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atbetaflight
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Merge branch 'betaflight' into buildsystem

This commit is contained in:
Anders Hoglund 2015-11-25 01:18:30 +01:00
parent 4a65eadb52 37d798e5bc
commit a6c6b1ff6b
6 changed files with 38 additions and 29 deletions
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6
src/main/config/config.c
View File

@ -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;

2
src/main/drivers/accgyro_l3gd20.c
View File

@ -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!

34
src/main/io/serial_cli.c
View File

@ -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 } },

3
src/main/mw.c
View File

@ -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

10
src/main/rx/sbus.c
View File

@ -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
}
}
}

12
src/main/rx/spektrum.c
View File

@ -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;
}
}
}