Replace PWM RSSI with ADC RSSI.
The primary reason is to support the D4R-II with it's much faster PWM frequency. The PWM RSSI code could not keep up, and since there are no timers free for using capture compare of PWM signals in hardware one solution is to use the ADC at a slow sample rate. RC2 is used as before and it expects a signal between 0 and 3.3v. An inline smoothing capacitor may help. This commit also removes the cli command adc_power_channel since the reading was never actually exposed anywhere.
This commit is contained in:
Dominic Clifton
parent
4c9f9093b8
commit
5484e5fddd
1
Makefile
1
Makefile
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@ -156,7 +156,6 @@ NAZE_SRC = startup_stm32f10x_md_gcc.S \
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drivers/sonar_hcsr04.c \
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drivers/pwm_mapping.c \
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drivers/pwm_output.c \
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drivers/pwm_rssi.c \
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drivers/pwm_rx.c \
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drivers/serial_softserial.c \
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drivers/serial_uart_common.c \
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31
docs/Rssi.md
31
docs/Rssi.md
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@ -6,7 +6,7 @@ Some receivers have RSSI outputs. 3 types are supported.
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1. RSSI via PPM channel
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2. RSSI via Parallel PWM channel
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3. RSSI via PWM with PPM RC that does not have RSSI output - aka RSSI PWM
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3. RSSI via ADC with PPM RC that has an RSSI output - aka RSSI ADC
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## RSSI via PPM
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@ -22,32 +22,17 @@ set rssi_channel = 1
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Connect the RSSI signal to any PWM input channel then set the RSSI channel as you would for RSSI via PPM
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## RSSI PWM
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## RSSI ADC
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Connect the RSSI PWM signal to the RC2/CH2 input.
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Connect the RSSI signal to the RC2/CH2 input. The signal must be between 0v and 3.3v to indicate between 0% and 100% RSSI.
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Use inline resistors to lower voltage if required, inline smoothing capacitors may also help.
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Enable using the RSSI_PWM feature:
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FrSky D4R-II and X8R supported.
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Enable using the RSSI_ADC feature:
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```
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feature RSSI_PWM
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feature RSSI_ADC
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```
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The feature can not be used when RX_PARALLEL_PWM is enabled.
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### RSSI PWM Providers
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When using RSSI PWM it is possible to use standard ~18ms RSSI signals or a faster 1khz/1m RSSI signal.
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The RSSI output on the FrSky X8R (and probably the FrSky X6R) is 1khz.
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To support the 1khz rate enable it via the cli:
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```
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set rssi_pwm_provider = 1
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```
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| Value | Meaning |
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| ----- | ----------- |
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| 0 | ~18ms pulse |
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| 1 | 1ms pulse |
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@ -58,7 +58,7 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
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#define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG)) // use the last flash pages for storage
master_t masterConfig; // master config struct with data independent from profiles
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profile_t currentProfile; // profile config struct
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static const uint8_t EEPROM_CONF_VERSION = 69;
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static const uint8_t EEPROM_CONF_VERSION = 70;
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static void resetAccelerometerTrims(int16_flightDynamicsTrims_t *accelerometerTrims)
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{
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@ -209,7 +209,6 @@ static void resetConf(void)
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masterConfig.batteryConfig.vbatscale = 110;
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masterConfig.batteryConfig.vbatmaxcellvoltage = 43;
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masterConfig.batteryConfig.vbatmincellvoltage = 33;
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masterConfig.power_adc_channel = 0;
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resetTelemetryConfig(&masterConfig.telemetryConfig);
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@ -218,7 +217,6 @@ static void resetConf(void)
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masterConfig.rxConfig.mincheck = 1100;
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masterConfig.rxConfig.maxcheck = 1900;
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masterConfig.rxConfig.rssi_channel = 0;
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masterConfig.rxConfig.rssi_pwm_provider = RSSI_PWM_PROVIDER_DEFAULT;
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masterConfig.retarded_arm = 0; // disable arm/disarm on roll left/right
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masterConfig.airplaneConfig.flaps_speed = 0;
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@ -372,8 +370,8 @@ void validateAndFixConfig(void)
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}
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if (feature(FEATURE_RX_PARALLEL_PWM)) {
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if (feature(FEATURE_RSSI_PWM)) {
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featureClear(FEATURE_RSSI_PWM);
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if (feature(FEATURE_RSSI_ADC)) {
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featureClear(FEATURE_RSSI_ADC);
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}
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}
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@ -18,7 +18,7 @@ typedef enum {
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FEATURE_3D = 1 << 14,
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FEATURE_RX_PARALLEL_PWM = 1 << 15,
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FEATURE_RX_MSP = 1 << 16,
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FEATURE_RSSI_PWM = 1 << 17,
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FEATURE_RSSI_ADC = 1 << 17,
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} AvailableFeatures;
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bool feature(uint32_t mask);
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@ -39,8 +39,6 @@ typedef struct master_t {
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batteryConfig_t batteryConfig;
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uint8_t power_adc_channel; // which channel is used for current sensor. Right now, only 2 places are supported: RC_CH2 (unused when in CPPM mode, = 1), RC_CH8 (last channel in PWM mode, = 9)
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rxConfig_t rxConfig;
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uint8_t retarded_arm; // allow disarsm/arm on throttle down + roll left/right
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@ -48,8 +46,6 @@ typedef struct master_t {
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airplaneConfig_t airplaneConfig;
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int8_t fixedwing_althold_dir; // +1 or -1 for pitch/althold gain. later check if need more than just sign
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uint8_t rssi_channel; // Read rssi from channel. 0 to disable, 1 = channel 1, etc.
