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Merge pull request #1652 from martinbudden/bf_parameter_grouping_into_structs 

Move freestanding masterConfig items into structs
This commit is contained in:
J Blackman 2016-11-25 22:25:58 +11:00 committed by GitHub
parent 954d99a9d6 d85eed0933
commit abedeb9bcc
25 changed files with 190 additions and 177 deletions
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42
src/main/blackbox/blackbox.c
View File

@ -349,7 +349,7 @@ bool blackboxMayEditConfig()
}
static bool blackboxIsOnlyLoggingIntraframes() {
return masterConfig.blackbox_rate_num == 1 && masterConfig.blackbox_rate_denom == 32;
return masterConfig.blackboxConfig.rate_num == 1 && masterConfig.blackboxConfig.rate_denom == 32;
}
static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
@ -369,7 +369,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
return motorCount >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1;
case FLIGHT_LOG_FIELD_CONDITION_TRICOPTER:
return masterConfig.mixerMode == MIXER_TRI || masterConfig.mixerMode == MIXER_CUSTOM_TRI;
return masterConfig.mixerConfig.mixerMode == MIXER_TRI || masterConfig.mixerConfig.mixerMode == MIXER_CUSTOM_TRI;
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
@ -407,7 +407,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
return masterConfig.rxConfig.rssi_channel > 0 || feature(FEATURE_RSSI_ADC);
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
return masterConfig.blackbox_rate_num < masterConfig.blackbox_rate_denom;
return masterConfig.blackboxConfig.rate_num < masterConfig.blackboxConfig.rate_denom;
case FLIGHT_LOG_FIELD_CONDITION_NEVER:
return false;
@ -758,22 +758,22 @@ static void validateBlackboxConfig()
{
int div;
if (masterConfig.blackbox_rate_num == 0 || masterConfig.blackbox_rate_denom == 0
|| masterConfig.blackbox_rate_num >= masterConfig.blackbox_rate_denom) {
masterConfig.blackbox_rate_num = 1;
masterConfig.blackbox_rate_denom = 1;
if (masterConfig.blackboxConfig.rate_num == 0 || masterConfig.blackboxConfig.rate_denom == 0
|| masterConfig.blackboxConfig.rate_num >= masterConfig.blackboxConfig.rate_denom) {
masterConfig.blackboxConfig.rate_num = 1;
masterConfig.blackboxConfig.rate_denom = 1;
} else {
/* Reduce the fraction the user entered as much as possible (makes the recorded/skipped frame pattern repeat
* itself more frequently)
*/
div = gcd(masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
div = gcd(masterConfig.blackboxConfig.rate_num, masterConfig.blackboxConfig.rate_denom);
masterConfig.blackbox_rate_num /= div;
masterConfig.blackbox_rate_denom /= div;
masterConfig.blackboxConfig.rate_num /= div;
masterConfig.blackboxConfig.rate_denom /= div;
}
// If we've chosen an unsupported device, change the device to serial
switch (masterConfig.blackbox_device) {
switch (masterConfig.blackboxConfig.device) {
#ifdef USE_FLASHFS
case BLACKBOX_DEVICE_FLASH:
#endif
@ -785,7 +785,7 @@ static void validateBlackboxConfig()
break;
default:
masterConfig.blackbox_device = BLACKBOX_DEVICE_SERIAL;
masterConfig.blackboxConfig.device = BLACKBOX_DEVICE_SERIAL;
}
}
@ -867,7 +867,7 @@ bool startedLoggingInTestMode = false;
void startInTestMode(void)
{
if(!startedLoggingInTestMode) {
if (masterConfig.blackbox_device == BLACKBOX_DEVICE_SERIAL) {
if (masterConfig.blackboxConfig.device == BLACKBOX_DEVICE_SERIAL) {
serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
if (sharedBlackboxAndMspPort) {
return; // When in test mode, we cannot share the MSP and serial logger port!
@ -1172,7 +1172,7 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("Firmware revision:%s %s (%s) %s", FC_FIRMWARE_NAME, FC_VERSION_STRING, shortGitRevision, targetName);
BLACKBOX_PRINT_HEADER_LINE("Firmware date:%s %s", buildDate, buildTime);
BLACKBOX_PRINT_HEADER_LINE("Craft name:%s", masterConfig.name);
BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d", masterConfig.blackboxConfig.rate_num, masterConfig.blackboxConfig.rate_denom);
BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d", masterConfig.motorConfig.minthrottle);
BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d", masterConfig.motorConfig.maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("gyro.scale:0x%x", castFloatBytesToInt(gyro.scale));
@ -1270,10 +1270,10 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff:%d,%d", masterConfig.gyro_soft_notch_cutoff_1,
masterConfig.gyro_soft_notch_cutoff_2);
BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d", (int)(masterConfig.acc_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", masterConfig.acc_hardware);
BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", masterConfig.baro_hardware);
BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d", masterConfig.mag_hardware);
BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm:%d", masterConfig.gyro_cal_on_first_arm);
BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", masterConfig.sensorSelectionConfig.acc_hardware);
BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", masterConfig.sensorSelectionConfig.baro_hardware);
BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d", masterConfig.sensorSelectionConfig.mag_hardware);
BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm:%d", masterConfig.armingConfig.gyro_cal_on_first_arm);
BLACKBOX_PRINT_HEADER_LINE("rc_interpolation:%d", masterConfig.rxConfig.rcInterpolation);
BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval:%d", masterConfig.rxConfig.rcInterpolationInterval);
BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle:%d", masterConfig.rxConfig.airModeActivateThreshold);
@ -1376,10 +1376,10 @@ static void blackboxCheckAndLogFlightMode()
*/
static bool blackboxShouldLogPFrame(uint32_t pFrameIndex)
{
/* Adding a magic shift of "masterConfig.blackbox_rate_num - 1" in here creates a better spread of
/* Adding a magic shift of "masterConfig.blackboxConfig.rate_num - 1" in here creates a better spread of
* recorded / skipped frames when the I frame's position is considered:
*/
return (pFrameIndex + masterConfig.blackbox_rate_num - 1) % masterConfig.blackbox_rate_denom < masterConfig.blackbox_rate_num;
return (pFrameIndex + masterConfig.blackboxConfig.rate_num - 1) % masterConfig.blackboxConfig.rate_denom < masterConfig.blackboxConfig.rate_num;
}
static bool blackboxShouldLogIFrame() {
@ -1595,7 +1595,7 @@ void handleBlackbox(uint32_t currentTime)
if (startedLoggingInTestMode) startedLoggingInTestMode = false;
} else { // Only log in test mode if there is room!
if(masterConfig.blackbox_on_motor_test) {
if(masterConfig.blackboxConfig.on_motor_test) {
// Handle Motor Test Mode
if(inMotorTestMode()) {
if(blackboxState==BLACKBOX_STATE_STOPPED)

