR_UINT8 | MASTER_VALUE, &telemetryConfig()->hottAlarmSoundInterval, .config.minmax = { 0, 120 } },
{ "pid_in_tlm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &telemetryConfig()->pidValuesAsTelemetry, .config.lookup = {TABLE_OFF_ON } },
#if defined(TELEMETRY_IBUS)
{ "ibus_report_cell_voltage", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &ibusTelemetryConfig()->report_cell_voltage, .config.lookup = { TABLE_OFF_ON } },
#endif
#endif
{ "vbat_capacity", VAR_UINT16 | MASTER_VALUE, &batteryConfig()->batteryCapacity, .config.minmax = { 0, 20000 } },
{ "bat_capacity", VAR_UINT16 | MASTER_VALUE, &batteryConfig()->batteryCapacity, .config.minmax = { 0, 20000 } },
{ "vbat_scale", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatscale, .config.minmax = { VBAT_SCALE_MIN, VBAT_SCALE_MAX } },
{ "vbat_max_cell_voltage", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatmaxcellvoltage, .config.minmax = { 10, 50 } },
{ "vbat_min_cell_voltage", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatmincellvoltage, .config.minmax = { 10, 50 } },
{ "vbat_warning_cell_voltage", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatwarningcellvoltage, .config.minmax = { 10, 50 } },
{ "vbat_hysteresis", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbathysteresis, .config.minmax = { 0, 250 } },
{ "current_scale", VAR_INT16 | MASTER_VALUE, &batteryConfig()->currentMeterScale, .config.minmax = { -16000, 16000 } },
{ "current_offset", VAR_INT16 | MASTER_VALUE, &batteryConfig()->currentMeterOffset, .config.minmax = { -16000, 16000 } },
{ "mwii_current_output", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON } },
{ "ibat_scale", VAR_INT16 | MASTER_VALUE, &batteryConfig()->currentMeterScale, .config.minmax = { -16000, 16000 } },
{ "ibat_offset", VAR_INT16 | MASTER_VALUE, &batteryConfig()->currentMeterOffset, .config.minmax = { -16000, 16000 } },
{ "mwii_ibat_output", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON } },
{ "current_meter_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->currentMeterType, .config.lookup = { TABLE_CURRENT_SENSOR } },
{ "battery_meter_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->batteryMeterType, .config.lookup = { TABLE_BATTERY_SENSOR } },
{ "no_vbat_level", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->batterynotpresentlevel, .config.minmax = { 0, 200 } },
{ "bat_detect_thresh", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->batterynotpresentlevel, .config.minmax = { 0, 200 } },
{ "use_vbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->useVBatAlerts, .config.lookup = { TABLE_OFF_ON } },
{ "vbat_usage_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->useConsumptionAlerts, .config.lookup = { TABLE_OFF_ON } },
{ "vbat_usage_percent", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->consumptionWarningPercentage, .config.minmax = { 0, 100 } },
{ "use_cbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->useConsumptionAlerts, .config.lookup = { TABLE_OFF_ON } },
{ "cbat_alert_percent", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->consumptionWarningPercentage, .config.minmax = { 0, 100 } },
{ "align_gyro", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &accelerometerConfig()->acc_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &compassConfig()->mag_align, .config.lookup = { TABLE_ALIGNMENT } },
@ -649,8 +649,8 @@ static const clivalue_t valueTable[] = {
{ "deadband", VAR_UINT8 | MASTER_VALUE, &rcControlsConfig()->deadband, .config.minmax = { 0, 32 } },
{ "yaw_deadband", VAR_UINT8 | MASTER_VALUE, &rcControlsConfig()->yaw_deadband, .config.minmax = { 0, 100 } },
{ "throttle_correct_value", VAR_UINT8 | MASTER_VALUE, &throttleCorrectionConfig()->throttle_correction_value, .config.minmax = { 0, 150 } },
{ "throttle_correct_angle", VAR_UINT16 | MASTER_VALUE, &throttleCorrectionConfig()->throttle_correction_angle, .config.minmax = { 1, 900 } },
{ "thr_corr_value", VAR_UINT8 | MASTER_VALUE, &throttleCorrectionConfig()->throttle_correction_value, .config.minmax = { 0, 150 } },
{ "thr_corr_angle", VAR_UINT16 | MASTER_VALUE, &throttleCorrectionConfig()->throttle_correction_angle, .config.minmax = { 1, 900 } },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &rcControlsConfig()->yaw_control_direction, .config.minmax = { -1, 1 } },
@ -712,7 +712,7 @@ static const clivalue_t valueTable[] = {
{ "d_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
{ "d_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 16000 } },
{ "d_notch_hz", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_hz, .config.minmax = { 0, 16000 } },
{ "d_notch_cutoff", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1, 16000 } },
{ "d_notch_cut", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1, 16000 } },
{ "vbat_pid_gain", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
{ "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
{ "anti_gravity_thresh", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleThreshold, .config.minmax = {20, 1000 } },