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// gps-related stuff
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gpsProvider_e gps_provider;
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@ -2,9 +2,9 @@
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typedef enum {
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ADC_BATTERY = 0,
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ADC_EXTERNAL1 = 1,
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ADC_EXTERNAL2 = 2,
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ADC_CHANNEL_MAX = ADC_EXTERNAL2
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ADC_RSSI = 1,
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ADC_EXTERNAL1 = 2,
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ADC_CHANNEL_MAX = ADC_EXTERNAL1
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} AdcChannel;
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#define ADC_CHANNEL_COUNT (ADC_CHANNEL_MAX + 1)
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@ -13,10 +13,11 @@ typedef struct adc_config_t {
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uint8_t adcChannel; // ADC1_INxx channel number
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uint8_t dmaIndex; // index into DMA buffer in case of sparse channels
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bool enabled;
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uint8_t sampleTime;
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} adc_config_t;
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typedef struct drv_adc_config_t {
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uint8_t powerAdcChannel; // which channel used for current monitor, allowed PA1, PB1 (ADC_Channel_1, ADC_Channel_9)
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bool enableRSSI;
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} drv_adc_config_t;
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void adcInit(drv_adc_config_t *init);
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@ -14,8 +14,9 @@
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// Driver for STM32F103CB onboard ADC
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// VBAT is connected to PA4 (ADC1_IN4) with 10k:1k divider
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// rev.5 hardware has PA5 (ADC1_IN5) on breakout pad on bottom of board
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// Additional channel can be stolen from RC_CH2 (PA1, ADC1_IN1) or
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// RC_CH8 (PB1, ADC1_IN9) by using set power_adc_channel=1|9
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//
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// RSSI ADC uses PA1
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// An additional ADC source is available on CH8 (PB1, ADC1_IN9)
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extern adc_config_t adcConfig[ADC_CHANNEL_COUNT];
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extern volatile uint16_t adcValues[ADC_CHANNEL_COUNT];
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@ -33,18 +34,21 @@ void adcInit(drv_adc_config_t *init)
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adcConfig[ADC_BATTERY].adcChannel = ADC_Channel_4;
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adcConfig[ADC_BATTERY].dmaIndex = configuredAdcChannels++;
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adcConfig[ADC_BATTERY].enabled = true;
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adcConfig[ADC_BATTERY].sampleTime = ADC_SampleTime_28Cycles5;
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// optional ADC5 input on rev.5 hardware
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if (hse_value == 12000000) {
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adcConfig[ADC_EXTERNAL1].adcChannel = ADC_Channel_5;
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adcConfig[ADC_EXTERNAL1].dmaIndex = configuredAdcChannels++;
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adcConfig[ADC_EXTERNAL1].enabled = true;
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adcConfig[ADC_EXTERNAL1].sampleTime = ADC_SampleTime_28Cycles5;
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}
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// another channel can be stolen from PWM for current measurement or other things
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if (init->powerAdcChannel > 0) {
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adcConfig[ADC_EXTERNAL2].adcChannel = ADC_Channel_1; // init->powerAdcChannel;
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adcConfig[ADC_EXTERNAL2].dmaIndex = configuredAdcChannels++;
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adcConfig[ADC_EXTERNAL2].enabled = true;
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if (init->enableRSSI > 0) {
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adcConfig[ADC_RSSI].adcChannel = ADC_Channel_1;
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adcConfig[ADC_RSSI].dmaIndex = configuredAdcChannels++;
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adcConfig[ADC_RSSI].enabled = true;
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adcConfig[ADC_RSSI].sampleTime = ADC_SampleTime_239Cycles5;
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}
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// ADC driver assumes all the GPIO was already placed in 'AIN' mode
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@ -76,7 +80,7 @@ void adcInit(drv_adc_config_t *init)
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if (!adcConfig[i].enabled) {
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continue;
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}
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ADC_RegularChannelConfig(ADC1, adcConfig[i].adcChannel, rank++, ADC_SampleTime_28Cycles5);
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ADC_RegularChannelConfig(ADC1, adcConfig[i].adcChannel, rank++, adcConfig[i].sampleTime);
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}
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ADC_DMACmd(ADC1, ENABLE);
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@ -26,14 +26,17 @@ void adcInit(drv_adc_config_t *init)
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adcConfig[ADC_BATTERY].adcChannel = ADC_Channel_6;
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adcConfig[ADC_BATTERY].dmaIndex = adcChannelCount;
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adcConfig[ADC_BATTERY].sampleTime = ADC_SampleTime_181Cycles5;
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adcChannelCount++;
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adcConfig[ADC_EXTERNAL1].adcChannel = ADC_Channel_7;
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adcConfig[ADC_EXTERNAL1].dmaIndex = adcChannelCount;
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adcConfig[ADC_BATTERY].sampleTime = ADC_SampleTime_181Cycles5;
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adcChannelCount++;
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adcConfig[ADC_EXTERNAL2].adcChannel = ADC_Channel_8;
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adcConfig[ADC_EXTERNAL2].dmaIndex = adcChannelCount;
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adcConfig[ADC_RSSI].adcChannel = ADC_Channel_8;
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adcConfig[ADC_RSSI].dmaIndex = adcChannelCount;
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adcConfig[ADC_RSSI].sampleTime = ADC_SampleTime_601Cycles5;
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adcChannelCount++;
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DMA_DeInit(DMA1_Channel1);
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@ -96,7 +99,7 @@ void adcInit(drv_adc_config_t *init)
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ADC_Init(ADC1, &ADC_InitStructure);
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for (i = 0; i < adcChannelCount; i++)
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ADC_RegularChannelConfig(ADC1, adcConfig[i].adcChannel, i + 1, ADC_SampleTime_181Cycles5);
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ADC_RegularChannelConfig(ADC1, adcConfig[i].adcChannel, i + 1, adcConfig[i].sampleTime);
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ADC_Cmd(ADC1, ENABLE);
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@ -50,14 +50,12 @@
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enum {
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TYPE_IP = 1,
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TYPE_IW,
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TYPE_IR,
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TYPE_M,
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TYPE_S,
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};
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static const uint16_t multiPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM2 | (TYPE_IR << 8), // PWM RSSI input
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PWM9 | (TYPE_M << 8), // Swap to servo if needed
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PWM10 | (TYPE_M << 8), // Swap to servo if needed
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PWM11 | (TYPE_M << 8),
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@ -91,7 +89,6 @@ static const uint16_t multiPWM[] = {
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static const uint16_t airPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM2 | (TYPE_IR << 8), // PWM RSSI input
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PWM9 | (TYPE_M << 8), // motor #1
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PWM10 | (TYPE_M << 8), // motor #2
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PWM11 | (TYPE_S << 8), // servo #1
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@ -186,9 +183,8 @@ void pwmInit(drv_pwm_config_t *init)
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#endif
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#ifdef STM32F10X_MD
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// skip ADC for powerMeter if configured
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// See FIXME where init->adcChannel is initialised
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if (init->adcChannel && (init->adcChannel == timerIndex))
