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Merge pull request #2483 from martinbudden/bf_pg_configs4 

Added PG config definitions 4
This commit is contained in:
Martin Budden 2017-02-26 07:39:27 +00:00 committed by GitHub
parent c95f4993dc c92679f454
commit 9515088a98
10 changed files with 110 additions and 13 deletions
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6
src/main/config/parameter_group_ids.h
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@ -83,8 +83,10 @@
#define PG_BETAFLIGHT_START 500
#define PG_MODE_ACTIVATION_OPERATOR_CONFIG 500
#define PG_OSD_CONFIG 501
#define PG_BEEPER_CONFIG 5002
#define PG_BETAFLIGHT_END 1002
#define PG_BEEPER_CONFIG 502
#define PG_PID_CONFIG 503
#define PG_STATUS_LED_CONFIG 504
#define PG_BETAFLIGHT_END 504
// OSD configuration (subject to change)

31
src/main/fc/config.c
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@ -104,9 +104,6 @@
#define RX_SPI_DEFAULT_PROTOCOL 0
#endif
#define BRUSHED_MOTORS_PWM_RATE 16000
#define BRUSHLESS_MOTORS_PWM_RATE 480
PG_REGISTER_WITH_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
@ -125,6 +122,7 @@ PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0);
PG_REGISTER_WITH_RESET_FN(statusLedConfig_t, statusLedConfig, PG_STATUS_LED_CONFIG, 0);
master_t masterConfig; // master config struct with data independent from profiles
profile_t *currentProfile;
@ -287,6 +285,7 @@ void resetServoConfig(servoConfig_t *servoConfig)
}
#endif
#ifndef USE_PARAMETER_GROUPS
void resetMotorConfig(motorConfig_t *motorConfig)
{
#ifdef BRUSHED_MOTORS
@ -321,6 +320,7 @@ void resetMotorConfig(motorConfig_t *motorConfig)
}
}
}
#endif
#ifdef SONAR
void resetSonarConfig(sonarConfig_t *sonarConfig)
@ -669,6 +669,7 @@ void resetSerialConfig(serialConfig_t *serialConfig)
}
#endif
#ifndef USE_PARAMETER_GROUPS
void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
{
rcControlsConfig->deadband = 0;
@ -676,6 +677,7 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
rcControlsConfig->alt_hold_deadband = 40;
rcControlsConfig->alt_hold_fast_change = 1;
}
#endif
#ifndef USE_PARAMETER_GROUPS
void resetMixerConfig(mixerConfig_t *mixerConfig)
@ -704,7 +706,11 @@ void resetDisplayPortProfile(displayPortProfile_t *pDisplayPortProfile)
pDisplayPortProfile->rowAdjust = 0;
}
#ifdef USE_PARAMETER_GROUPS
void pgResetFn_statusLedConfig(statusLedConfig_t *statusLedConfig)
#else
void resetStatusLedConfig(statusLedConfig_t *statusLedConfig)
#endif
{
for (int i = 0; i < LED_NUMBER; i++) {
statusLedConfig->ledTags[i] = IO_TAG_NONE;
@ -821,8 +827,14 @@ void createDefaultConfig(master_t *config)
#endif
#ifndef USE_PARAMETER_GROUPS
config->imuConfig.dcm_kp = 2500; // 1.0 * 10000
config->imuConfig.dcm_ki = 0; // 0.003 * 10000
config->imuConfig.small_angle = 25;
config->imuConfig.accDeadband.xy = 40;
config->imuConfig.accDeadband.z = 40;
config->imuConfig.acc_unarmedcal = 1;
#endif
#ifndef USE_PARAMETER_GROUPS
config->gyroConfig.gyro_lpf = GYRO_LPF_256HZ; // 256HZ default
#ifdef STM32F10X
@ -877,9 +889,11 @@ void createDefaultConfig(master_t *config)
resetPwmConfig(&config->pwmConfig);
#endif
#ifndef USE_PARAMETER_GROUPS
#ifdef TELEMETRY
resetTelemetryConfig(&config->telemetryConfig);
#endif
#endif
#ifdef USE_ADC
resetAdcConfig(&config->adcConfig);
@ -944,15 +958,14 @@ void createDefaultConfig(master_t *config)
config->armingConfig.auto_disarm_delay = 5;
#endif
config->imuConfig.small_angle = 25;
config->airplaneConfig.fixedwing_althold_dir = 1;
// Motor/ESC/Servo
#ifndef USE_PARAMETER_GROUPS
resetMixerConfig(&config->mixerConfig);
#endif
resetMotorConfig(&config->motorConfig);
#endif
#ifdef USE_SERVOS
resetServoConfig(&config->servoConfig);
#endif
@ -988,10 +1001,6 @@ void createDefaultConfig(master_t *config)
config->compassConfig.mag_declination = 0;
config->imuConfig.accDeadband.xy = 40;
config->imuConfig.accDeadband.z = 40;
config->imuConfig.acc_unarmedcal = 1;
#ifdef BARO
#ifndef USE_PARAMETER_GROUPS
resetBarometerConfig(&config->barometerConfig);
@ -1005,12 +1014,12 @@ void createDefaultConfig(master_t *config)
parseRcChannels("AETR1234", &config->rxConfig);
#endif
#ifndef USE_PARAMETER_GROUPS
resetRcControlsConfig(&config->rcControlsConfig);
config->throttleCorrectionConfig.throttle_correction_value = 0; // could 10 with althold or 40 for fpv
config->throttleCorrectionConfig.throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
#ifndef USE_PARAMETER_GROUPS
// Failsafe Variables
config->failsafeConfig.failsafe_delay = 10; // 1sec
config->failsafeConfig.failsafe_off_delay = 10; // 1sec
@ -1090,7 +1099,9 @@ void createDefaultConfig(master_t *config)
resetFlashConfig(&config->flashConfig);
#endif
#ifndef USE_PARAMETER_GROUPS
resetStatusLedConfig(&config->statusLedConfig);
#endif
/* merely to force a reset if the person inadvertently flashes the wrong target */
strncpy(config->boardIdentifier, TARGET_BOARD_IDENTIFIER, sizeof(TARGET_BOARD_IDENTIFIER));