9
src/main/blackbox/blackbox.h
View File

@ -19,6 +19,13 @@
#include "blackbox/blackbox_fielddefs.h"
typedef struct blackboxConfig_s {
uint8_t rate_num;
uint8_t rate_denom;
uint8_t device;
uint8_t on_motor_test;
} blackboxConfig_t;
void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data);
void initBlackbox(void);
@ -26,4 +33,4 @@ void handleBlackbox(uint32_t currentTime);
void startBlackbox(void);
void finishBlackbox(void);
bool blackboxMayEditConfig();
bool blackboxMayEditConfig(void);

22
src/main/blackbox/blackbox_io.c
View File

@ -65,7 +65,7 @@ static struct {
void blackboxWrite(uint8_t value)
{
switch (masterConfig.blackbox_device) {
switch (masterConfig.blackboxConfig.device) {
#ifdef USE_FLASHFS
case BLACKBOX_DEVICE_FLASH:
flashfsWriteByte(value); // Write byte asynchronously
@ -137,7 +137,7 @@ int blackboxPrint(const char *s)
int length;
const uint8_t *pos;
switch (masterConfig.blackbox_device) {
switch (masterConfig.blackboxConfig.device) {
#ifdef USE_FLASHFS
case BLACKBOX_DEVICE_FLASH:
@ -479,7 +479,7 @@ void blackboxWriteFloat(float value)
*/
void blackboxDeviceFlush(void)
{
switch (masterConfig.blackbox_device) {
switch (masterConfig.blackboxConfig.device) {
#ifdef USE_FLASHFS
/*
* This is our only output device which requires us to call flush() in order for it to write anything. The other
@ -502,7 +502,7 @@ void blackboxDeviceFlush(void)
*/
bool blackboxDeviceFlushForce(void)
{
switch (masterConfig.blackbox_device) {
switch (masterConfig.blackboxConfig.device) {
case BLACKBOX_DEVICE_SERIAL:
// Nothing to speed up flushing on serial, as serial is continuously being drained out of its buffer
return isSerialTransmitBufferEmpty(blackboxPort);
@ -530,7 +530,7 @@ bool blackboxDeviceFlushForce(void)
*/
bool blackboxDeviceOpen(void)
{
switch (masterConfig.blackbox_device) {
switch (masterConfig.blackboxConfig.device) {
case BLACKBOX_DEVICE_SERIAL:
{
serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_BLACKBOX);
@ -604,7 +604,7 @@ bool blackboxDeviceOpen(void)
*/
void blackboxDeviceClose(void)
{
switch (masterConfig.blackbox_device) {
switch (masterConfig.blackboxConfig.device) {
case BLACKBOX_DEVICE_SERIAL:
// Since the serial port could be shared with other processes, we have to give it back here
closeSerialPort(blackboxPort);
@ -748,7 +748,7 @@ static bool blackboxSDCardBeginLog()
*/
bool blackboxDeviceBeginLog(void)
{
switch (masterConfig.blackbox_device) {
switch (masterConfig.blackboxConfig.device) {
#ifdef USE_SDCARD
case BLACKBOX_DEVICE_SDCARD:
return blackboxSDCardBeginLog();
@ -772,7 +772,7 @@ bool blackboxDeviceEndLog(bool retainLog)
(void) retainLog;
#endif
switch (masterConfig.blackbox_device) {
switch (masterConfig.blackboxConfig.device) {
#ifdef USE_SDCARD
case BLACKBOX_DEVICE_SDCARD:
// Keep retrying until the close operation queues
@ -794,7 +794,7 @@ bool blackboxDeviceEndLog(bool retainLog)
bool isBlackboxDeviceFull(void)
{
switch (masterConfig.blackbox_device) {
switch (masterConfig.blackboxConfig.device) {
case BLACKBOX_DEVICE_SERIAL:
return false;
@ -821,7 +821,7 @@ void blackboxReplenishHeaderBudget()
{
int32_t freeSpace;
switch (masterConfig.blackbox_device) {
switch (masterConfig.blackboxConfig.device) {
case BLACKBOX_DEVICE_SERIAL:
freeSpace = serialTxBytesFree(blackboxPort);
break;
@ -867,7 +867,7 @@ blackboxBufferReserveStatus_e blackboxDeviceReserveBufferSpace(int32_t bytes)
}
// Handle failure:
switch (masterConfig.blackbox_device) {
switch (masterConfig.blackboxConfig.device) {
case BLACKBOX_DEVICE_SERIAL:
/*
* One byte of the tx buffer isn't available for user data (due to its circular list implementation),

2
src/main/cms/cms_menu_blackbox.c
View File

@ -90,7 +90,7 @@ static OSD_Entry cmsx_menuBlackboxEntries[] =
{
{ "-- BLACKBOX --", OME_Label, NULL, NULL, 0},
{ "ENABLED", OME_Bool, NULL, &cmsx_FeatureBlackbox, 0 },
{ "RATE DENOM", OME_UINT8, NULL, &(OSD_UINT8_t){ &masterConfig.blackbox_rate_denom,1,32,1 }, 0 },
{ "RATE DENOM", OME_UINT8, NULL, &(OSD_UINT8_t){ &masterConfig.blackboxConfig.rate_denom,1,32,1 }, 0 },
#ifdef USE_FLASHFS
{ "ERASE FLASH", OME_Funcall, cmsx_EraseFlash, NULL, 0 },

27
src/main/config/config_master.h
View File

@ -21,6 +21,8 @@
#include "config/config_profile.h"
#include "blackbox/blackbox.h"
#include "cms/cms.h"
#include "drivers/adc.h"
@ -57,7 +59,7 @@
#include "sensors/boardalignment.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/compass.h"
// System-wide
typedef struct master_s {
@ -65,7 +67,6 @@ typedef struct master_s {
uint16_t size;
uint8_t magic_be; // magic number, should be 0xBE
uint8_t mixerMode;
uint32_t enabledFeatures;
// motor/esc/servo related stuff
@ -84,11 +85,11 @@ typedef struct master_s {
#endif
// global sensor-related stuff
sensorSelectionConfig_t sensorSelectionConfig;
sensorAlignmentConfig_t sensorAlignmentConfig;
boardAlignment_t boardAlignment;
int8_t yaw_control_direction; // change control direction of yaw (inverted, normal)
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
uint8_t acc_for_fast_looptime; // shorten acc processing time by using 1 out of 9 samples. For combination with fast looptimes.
uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
uint8_t gyro_sync_denom; // Gyro sample divider
@ -106,11 +107,7 @@ typedef struct master_s {
uint8_t debug_mode; // Processing denominator for PID controller vs gyro sampling rate
gyroConfig_t gyroConfig;
uint8_t mag_hardware; // Which mag hardware to use on boards with more than one device
uint8_t baro_hardware; // Barometer hardware to use
int16_t mag_declination; // Get your magnetic decliniation from here : http://magnetic-declination.com/
// For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
compassConfig_t compassConfig;
rollAndPitchTrims_t accelerometerTrims; // accelerometer trim
@ -132,17 +129,12 @@ typedef struct master_s {
#endif
uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees).
flightDynamicsTrims_t accZero;
flightDynamicsTrims_t magZero;
sensorTrims_t sensorTrims;
rxConfig_t rxConfig;
inputFilteringMode_e inputFilteringMode; // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
uint8_t gyro_cal_on_first_arm; // allow disarm/arm on throttle down + roll left/right
uint8_t disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value
uint8_t auto_disarm_delay; // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
uint8_t small_angle;
armingConfig_t armingConfig;
// mixer-related configuration
mixerConfig_t mixerConfig;
@ -213,10 +205,7 @@ typedef struct master_s {
#endif
#ifdef BLACKBOX
uint8_t blackbox_rate_num;
uint8_t blackbox_rate_denom;
uint8_t blackbox_device;
uint8_t blackbox_on_motor_test;
blackboxConfig_t blackboxConfig;
#endif
uint32_t beeper_off_flags;

28
src/main/config/parameter_group_ids.h
View File

@ -16,20 +16,20 @@
*/
// FC configuration
#define PG_FAILSAFE_CONFIG 1
#define PG_BOARD_ALIGNMENT 2
#define PG_GIMBAL_CONFIG 3
#define PG_MOTOR_MIXER 4
#define PG_BLACKBOX_CONFIG 5
#define PG_MOTOR_AND_SERVO_CONFIG 6
#define PG_SENSOR_SELECTION_CONFIG 7
#define PG_SENSOR_ALIGNMENT_CONFIG 8
#define PG_SENSOR_TRIMS 9
#define PG_GYRO_CONFIG 10
#define PG_BATTERY_CONFIG 11
#define PG_CONTROL_RATE_PROFILES 12
#define PG_SERIAL_CONFIG 13
#define PG_PID_PROFILE 14
#define PG_FAILSAFE_CONFIG 1 // strruct OK
#define PG_BOARD_ALIGNMENT 2 // struct OK
#define PG_GIMBAL_CONFIG 3 // struct OK
#define PG_MOTOR_MIXER 4 // two structs mixerConfig_t servoMixerConfig_t
#define PG_BLACKBOX_CONFIG 5 // struct OK
#define PG_MOTOR_CONFIG 6 // struct OK
#define PG_SENSOR_SELECTION_CONFIG 7 // struct OK
#define PG_SENSOR_ALIGNMENT_CONFIG 8 // struct OK
#define PG_SENSOR_TRIMS 9 // struct OK
#define PG_GYRO_CONFIG 10 // PR outstanding, need to think about pid_process_denom
#define PG_BATTERY_CONFIG 11 // struct OK
#define PG_CONTROL_RATE_PROFILES 12 // struct OK, needs to be split out of rc_controls.h into rate_profile.h
#define PG_SERIAL_CONFIG 13 // struct OK
#define PG_PID_PROFILE 14 // struct OK, CF differences
#define PG_GTUNE_CONFIG 15
#define PG_ARMING_CONFIG 16
#define PG_TRANSPONDER_CONFIG 17

36
src/main/fc/config.c
View File

@ -558,7 +558,7 @@ void createDefaultConfig(master_t *config)
#endif
config->version = EEPROM_CONF_VERSION;
config->mixerMode = MIXER_QUADX;
config->mixerConfig.mixerMode = MIXER_QUADX;
// global settings
config->current_profile_index = 0; // default profile
@ -584,22 +584,22 @@ void createDefaultConfig(master_t *config)
config->debug_mode = DEBUG_NONE;
resetAccelerometerTrims(&config->accZero);
resetAccelerometerTrims(&config->sensorTrims.accZero);
resetSensorAlignment(&config->sensorAlignmentConfig);
config->boardAlignment.rollDegrees = 0;
config->boardAlignment.pitchDegrees = 0;
config->boardAlignment.yawDegrees = 0;
config->acc_hardware = ACC_DEFAULT; // default/autodetect
config->sensorSelectionConfig.acc_hardware = ACC_DEFAULT; // default/autodetect
config->max_angle_inclination = 700; // 70 degrees
config->yaw_control_direction = 1;
config->gyroConfig.gyroMovementCalibrationThreshold = 32;
// xxx_hardware: 0:default/autodetect, 1: disable
config->mag_hardware = 1;
config->sensorSelectionConfig.mag_hardware = 1;
config->baro_hardware = 1;
config->sensorSelectionConfig.baro_hardware = 1;
resetBatteryConfig(&config->batteryConfig);
@ -663,10 +663,10 @@ void createDefaultConfig(master_t *config)
config->inputFilteringMode = INPUT_FILTERING_DISABLED;
config->gyro_cal_on_first_arm = 0; // TODO - Cleanup retarded arm support
config->disarm_kill_switch = 1;
config->auto_disarm_delay = 5;
config->small_angle = 25;
config->armingConfig.gyro_cal_on_first_arm = 0; // TODO - Cleanup retarded arm support
config->armingConfig.disarm_kill_switch = 1;
config->armingConfig.auto_disarm_delay = 5;
config->armingConfig.small_angle = 25;
config->airplaneConfig.fixedwing_althold_dir = 1;
@ -697,7 +697,7 @@ void createDefaultConfig(master_t *config)
resetRollAndPitchTrims(&config->accelerometerTrims);
config->mag_declination = 0;
config->compassConfig.mag_declination = 0;
config->acc_lpf_hz = 10.0f;
config->accDeadband.xy = 40;
config->accDeadband.z = 40;
@ -768,17 +768,17 @@ void createDefaultConfig(master_t *config)
#ifdef BLACKBOX
#if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
intFeatureSet(FEATURE_BLACKBOX, featuresPtr);
config->blackbox_device = BLACKBOX_DEVICE_FLASH;
config->blackboxConfig.device = BLACKBOX_DEVICE_FLASH;
#elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
intFeatureSet(FEATURE_BLACKBOX, featuresPtr);
config->blackbox_device = BLACKBOX_DEVICE_SDCARD;
config->blackboxConfig.device = BLACKBOX_DEVICE_SDCARD;
#else
config->blackbox_device = BLACKBOX_DEVICE_SERIAL;
config->blackboxConfig.device = BLACKBOX_DEVICE_SERIAL;
#endif
config->blackbox_rate_num = 1;
config->blackbox_rate_denom = 1;
config->blackbox_on_motor_test = 0; // default off
config->blackboxConfig.rate_num = 1;
config->blackboxConfig.rate_denom = 1;
config->blackboxConfig.on_motor_test = 0; // default off
#endif // BLACKBOX
#ifdef SERIALRX_UART
@ -855,7 +855,7 @@ void activateConfig(void)
#endif
useFailsafeConfig(&masterConfig.failsafeConfig);
setAccelerationTrims(&masterConfig.accZero);
setAccelerationTrims(&masterConfig.sensorTrims.accZero);
setAccelerationFilter(masterConfig.acc_lpf_hz);
mixerUseConfigs(
@ -873,7 +873,7 @@ void activateConfig(void)
imuRuntimeConfig.dcm_kp = masterConfig.dcm_kp / 10000.0f;
imuRuntimeConfig.dcm_ki = masterConfig.dcm_ki / 10000.0f;
imuRuntimeConfig.acc_unarmedcal = masterConfig.acc_unarmedcal;
imuRuntimeConfig.small_angle = masterConfig.small_angle;
imuRuntimeConfig.small_angle = masterConfig.armingConfig.small_angle;
imuConfigure(
&imuRuntimeConfig,