15
src/main/fc/config.c
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@ -60,7 +60,6 @@
#include "fc/config.h"
#include "fc/rc_controls.h"
#include "fc/rc_curves.h"
#include "fc/runtime_config.h"
#include "flight/altitudehold.h"
@ -181,11 +180,11 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->levelAngleLimit = 55;
pidProfile->levelSensitivity = 55;
pidProfile->setpointRelaxRatio = 30;
pidProfile->dtermSetpointWeight = 200;
pidProfile->dtermSetpointWeight = 190;
pidProfile->yawRateAccelLimit = 10.0f;
pidProfile->rateAccelLimit = 0.0f;
pidProfile->itermThrottleThreshold = 300;
pidProfile->itermAcceleratorGain = 3.0f;
pidProfile->itermThrottleThreshold = 350;
pidProfile->itermAcceleratorGain = 1.5f;
pidProfile->itermAcceleratorRateLimit = 80;
}
@ -887,15 +886,8 @@ void resetConfigs(void)
#endif
}
void activateControlRateConfig(void)
{
generateThrottleCurve(currentControlRateProfile, &masterConfig.motorConfig);
}
void activateConfig(void)
{
activateControlRateConfig();
resetAdjustmentStates();
useRcControlsConfig(
@ -1205,7 +1197,6 @@ void changeControlRateProfile(uint8_t profileIndex)
profileIndex = MAX_RATEPROFILES - 1;
}
setControlRateProfile(profileIndex);
activateControlRateConfig();
}
void beeperOffSet(uint32_t mask)

1
src/main/fc/fc_core.c
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@ -47,7 +47,6 @@
#include "fc/config.h"
#include "fc/rc_controls.h"
#include "fc/rc_curves.h"
#include "fc/runtime_config.h"
#include "fc/cli.h"
#include "fc/fc_rc.h"

11
src/main/fc/fc_rc.c
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@ -17,6 +17,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <math.h>
#include "platform.h"
@ -29,7 +30,6 @@
#include "fc/config.h"
#include "fc/rc_controls.h"
#include "fc/rc_curves.h"
#include "fc/runtime_config.h"
#include "fc/fc_rc.h"
#include "fc/fc_core.h"
@ -266,7 +266,14 @@ void updateRcCommands(void)
tmp = constrain(rcData[THROTTLE], rxConfig()->mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck);
}
rcCommand[THROTTLE] = rcLookupThrottle(tmp);
if (currentControlRateProfile->thrExpo8) {
float expof = currentControlRateProfile->thrExpo8 / 100.0f;
float tmpf = (tmp / (PWM_RANGE_MAX - PWM_RANGE_MIN));
tmp = lrintf(tmp * sq(tmpf) * expof + tmp * (1-expof));
}
rcCommand[THROTTLE] = tmp + (PWM_RANGE_MAX - PWM_RANGE_MIN);
if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH) && !failsafeIsActive()) {
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);

2
src/main/fc/rc_controls.c
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@ -39,7 +39,6 @@
#include "fc/config.h"
#include "fc/fc_core.h"
#include "fc/rc_controls.h"
#include "fc/rc_curves.h"
#include "fc/runtime_config.h"
#include "io/gps.h"
@ -526,7 +525,6 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
case ADJUSTMENT_THROTTLE_EXPO:
newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
controlRateConfig->thrExpo8 = newValue;
generateThrottleCurve(controlRateConfig, motorConfig);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_RATE: