Merge branch 'betaflight' into buildsystem
This commit is contained in:
commit
a6c6b1ff6b
|
@ -152,7 +152,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
|
|||
pidProfile->P8[PITCH] = 40;
|
||||
pidProfile->I8[PITCH] = 30;
|
||||
pidProfile->D8[PITCH] = 18;
|
||||
pidProfile->P8[YAW] = 95;
|
||||
pidProfile->P8[YAW] = 100;
|
||||
pidProfile->I8[YAW] = 50;
|
||||
pidProfile->D8[YAW] = 10;
|
||||
pidProfile->P8[PIDALT] = 50;
|
||||
|
@ -167,8 +167,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
|
|||
pidProfile->P8[PIDNAVR] = 25; // NAV_P * 10;
|
||||
pidProfile->I8[PIDNAVR] = 33; // NAV_I * 100;
|
||||
pidProfile->D8[PIDNAVR] = 83; // NAV_D * 1000;
|
||||
pidProfile->P8[PIDLEVEL] = 20;
|
||||
pidProfile->I8[PIDLEVEL] = 20;
|
||||
pidProfile->P8[PIDLEVEL] = 50;
|
||||
pidProfile->I8[PIDLEVEL] = 50;
|
||||
pidProfile->D8[PIDLEVEL] = 100;
|
||||
pidProfile->P8[PIDMAG] = 40;
|
||||
pidProfile->P8[PIDVEL] = 120;
|
||||
|
|
|
@ -86,7 +86,7 @@ static void l3gd20SpiInit(SPI_TypeDef *SPIx)
|
|||
spiSetDivisor(L3GD20_SPI, SPI_9MHZ_CLOCK_DIVIDER);
|
||||
}
|
||||
|
||||
void l3gd20GyroInit(uint16_t lpf)
|
||||
void l3gd20GyroInit(uint8_t lpf)
|
||||
{
|
||||
UNUSED(lpf); // FIXME use it!
|
||||
|
||||
|
|
|
@ -359,6 +359,11 @@ static const char * const lookupTableGyroSampling[] = {
|
|||
"1KHZ"
|
||||
};
|
||||
|
||||
static const char * const lookupTablePidAtMinThrottle[] = {
|
||||
"OFF",
|
||||
"PD",
|
||||
"PID"
|
||||
};
|
||||
|
||||
typedef struct lookupTableEntry_s {
|
||||
const char * const *values;
|
||||
|
@ -379,6 +384,7 @@ typedef enum {
|
|||
TABLE_SERIAL_RX,
|
||||
TABLE_GYRO_FILTER,
|
||||
TABLE_GYRO_SAMPLING,
|
||||
TABLE_PID_AT_MIN_THROTTLE,
|
||||
} lookupTableIndex_e;
|
||||
|
||||
static const lookupTableEntry_t lookupTables[] = {
|
||||
|
@ -394,7 +400,8 @@ static const lookupTableEntry_t lookupTables[] = {
|
|||
{ lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
|
||||
{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
|
||||
{ lookupTableGyroFilter, sizeof(lookupTableGyroFilter) / sizeof(char *) },
|
||||
{ lookupTableGyroSampling, sizeof(lookupTableGyroSampling) / sizeof(char *) }
|
||||
{ lookupTableGyroSampling, sizeof(lookupTableGyroSampling) / sizeof(char *) },
|
||||
{ lookupTablePidAtMinThrottle, sizeof(lookupTablePidAtMinThrottle) / sizeof(char *) }
|
||||
};
|
||||
|
||||
#define VALUE_TYPE_OFFSET 0
|
||||
|
@ -501,6 +508,17 @@ const clivalue_t valueTable[] = {
|
|||
{ "nav_speed_max", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_speed_max, .config.minmax = { 10, 2000 } },
|
||||
{ "nav_slew_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_slew_rate, .config.minmax = { 0, 100 } },
|
||||
#endif
|
||||
#ifdef GTUNE
|
||||
{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10, 200 } },
|
||||
{ "gtune_loP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], .config.minmax = { 10, 200 } },
|
||||
{ "gtune_loP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_YAW], .config.minmax = { 10, 200 } },
|
||||
{ "gtune_hiP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_ROLL], .config.minmax = { 0, 200 } },
|
||||
{ "gtune_hiP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_PITCH], .config.minmax = { 0, 200 } },
|
||||
{ "gtune_hiP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_YAW], .config.minmax = { 0, 200 } },
|
||||
{ "gtune_pwr", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_pwr, .config.minmax = { 0, 10 } },
|
||||
{ "gtune_settle_time", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_settle_time, .config.minmax = { 200, 1000 } },
|
||||
{ "gtune_average_cycles", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_average_cycles, .config.minmax = { 8, 128 } },
|
||||
#endif
|
||||
|
||||
{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.serialrx_provider, .config.lookup = { TABLE_SERIAL_RX } },
|
||||
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX} },
|
||||
|
@ -549,7 +567,7 @@ const clivalue_t valueTable[] = {
|
|||
|