50
src/main/fc/fc_msp.c
View File

@ -313,7 +313,7 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXFAILSAFE;
}
if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
if (masterConfig.mixerConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerConfig.mixerMode == MIXER_AIRPLANE) {
activeBoxIds[activeBoxIdCount++] = BOXPASSTHRU;
}
@ -360,7 +360,7 @@ void initActiveBoxIds(void)
#endif
#ifdef USE_SERVOS
if (masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE) {
if (masterConfig.mixerConfig.mixerMode == MIXER_CUSTOM_AIRPLANE) {
activeBoxIds[activeBoxIdCount++] = BOXSERVO1;
activeBoxIds[activeBoxIdCount++] = BOXSERVO2;
activeBoxIds[activeBoxIdCount++] = BOXSERVO3;
@ -563,7 +563,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
// DEPRECATED - Use MSP_API_VERSION
case MSP_IDENT:
sbufWriteU8(dst, MW_VERSION);
sbufWriteU8(dst, masterConfig.mixerMode);
sbufWriteU8(dst, masterConfig.mixerConfig.mixerMode);
sbufWriteU8(dst, MSP_PROTOCOL_VERSION);
sbufWriteU32(dst, CAP_DYNBALANCE); // "capability"
break;
@ -700,8 +700,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_ARMING_CONFIG:
sbufWriteU8(dst, masterConfig.auto_disarm_delay);
sbufWriteU8(dst, masterConfig.disarm_kill_switch);
sbufWriteU8(dst, masterConfig.armingConfig.auto_disarm_delay);
sbufWriteU8(dst, masterConfig.armingConfig.disarm_kill_switch);
break;
case MSP_LOOP_TIME:
@ -797,7 +797,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, masterConfig.rxConfig.rssi_channel);
sbufWriteU8(dst, 0);
sbufWriteU16(dst, masterConfig.mag_declination / 10);
sbufWriteU16(dst, masterConfig.compassConfig.mag_declination / 10);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatscale);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatmincellvoltage);
@ -886,7 +886,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_MIXER:
sbufWriteU8(dst, masterConfig.mixerMode);
sbufWriteU8(dst, masterConfig.mixerConfig.mixerMode);
break;
case MSP_RX_CONFIG:
@ -932,7 +932,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_BF_CONFIG:
sbufWriteU8(dst, masterConfig.mixerMode);
sbufWriteU8(dst, masterConfig.mixerConfig.mixerMode);
sbufWriteU32(dst, featureMask());
@ -1005,9 +1005,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_BLACKBOX_CONFIG:
#ifdef BLACKBOX
sbufWriteU8(dst, 1); //Blackbox supported
sbufWriteU8(dst, masterConfig.blackbox_device);
sbufWriteU8(dst, masterConfig.blackbox_rate_num);
sbufWriteU8(dst, masterConfig.blackbox_rate_denom);
sbufWriteU8(dst, masterConfig.blackboxConfig.device);
sbufWriteU8(dst, masterConfig.blackboxConfig.rate_num);
sbufWriteU8(dst, masterConfig.blackboxConfig.rate_denom);
#else
sbufWriteU8(dst, 0); // Blackbox not supported
sbufWriteU8(dst, 0);
@ -1121,9 +1121,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_SENSOR_CONFIG:
sbufWriteU8(dst, masterConfig.acc_hardware);
sbufWriteU8(dst, masterConfig.baro_hardware);
sbufWriteU8(dst, masterConfig.mag_hardware);
sbufWriteU8(dst, masterConfig.sensorSelectionConfig.acc_hardware);
sbufWriteU8(dst, masterConfig.sensorSelectionConfig.baro_hardware);
sbufWriteU8(dst, masterConfig.sensorSelectionConfig.mag_hardware);
break;
case MSP_REBOOT:
@ -1247,8 +1247,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
masterConfig.accelerometerTrims.values.roll = sbufReadU16(src);
break;
case MSP_SET_ARMING_CONFIG:
masterConfig.auto_disarm_delay = sbufReadU8(src);
masterConfig.disarm_kill_switch = sbufReadU8(src);
masterConfig.armingConfig.auto_disarm_delay = sbufReadU8(src);
masterConfig.armingConfig.disarm_kill_switch = sbufReadU8(src);
break;
case MSP_SET_LOOP_TIME:
@ -1355,7 +1355,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
masterConfig.rxConfig.rssi_channel = sbufReadU8(src);
sbufReadU8(src);
masterConfig.mag_declination = sbufReadU16(src) * 10;
masterConfig.compassConfig.mag_declination = sbufReadU16(src) * 10;
masterConfig.batteryConfig.vbatscale = sbufReadU8(src); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
@ -1476,9 +1476,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_SENSOR_CONFIG:
masterConfig.acc_hardware = sbufReadU8(src);
masterConfig.baro_hardware = sbufReadU8(src);
masterConfig.mag_hardware = sbufReadU8(src);
masterConfig.sensorSelectionConfig.acc_hardware = sbufReadU8(src);
masterConfig.sensorSelectionConfig.baro_hardware = sbufReadU8(src);
masterConfig.sensorSelectionConfig.mag_hardware = sbufReadU8(src);
break;
case MSP_RESET_CONF:
@ -1510,9 +1510,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_BLACKBOX_CONFIG:
// Don't allow config to be updated while Blackbox is logging
if (blackboxMayEditConfig()) {
masterConfig.blackbox_device = sbufReadU8(src);
masterConfig.blackbox_rate_num = sbufReadU8(src);
masterConfig.blackbox_rate_denom = sbufReadU8(src);
masterConfig.blackboxConfig.device = sbufReadU8(src);
masterConfig.blackboxConfig.rate_num = sbufReadU8(src);
masterConfig.blackboxConfig.rate_denom = sbufReadU8(src);
}
break;
#endif
@ -1657,7 +1657,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifndef USE_QUAD_MIXER_ONLY
case MSP_SET_MIXER:
masterConfig.mixerMode = sbufReadU8(src);
masterConfig.mixerConfig.mixerMode = sbufReadU8(src);
break;
#endif
@ -1716,7 +1716,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifdef USE_QUAD_MIXER_ONLY
sbufReadU8(src); // mixerMode ignored
#else
masterConfig.mixerMode = sbufReadU8(src); // mixerMode
masterConfig.mixerConfig.mixerMode = sbufReadU8(src); // mixerMode
#endif
featureClearAll();

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

@ -153,7 +153,7 @@ static void taskUpdateRxMain(uint32_t currentTime)
static void taskUpdateCompass(uint32_t currentTime)
{
if (sensors(SENSOR_MAG)) {
compassUpdate(currentTime, &masterConfig.magZero);
compassUpdate(currentTime, &masterConfig.sensorTrims.magZero);
}
}
#endif

20
src/main/fc/mw.c
View File

@ -389,7 +389,7 @@ void mwArm(void)
{
static bool firstArmingCalibrationWasCompleted;
if (masterConfig.gyro_cal_on_first_arm && !firstArmingCalibrationWasCompleted) {
if (masterConfig.armingConfig.gyro_cal_on_first_arm && !firstArmingCalibrationWasCompleted) {
gyroSetCalibrationCycles();
armingCalibrationWasInitialised = true;
firstArmingCalibrationWasCompleted = true;
@ -418,7 +418,7 @@ void mwArm(void)
startBlackbox();
}
#endif
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
disarmAt = millis() + masterConfig.armingConfig.auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
//beep to indicate arming
#ifdef GPS
@ -548,7 +548,7 @@ void processRx(uint32_t currentTime)
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (masterConfig.auto_disarm_delay != 0
if (masterConfig.armingConfig.auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
@ -561,9 +561,9 @@ void processRx(uint32_t currentTime)
}
} else {
// throttle is not low
if (masterConfig.auto_disarm_delay != 0) {
if (masterConfig.armingConfig.auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;
disarmAt = millis() + masterConfig.armingConfig.auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
@ -583,7 +583,7 @@ void processRx(uint32_t currentTime)
}
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.disarm_kill_switch);
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.armingConfig.disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
@ -661,7 +661,7 @@ void processRx(uint32_t currentTime)
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
if (masterConfig.mixerConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerConfig.mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
@ -735,10 +735,10 @@ void subTaskMainSubprocesses(void)
if (isUsingSticksForArming() && rcData[THROTTLE] <= masterConfig.rxConfig.mincheck
#ifndef USE_QUAD_MIXER_ONLY
#ifdef USE_SERVOS
&& !((masterConfig.mixerMode == MIXER_TRI || masterConfig.mixerMode == MIXER_CUSTOM_TRI) && masterConfig.servoMixerConfig.tri_unarmed_servo)
&& !((masterConfig.mixerConfig.mixerMode == MIXER_TRI || masterConfig.mixerConfig.mixerMode == MIXER_CUSTOM_TRI) && masterConfig.servoMixerConfig.tri_unarmed_servo)
#endif
&& masterConfig.mixerMode != MIXER_AIRPLANE
&& masterConfig.mixerMode != MIXER_FLYING_WING
&& masterConfig.mixerConfig.mixerMode != MIXER_AIRPLANE
&& masterConfig.mixerConfig.mixerMode != MIXER_FLYING_WING
#endif
) {
rcCommand[YAW] = 0;

7
src/main/fc/rc_controls.h
View File

@ -164,6 +164,13 @@ typedef struct rcControlsConfig_s {
uint8_t alt_hold_fast_change; // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_deadband; when enabled, altitude changes slowly proportional to stick movement
} rcControlsConfig_t;
typedef struct armingConfig_s {
uint8_t gyro_cal_on_first_arm; // allow disarm/arm on throttle down + roll left/right
uint8_t disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value
uint8_t auto_disarm_delay; // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
uint8_t small_angle;
} armingConfig_t;
bool areUsingSticksToArm(void);
bool areSticksInApModePosition(uint16_t ap_mode);

1
src/main/flight/mixer.h
View File

@ -93,6 +93,7 @@ typedef struct mixer_s {
} mixer_t;
typedef struct mixerConfig_s {
uint8_t mixerMode;
int8_t yaw_motor_direction;
} mixerConfig_t;