7
src/main/fc/fc_core.c
View File

@ -102,6 +102,13 @@ static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the m
bool isRXDataNew;
static bool armingCalibrationWasInitialised;
PG_REGISTER_WITH_RESET_TEMPLATE(throttleCorrectionConfig_t, throttleCorrectionConfig, PG_THROTTLE_CORRECTION_CONFIG, 0);
PG_RESET_TEMPLATE(throttleCorrectionConfig_t, throttleCorrectionConfig,
.throttle_correction_value = 0, // could 10 with althold or 40 for fpv
.throttle_correction_angle = 800 // could be 80.0 deg with atlhold or 45.0 for fpv
);
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
{
accelerometerConfigMutable()->accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;

2
src/main/fc/fc_tasks.c
View File

@ -165,7 +165,7 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
static void taskUpdateCompass(timeUs_t currentTimeUs)
{
if (sensors(SENSOR_MAG)) {
compassUpdate(currentTimeUs, &compassConfig()->magZero);
compassUpdate(currentTimeUs, &compassConfigMutable()->magZero);
}
}
#endif

2
src/main/fc/rc_adjustments.c
View File

@ -50,6 +50,8 @@
#include "rx/rx.h"
PG_REGISTER_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges, PG_ADJUSTMENT_RANGE_CONFIG, 0);
static pidProfile_t *pidProfile;
static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue)

11
src/main/fc/rc_controls.c
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@ -70,6 +70,15 @@ int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+
uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
.deadband = 0,
.yaw_deadband = 0,
.alt_hold_deadband = 40,
.alt_hold_fast_change = 1
);
PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 0);
PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
@ -78,6 +87,8 @@ PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
.auto_disarm_delay = 5
);
PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
bool isAirmodeActive(void) {
return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
}

11
src/main/flight/imu.c
View File

@ -76,6 +76,17 @@ static float rMat[3][3];
attitudeEulerAngles_t attitude = { { 0, 0, 0 } }; // absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
PG_REGISTER_WITH_RESET_TEMPLATE(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);
PG_RESET_TEMPLATE(imuConfig_t, imuConfig,
.dcm_kp = 2500, // 1.0 * 10000
.dcm_ki = 0, // 0.003 * 10000
.small_angle = 25,
.accDeadband.xy = 40,
.accDeadband.z = 40,
.acc_unarmedcal = 1
);
STATIC_UNIT_TESTED void imuComputeRotationMatrix(void)
{
float q1q1 = sq(q1);

38
src/main/flight/mixer.c
View File

@ -34,6 +34,7 @@
#include "drivers/system.h"
#include "drivers/pwm_output.h"
#include "drivers/pwm_esc_detect.h"
#include "io/motors.h"
@ -69,6 +70,43 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
.yaw_motor_direction = 1,
);
PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 0);
void pgResetFn_motorConfig(motorConfig_t *motorConfig)
{
#ifdef BRUSHED_MOTORS
motorConfig->minthrottle = 1000;
motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
motorConfig->dev.useUnsyncedPwm = true;
#else
#ifdef BRUSHED_ESC_AUTODETECT
if (hardwareMotorType == MOTOR_BRUSHED) {
motorConfig->minthrottle = 1000;
motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
motorConfig->dev.useUnsyncedPwm = true;
} else
#endif
{
motorConfig->minthrottle = 1070;
motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
motorConfig->dev.motorPwmProtocol = PWM_TYPE_ONESHOT125;
}
#endif
motorConfig->maxthrottle = 2000;
motorConfig->mincommand = 1000;
motorConfig->digitalIdleOffsetPercent = 4.5f;
int motorIndex = 0;
for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && motorIndex < MAX_SUPPORTED_MOTORS; i++) {
if (timerHardware[i].usageFlags & TIM_USE_MOTOR) {
motorConfig->dev.ioTags[motorIndex] = timerHardware[i].tag;
motorIndex++;
}
}
}
#define EXTERNAL_DSHOT_CONVERSION_FACTOR 2
// (minimum output value(1001) - (minimum input value(48) / conversion factor(2))
#define EXTERNAL_DSHOT_CONVERSION_OFFSET 977

2
src/main/flight/mixer.h
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@ -22,6 +22,8 @@
#include "drivers/pwm_output.h"
#define QUAD_MOTOR_COUNT 4
#define BRUSHED_MOTORS_PWM_RATE 16000
#define BRUSHLESS_MOTORS_PWM_RATE 480
/*
DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings

13
src/main/flight/pid.c
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@ -58,6 +58,19 @@ static float previousGyroIf[3];
static float dT;
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 0);
#ifdef STM32F10X
#define PID_PROCESS_DENOM_DEFAULT 1
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
#define PID_PROCESS_DENOM_DEFAULT 4
#else
#define PID_PROCESS_DENOM_DEFAULT 2
#endif
PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT
);
void pidSetTargetLooptime(uint32_t pidLooptime)
{
targetPidLooptime = pidLooptime;