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// skip ADC for RSSI
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if (init->useRSSIADC && timerIndex == PWM2)
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continue;
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#endif
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@ -199,9 +195,6 @@ void pwmInit(drv_pwm_config_t *init)
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if (type == TYPE_IP && !init->usePPM)
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type = 0;
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if (type == TYPE_IR && (!init->usePWMRSSI || init->useParallelPWM))
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type = 0;
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if (init->useServos && !init->airplane) {
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#if defined(STM32F10X_MD) || defined(CHEBUZZF3)
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// remap PWM9+10 as servos
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@ -232,8 +225,6 @@ void pwmInit(drv_pwm_config_t *init)
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} else if (type == TYPE_IW) {
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pwmInConfig(timerIndex, channelIndex);
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channelIndex++;
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} else if (type == TYPE_IR) {
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pwmRSSIInConfig(timerIndex);
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} else if (type == TYPE_M) {
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if (init->motorPwmRate > 500) {
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pwmBrushedMotorConfig(&timerHardware[timerIndex], motorIndex, init->motorPwmRate, init->idlePulse);
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@ -21,7 +21,7 @@
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typedef struct drv_pwm_config_t {
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bool useParallelPWM;
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bool usePPM;
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bool usePWMRSSI;
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bool useRSSIADC;
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#ifdef STM32F10X_MD
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bool useUART2;
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#endif
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@ -29,7 +29,6 @@ typedef struct drv_pwm_config_t {
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bool useServos;
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bool extraServos; // configure additional 4 channels in PPM mode as servos, not motors
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bool airplane; // fixed wing hardware config, lots of servos etc
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uint8_t adcChannel; // steal one RC input for current sensor
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uint16_t motorPwmRate;
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uint16_t servoPwmRate;
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uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
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22
src/main.c
22
src/main.c
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@ -104,13 +104,7 @@ void init(void)
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systemInit(masterConfig.emf_avoidance);
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// configure power ADC
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if (masterConfig.power_adc_channel > 0 && (masterConfig.power_adc_channel == 1 || masterConfig.power_adc_channel == 9))
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adc_params.powerAdcChannel = masterConfig.power_adc_channel;
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else {
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adc_params.powerAdcChannel = 0;
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masterConfig.power_adc_channel = 0;
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}
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adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
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adcInit(&adc_params);
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@ -168,7 +162,7 @@ void init(void)
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pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
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pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
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pwm_params.usePWMRSSI = feature(FEATURE_RSSI_PWM);
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pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
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pwm_params.usePPM = feature(FEATURE_RX_PPM);
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pwm_params.useServos = isMixerUsingServos();
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pwm_params.extraServos = currentProfile.gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX;