||||
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, .config.minmax = { -1, 1 } },
|
||||
|
||||
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.pid_at_min_throttle, .config.minmax = { 0, 5 } },
|
||||
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.pid_at_min_throttle, .config.lookup = { TABLE_PID_AT_MIN_THROTTLE } },
|
||||
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1, 1 } },
|
||||
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH } },
|
||||
#ifdef USE_SERVOS
|
||||
|
@ -643,18 +661,6 @@ const clivalue_t valueTable[] = {
|
|||
{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, .config.minmax = {0, 200 } },
|
||||
{ "yaw_pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz, .config.minmax = {0, 200 } },
|
||||
|
||||
#ifdef GTUNE
|
||||
{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10, 200 } },
|
||||
{ "gtune_loP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], .config.minmax = { 10, 200 } },
|
||||
{ "gtune_loP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_YAW], .config.minmax = { 10, 200 } },
|
||||
{ "gtune_hiP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_ROLL], .config.minmax = { 0, 200 } },
|
||||
{ "gtune_hiP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_PITCH], .config.minmax = { 0, 200 } },
|
||||
{ "gtune_hiP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_YAW], .config.minmax = { 0, 200 } },
|
||||
{ "gtune_pwr", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_pwr, .config.minmax = { 0, 10 } },
|
||||
{ "gtune_settle_time", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_settle_time, .config.minmax = { 200, 1000 } },
|
||||
{ "gtune_average_cycles", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_average_cycles, .config.minmax = { 8, 128 } },
|
||||
#endif
|
||||
|
||||
#ifdef BLACKBOX
|
||||
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, .config.minmax = { 1, 32 } },
|
||||
{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_denom, .config.minmax = { 1, 32 } },
|
||||
|
|
|
@ -100,6 +100,7 @@ enum {
|
|||
#define PREVENT_RX_PROCESS_PRE_LOOP_TRIGGER 80 // Prevent RX processing before expected loop trigger
|
||||
#define PREVENT_BARO_READ_PRE_LOOP_TRIGGER 150 // Prevent BARO processing before expected loop trigger
|
||||
#define GYRO_RATE 0.001f // Gyro refresh rate 1khz
|
||||
#define PID_AT_MIN_THROTTLE_ITERM_DELAY (3 * 1000)
|
||||
|
||||
uint32_t currentTime = 0;
|
||||
uint32_t previousTime = 0;
|
||||
|
@ -578,7 +579,7 @@ void processRx(void)
|
|||
pidResetErrorGyro();
|
||||
}
|
||||
} else {
|
||||
pidResetErrorGyroTimeout = millis() + (masterConfig.mixerConfig.pid_at_min_throttle * 1000);
|
||||
pidResetErrorGyroTimeout = millis() + PID_AT_MIN_THROTTLE_ITERM_DELAY;
|
||||
}
|
||||
|
||||
// When armed and motors aren't spinning, do beeps and then disarm
|
||||
|
|
|
@ -161,14 +161,14 @@ static void sbusDataReceive(uint16_t c)
|
|||
|
||||
if (sbusFramePosition < SBUS_FRAME_SIZE) {
|
||||
sbusFrame.bytes[sbusFramePosition++] = (uint8_t)c;
|
||||
}
|
||||
if (sbusFramePosition < SBUS_FRAME_SIZE) {
|
||||
sbusFrameDone = false;
|
||||
} else {
|
||||
sbusFrameDone = true;
|
||||
if (sbusFramePosition < SBUS_FRAME_SIZE) {
|
||||
sbusFrameDone = false;
|
||||
} else {
|
||||
sbusFrameDone = true;
|
||||
#ifdef DEBUG_SBUS_PACKETS
|
||||
debug[2] = sbusFrameTime;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
@ -106,11 +106,13 @@ static void spektrumDataReceive(uint16_t c)
|
|||
spekFramePosition = 0;
|
||||
}
|
||||
|
||||
spekFrame[spekFramePosition] = (uint8_t)c;
|
||||
if (spekFramePosition == SPEK_FRAME_SIZE - 1) {
|
||||
rcFrameComplete = true;
|
||||
} else {
|
||||
spekFramePosition++;
|
||||
if (spekFramePosition < SPEK_FRAME_SIZE) {
|
||||
spekFrame[spekFramePosition++] = (uint8_t)c;
|
||||
if (spekFramePosition < SPEK_FRAME_SIZE) {
|
||||
rcFrameComplete = false;
|
||||
} else {
|
||||
rcFrameComplete = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
Loading…
Reference in New Issue