40
src/main/io/serial_cli.c
View File

@ -711,10 +711,10 @@ const clivalue_t valueTable[] = {
{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motorConfig.motorPwmProtocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.motorPwmRate, .config.minmax = { 200, 32000 } },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
{ "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_cal_on_first_arm, .config.lookup = { TABLE_OFF_ON } },
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.auto_disarm_delay, .config.minmax = { 0, 60 } },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.small_angle, .config.minmax = { 0, 180 } },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.armingConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
{ "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.armingConfig.gyro_cal_on_first_arm, .config.lookup = { TABLE_OFF_ON } },
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.armingConfig.auto_disarm_delay, .config.minmax = { 0, 60 } },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.armingConfig.small_angle, .config.minmax = { 0, 180 } },
{ "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE, &masterConfig.airplaneConfig.fixedwing_althold_dir, .config.minmax = { -1, 1 } },
@ -860,7 +860,7 @@ const clivalue_t valueTable[] = {
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_min_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.acc_hardware, .config.lookup = { TABLE_ACC_HARDWARE } },
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorSelectionConfig.acc_hardware, .config.lookup = { TABLE_ACC_HARDWARE } },
{ "acc_lpf_hz", VAR_UINT16 | MASTER_VALUE, &masterConfig.acc_lpf_hz, .config.minmax = { 0, 400 } },
{ "accxy_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.accDeadband.xy, .config.minmax = { 0, 100 } },
{ "accz_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.accDeadband.z, .config.minmax = { 0, 100 } },
@ -873,12 +873,12 @@ const clivalue_t valueTable[] = {
{ "baro_noise_lpf", VAR_FLOAT | MASTER_VALUE, &masterConfig.barometerConfig.baro_noise_lpf, .config.minmax = { 0 , 1 } },
{ "baro_cf_vel", VAR_FLOAT | MASTER_VALUE, &masterConfig.barometerConfig.baro_cf_vel, .config.minmax = { 0 , 1 } },
{ "baro_cf_alt", VAR_FLOAT | MASTER_VALUE, &masterConfig.barometerConfig.baro_cf_alt, .config.minmax = { 0 , 1 } },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.baro_hardware, .config.lookup = { TABLE_BARO_HARDWARE } },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorSelectionConfig.baro_hardware, .config.lookup = { TABLE_BARO_HARDWARE } },
#endif
#ifdef MAG
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000, 18000 } },
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorSelectionConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.compassConfig.mag_declination, .config.minmax = { -18000, 18000 } },
#endif
{ "dterm_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
{ "dterm_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
@ -922,10 +922,10 @@ const clivalue_t valueTable[] = {
{ "level_sensitivity", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelSensitivity, .config.minmax = { 0.1, 3.0 } },
#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 } },
{ "blackbox_device", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.blackbox_device, .config.lookup = { TABLE_BLACKBOX_DEVICE } },
{ "blackbox_on_motor_test", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.blackbox_on_motor_test, .config.lookup = { TABLE_OFF_ON } },
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackboxConfig.rate_num, .config.minmax = { 1, 32 } },
{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackboxConfig.rate_denom, .config.minmax = { 1, 32 } },
{ "blackbox_device", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.blackboxConfig.device, .config.lookup = { TABLE_BLACKBOX_DEVICE } },
{ "blackbox_on_motor_test", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.blackboxConfig.on_motor_test, .config.lookup = { TABLE_OFF_ON } },
#endif
#ifdef VTX
@ -936,9 +936,9 @@ const clivalue_t valueTable[] = {
#endif
#ifdef MAG
{ "magzero_x", VAR_INT16 | MASTER_VALUE, &masterConfig.magZero.raw[X], .config.minmax = { -32768, 32767 } },
{ "magzero_y", VAR_INT16 | MASTER_VALUE, &masterConfig.magZero.raw[Y], .config.minmax = { -32768, 32767 } },
{ "magzero_z", VAR_INT16 | MASTER_VALUE, &masterConfig.magZero.raw[Z], .config.minmax = { -32768, 32767 } },
{ "magzero_x", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.magZero.raw[X], .config.minmax = { -32768, 32767 } },
{ "magzero_y", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.magZero.raw[Y], .config.minmax = { -32768, 32767 } },
{ "magzero_z", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.magZero.raw[Z], .config.minmax = { -32768, 32767 } },
#endif
#ifdef LED_STRIP
{ "ledstrip_visual_beeper", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.ledStripConfig.ledstrip_visual_beeper, .config.lookup = { TABLE_OFF_ON } },
@ -2774,10 +2774,10 @@ static void printConfig(char *cmdline, bool doDiff)
#ifndef CLI_MINIMAL_VERBOSITY
cliPrint("\r\n# mixer\r\n");
#endif
const bool equalsDefault = masterConfig.mixerMode == defaultConfig.mixerMode;
const bool equalsDefault = masterConfig.mixerConfig.mixerMode == defaultConfig.mixerConfig.mixerMode;
const char *formatMixer = "mixer %s\r\n";
cliDefaultPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[defaultConfig.mixerMode - 1]);
cliDumpPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[masterConfig.mixerMode - 1]);
cliDefaultPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[defaultConfig.mixerConfig.mixerMode - 1]);
cliDumpPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[masterConfig.mixerConfig.mixerMode - 1]);
cliDumpPrintf(dumpMask, masterConfig.customMotorMixer[0].throttle == 0.0f, "\r\nmmix reset\r\n\r\n");
@ -3072,7 +3072,7 @@ static void cliMixer(char *cmdline)
len = strlen(cmdline);
if (len == 0) {
cliPrintf("Mixer: %s\r\n", mixerNames[masterConfig.mixerMode - 1]);
cliPrintf("Mixer: %s\r\n", mixerNames[masterConfig.mixerConfig.mixerMode - 1]);
return;
} else if (strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available mixers: ");
@ -3091,7 +3091,7 @@ static void cliMixer(char *cmdline)
return;
}
if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
masterConfig.mixerMode = i + 1;
masterConfig.mixerConfig.mixerMode = i + 1;
break;
}
}

10
src/main/main.c
View File

@ -249,7 +249,7 @@ void init(void)
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
#endif
mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
mixerInit(masterConfig.mixerConfig.mixerMode, masterConfig.customMotorMixer);
#ifdef USE_SERVOS
servoMixerInit(masterConfig.customServoMixer);
#endif
@ -418,10 +418,8 @@ void init(void)
#endif
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,
masterConfig.acc_hardware,
masterConfig.mag_hardware,
masterConfig.baro_hardware,
masterConfig.mag_declination,
&masterConfig.sensorSelectionConfig,
masterConfig.compassConfig.mag_declination,
masterConfig.gyro_lpf,
masterConfig.gyro_sync_denom)) {
// if gyro was not detected due to whatever reason, we give up now.
@ -550,7 +548,7 @@ void init(void)
initBlackbox();
#endif
if (masterConfig.mixerMode == MIXER_GIMBAL) {
if (masterConfig.mixerConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
gyroSetCalibrationCycles();