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@ -181,18 +175,6 @@ void init(void)
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pwm_params.idlePulse = 0; // brushed motors
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pwm_params.servoCenterPulse = masterConfig.rxConfig.midrc;
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switch (masterConfig.power_adc_channel) {
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case 1:
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pwm_params.adcChannel = PWM2;
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break;
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case 9:
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pwm_params.adcChannel = PWM8;
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break;
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default:
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pwm_params.adcChannel = 0; // FIXME this is the same as PWM1
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break;
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}
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pwmInit(&pwm_params);
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failsafe = failsafeInit(&masterConfig.rxConfig);
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2
src/mw.c
2
src/mw.c
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@ -300,7 +300,7 @@ void loop(void)
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mwDisarm();
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}
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updateRSSI();
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updateRSSI(currentTime);
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if (feature(FEATURE_FAILSAFE)) {
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@ -11,12 +11,12 @@
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#include "config.h"
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#include "drivers/serial_common.h"
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#include "drivers/adc_common.h"
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#include "serial_common.h"
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#include "failsafe.h"
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#include "drivers/pwm_rx.h"
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#include "drivers/pwm_rssi.h"
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#include "rx_pwm.h"
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#include "rx_sbus.h"
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#include "rx_spektrum.h"
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@ -46,6 +46,7 @@ int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
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#define PULSE_MIN 750 // minimum PWM pulse width which is considered valid
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#define PULSE_MAX 2250 // maximum PWM pulse width which is considered valid
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#define DELAY_50_HZ (1000000 / 50)
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static rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
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@ -146,7 +147,7 @@ uint8_t calculateChannelRemapping(uint8_t *channelMap, uint8_t channelMapEntryCo
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}
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static bool rcDataReceived = false;
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static uint32_t rxTime = 0;
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static uint32_t rxUpdateAt = 0;
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void updateRx(void)
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@ -171,7 +172,7 @@ void updateRx(void)
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bool shouldProcessRx(uint32_t currentTime)
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{
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return rcDataReceived || ((int32_t)(currentTime - rxTime) >= 0); // data driven or 50Hz
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return rcDataReceived || ((int32_t)(currentTime - rxUpdateAt) >= 0); // data driven or 50Hz
|
||||
}
|
||||
|
||||
static bool isRxDataDriven(void) {
|
||||
|
|
@ -259,7 +260,7 @@ void processNonDataDrivenRx(void)
|
|||
|
||||
void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
|
||||
{
|
||||
rxTime = currentTime + 20000;
|
||||
rxUpdateAt = currentTime + DELAY_50_HZ;
|
||||
|
||||
if (feature(FEATURE_FAILSAFE)) {
|
||||
failsafe->vTable->incrementCounter();
|
||||
|
|
@ -283,39 +284,59 @@ void parseRcChannels(const char *input, rxConfig_t *rxConfig)
|
|||
}
|
||||
}
|
||||
|
||||
void updateRSSI(void)
|
||||
void updateRSSIPWM(void)
|
||||
{
|
||||
if (rxConfig->rssi_channel == 0 && !feature(FEATURE_RSSI_PWM)) {
|
||||
return;
|
||||
}
|
||||
int16_t pwmRssi = 0;
|
||||
// Read value of AUX channel as rssi
|
||||
pwmRssi = rcData[rxConfig->rssi_channel - 1];
|
||||
|
||||
int16_t rawPwmRssi = 0;
|
||||
if (rxConfig->rssi_channel > 0) {
|
||||
// Read value of AUX channel as rssi
|
||||
rawPwmRssi = rcData[rxConfig->rssi_channel - 1];
|
||||
