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Rccommand scaled to FPV cam (cli command: rc_fpv_cam_correct_degrees)

This commit is contained in:
borisbstyle 2016-01-10 20:51:58 +01:00
parent bd39f07c1f
commit a42aed332b
4 changed files with 16 additions and 1 deletions
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3
src/main/config/config.c
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@ -134,7 +134,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 116;
static const uint8_t EEPROM_CONF_VERSION = 117;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -442,6 +442,7 @@ static void resetConf(void)
masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
masterConfig.rxConfig.rssi_ppm_invert = 0;
masterConfig.rxConfig.rcSmoothing = 0;
masterConfig.rxConfig.fpvCamAngleDegrees = 0;
resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);

1
src/main/io/serial_cli.c
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@ -460,6 +460,7 @@ const clivalue_t valueTable[] = {
{ "rssi_ppm_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rssi_ppm_invert, .config.lookup = { TABLE_OFF_ON } },
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.inputFilteringMode, .config.lookup = { TABLE_OFF_ON } },
{ "rc_smoothing", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rcSmoothing, .config.lookup = { TABLE_OFF_ON } },
{ "rc_fpv_cam_correct_degrees", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.fpvCamAngleDegrees, .config.minmax = { 0, 50 } },
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.minthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.maxthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },

12
src/main/mw.c
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@ -207,6 +207,13 @@ void filterRc(void){
}
}
void scaleRcCommandToFpvCamAngle(void) {
int16_t roll = rcCommand[ROLL];
int16_t yaw = rcCommand[YAW];
rcCommand[ROLL] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees) * roll + sin(masterConfig.rxConfig.fpvCamAngleDegrees) * yaw, -500, 500);
rcCommand[YAW] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees) * yaw + sin(masterConfig.rxConfig.fpvCamAngleDegrees) * roll, -500, 500);
}
void annexCode(void)
{
int32_t tmp, tmp2;
@ -285,6 +292,11 @@ void annexCode(void)
filterRc();
}
// experimental scaling of RC command to FPV cam angle
if (masterConfig.rxConfig.fpvCamAngleDegrees && !FLIGHT_MODE(HEADFREE_MODE)) {
scaleRcCommandToFpvCamAngle();
}
if (ARMING_FLAG(ARMED)) {
LED0_ON;
} else {

1
src/main/rx/rx.h
View File

@ -118,6 +118,7 @@ typedef struct rxConfig_s {
uint16_t mincheck; // minimum rc end
uint16_t maxcheck; // maximum rc end
uint8_t rcSmoothing;
uint8_t fpvCamAngleDegrees; // Camera angle to be scaled into rc commands
uint16_t rx_min_usec;
uint16_t rx_max_usec;