} else if (feature(FEATURE_RSSI_PWM)) {
|
||||
rawPwmRssi = pwmRSSIRead();
|
||||
|
||||
if (rxConfig->rssi_pwm_provider == RSSI_PWM_PROVIDER_FRSKY_1KHZ) {
|
||||
|
||||
// FrSky X8R has a 1khz RSSI output which is too fast for the IRQ handlers
|
||||
// Values range from 0 to 970 and over 1000 when the transmitter is off.
|
||||
// When the transmitter is OFF the pulse is too short to be detected hence the high value
|
||||
// because the edge detection in the IRQ handler is the detecting the wrong edges.
|
||||
|
||||
if (rawPwmRssi > 1000) {
|
||||
rawPwmRssi = 0;
|
||||
}
|
||||
rawPwmRssi += 1000;
|
||||
}
|
||||
}
|
||||
|
||||
#if 0
|
||||
debug[3] = rawPwmRssi;
|
||||
#endif
|
||||
|
||||
// Range of rawPwmRssi is [1000;2000]. rssi should be in [0;1023];
|
||||
rssi = (uint16_t)((constrain(rawPwmRssi - 1000, 0, 1000) / 1000.0f) * 1023.0f);
|
||||
rssi = (uint16_t)((constrain(pwmRssi - 1000, 0, 1000) / 1000.0f) * 1023.0f);
|
||||
}
|
||||
|
||||
#define RSSI_ADC_SAMPLE_COUNT 16
|
||||
#define RSSI_SCALE (0xFFF / 100.0f)
|
||||
|
||||
void updateRSSIADC(uint32_t currentTime)
|
||||
{
|
||||
static uint8_t adcRssiSamples[RSSI_ADC_SAMPLE_COUNT];
|
||||
static uint8_t adcRssiSampleIndex = 0;
|
||||
static uint32_t rssiUpdateAt = 0;
|
||||
|
||||
if ((int32_t)(currentTime - rssiUpdateAt) < 0) {
|
||||
return;
|
||||
}
|
||||
rssiUpdateAt = currentTime + DELAY_50_HZ;
|
||||
|
||||
int16_t adcRssiMean = 0;
|
||||
uint16_t adcRssiSample = adcGetChannel(ADC_RSSI);
|
||||
uint8_t rssiPercentage = adcRssiSample / RSSI_SCALE;
|
||||
|
||||
adcRssiSampleIndex = (adcRssiSampleIndex + 1) % RSSI_ADC_SAMPLE_COUNT;
|
||||
|
||||
adcRssiSamples[adcRssiSampleIndex] = rssiPercentage;
|
||||
|
||||
uint8_t sampleIndex;
|
||||
|
||||
for (sampleIndex = 0; sampleIndex < RSSI_ADC_SAMPLE_COUNT; sampleIndex++) {
|
||||
adcRssiMean += adcRssiSamples[sampleIndex];
|
||||
}
|
||||
|
||||
adcRssiMean = adcRssiMean / RSSI_ADC_SAMPLE_COUNT;
|
||||
|
||||
rssi = (uint16_t)((constrain(adcRssiMean, 0, 100) / 100.0f) * 1023.0f);
|
||||
}
|
||||
|
||||
void updateRSSI(uint32_t currentTime)
|
||||
{
|
||||
|
||||
if (rxConfig->rssi_channel > 0) {
|
||||
updateRSSIPWM();
|
||||
} else if (feature(FEATURE_RSSI_ADC)) {
|
||||
updateRSSIADC(currentTime);
|
||||
}
|
||||
debug[0] = rssi;
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -16,12 +16,6 @@ typedef enum {
|
|||
SERIALRX_PROVIDER_MAX = SERIALRX_SUMD
|
||||
} SerialRXType;
|
||||
|
||||
typedef enum {
|
||||
RSSI_PWM_PROVIDER_DEFAULT,
|
||||
RSSI_PWM_PROVIDER_FRSKY_1KHZ,
|
||||
RSSI_PWM_PROVIDER_MAX = RSSI_PWM_PROVIDER_FRSKY_1KHZ
|
||||
} rssiProvider_e;
|
||||
|
||||
#define SERIALRX_PROVIDER_COUNT (SERIALRX_PROVIDER_MAX + 1)
|
||||
|
||||
#define MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT 12
|
||||
|
|
@ -45,7 +39,6 @@ typedef struct rxConfig_s {
|
|||
uint16_t mincheck; // minimum rc end
|
||||
uint16_t maxcheck; // maximum rc end
|
||||
uint8_t rssi_channel;
|
||||
uint8_t rssi_pwm_provider;
|
||||
} rxConfig_t;
|
||||
|
||||
#define REMAPPABLE_CHANNEL_COUNT (sizeof(((rxConfig_t *)0)->rcmap) / sizeof(((rxConfig_t *)0)->rcmap[0]))
|
||||
|
|
@ -67,4 +60,4 @@ void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime);
|
|||
void parseRcChannels(const char *input, rxConfig_t *rxConfig);
|
||||
bool isSerialRxFrameComplete(rxConfig_t *rxConfig);
|
||||
|
||||
void updateRSSI(void);
|
||||
void updateRSSI(uint32_t currentTime);
|
||||
|
|
|
|||
|
|
@ -86,7 +86,7 @@ static const char * const featureNames[] = {
|
|||
"RX_PPM", "VBAT", "INFLIGHT_ACC_CAL", "RX_SERIAL", "MOTOR_STOP",
|
||||
"SERVO_TILT", "SOFTSERIAL", "LED_RING", "GPS", "FAILSAFE",
|
||||
"SONAR", "TELEMETRY", "POWERMETER", "VARIO", "3D", "RX_PARALLEL_PWM",
|
||||
"RX_MSP", "RSSI_PWM", NULL
|
||||
"RX_MSP", "RSSI_ADC", NULL
|
||||
};
|
||||
|
||||
// sync this with AvailableSensors enum from board.h
|
||||
|
|
@ -150,7 +150,6 @@ const clivalue_t valueTable[] = {
|
|||
{ "mincheck", VAR_UINT16, &masterConfig.rxConfig.mincheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "maxcheck", VAR_UINT16, &masterConfig.rxConfig.maxcheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "rssi_channel", VAR_INT8, &masterConfig.rxConfig.rssi_channel, 0, MAX_SUPPORTED_RC_CHANNEL_COUNT },
|
||||
{ "rssi_pwm_provider", VAR_INT8, &masterConfig.rxConfig.rssi_pwm_provider, 0, RSSI_PWM_PROVIDER_MAX },
|
||||
|
||||
{ "minthrottle", VAR_UINT16, &masterConfig.escAndServoConfig.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "maxthrottle", VAR_UINT16, &masterConfig.escAndServoConfig.maxthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
|
|
@ -193,8 +192,6 @@ const clivalue_t valueTable[] = {
|
|||
{ "vbatmaxcellvoltage", VAR_UINT8, &masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50 },
|
||||
{ "vbatmincellvoltage", VAR_UINT8, &masterConfig.batteryConfig.vbatmincellvoltage, 10, 50 },
|
||||
|
||||
{ "power_adc_channel", VAR_UINT8, &masterConfig.power_adc_channel, 0, 9 },
|
||||
|
||||
{ "align_gyro", VAR_UINT8, &masterConfig.sensorAlignmentConfig.gyro_align, 0, 8 },
|
||||
{ "align_acc", VAR_UINT8, &masterConfig.sensorAlignmentConfig.acc_align, 0, 8 },
|
||||
{ "align_mag", VAR_UINT8, &masterConfig.sensorAlignmentConfig.mag_align, 0, 8 },
|
||||
|
|
|
|||
Loading…
Reference in New Issue