5
src/main/sensors/compass.h
View File

@ -30,6 +30,11 @@ typedef enum {
MAG_MAX = MAG_AK8963
} magSensor_e;
typedef struct compassConfig_s {
int16_t mag_declination; // Get your magnetic decliniation from here : http://magnetic-declination.com/
// For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
} compassConfig_t;
void compassInit(void);
union flightDynamicsTrims_u;
void compassUpdate(uint32_t currentTime, union flightDynamicsTrims_u *magZero);

13
src/main/sensors/initialisation.c
View File

@ -623,9 +623,7 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
}
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
uint8_t accHardwareToUse,
uint8_t magHardwareToUse,
uint8_t baroHardwareToUse,
sensorSelectionConfig_t *sensorSelectionConfig,
int16_t magDeclinationFromConfig,
uint8_t gyroLpf,
uint8_t gyroSyncDenominator)
@ -651,7 +649,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
gyro.init(gyroLpf); // driver initialisation
gyroInit(); // sensor initialisation
if (detectAcc(accHardwareToUse)) {
if (detectAcc(sensorSelectionConfig->acc_hardware)) {
acc.acc_1G = 256; // set default
acc.init(&acc); // driver initialisation
accInit(gyro.targetLooptime); // sensor initialisation
@ -661,21 +659,18 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
#ifdef MAG
// FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
if (detectMag(magHardwareToUse)) {
if (detectMag(sensorSelectionConfig->mag_hardware)) {
// calculate magnetic declination
const int16_t deg = magDeclinationFromConfig / 100;
const int16_t min = magDeclinationFromConfig % 100;
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
}
#else
UNUSED(magHardwareToUse);
UNUSED(magDeclinationFromConfig);
#endif
#ifdef BARO
detectBaro(baroHardwareToUse);
#else
UNUSED(baroHardwareToUse);
detectBaro(sensorSelectionConfig->baro_hardware);
#endif
reconfigureAlignment(sensorAlignmentConfig);

4
src/main/sensors/initialisation.h
View File

@ -16,5 +16,5 @@
*/
#pragma once
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig, uint8_t gyroLpf, uint8_t gyroSyncDenominator);
struct sensorSelectionConfig_s;
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, struct sensorSelectionConfig_s *sensorSelectionConfig, int16_t magDeclinationFromConfig, uint8_t gyroLpf, uint8_t gyroSyncDenominator);

11
src/main/sensors/sensors.h
View File

@ -69,3 +69,14 @@ typedef struct sensorAlignmentConfig_s {
sensor_align_e acc_align; // acc alignment
sensor_align_e mag_align; // mag alignment
} sensorAlignmentConfig_t;
typedef struct sensorSelectionConfig_s {
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
uint8_t baro_hardware; // Barometer hardware to use
uint8_t mag_hardware; // Which mag hardware to use on boards with more than one device
} sensorSelectionConfig_t;
typedef struct sensorTrims_s {
flightDynamicsTrims_t accZero;
flightDynamicsTrims_t magZero;
} sensorTrims_t;

2
src/main/target/ALIENFLIGHTF3/config.c
View File

@ -48,7 +48,7 @@ void targetConfiguration(master_t *config)
config->rxConfig.spektrum_sat_bind = 5;
config->rxConfig.spektrum_sat_bind_autoreset = 1;
config->gyro_sync_denom = 2;
config->mag_hardware = MAG_NONE; // disabled by default
config->sensorSelectionConfig.mag_hardware = MAG_NONE; // disabled by default
config->pid_process_denom = 1;
if (hardwareMotorType == MOTOR_BRUSHED) {

2
src/main/target/ALIENFLIGHTF4/config.c
View File

@ -59,7 +59,7 @@ void targetConfiguration(master_t *config)
config->batteryConfig.currentMeterOffset = CURRENTOFFSET;
config->batteryConfig.currentMeterScale = CURRENTSCALE;
config->gyro_sync_denom = 1;
config->mag_hardware = MAG_NONE; // disabled by default
config->sensorSelectionConfig.mag_hardware = MAG_NONE; // disabled by default
config->pid_process_denom = 1;
if (hardwareMotorType == MOTOR_BRUSHED) {

4
src/main/target/BLUEJAYF4/config.c
View File

@ -51,8 +51,8 @@ void targetValidateConfiguration(master_t *config)
if (hardwareRevision == BJF4_MINI_REV3A || hardwareRevision == BJF4_REV1) {
intFeatureClear(FEATURE_SDCARD, &config->enabledFeatures);
if (config->blackbox_device == BLACKBOX_DEVICE_SDCARD) {
config->blackbox_device = BLACKBOX_DEVICE_FLASH;
if (config->blackboxConfig.device == BLACKBOX_DEVICE_SDCARD) {
config->blackboxConfig.device = BLACKBOX_DEVICE_FLASH;
}
}
}

4
src/main/target/COLIBRI/config.c
View File

@ -39,7 +39,7 @@
// alternative defaults settings for Colibri/Gemini targets
void targetConfiguration(master_t *config)
{
config->mixerMode = MIXER_HEX6X;
config->mixerConfig.mixerMode = MIXER_HEX6X;
config->rxConfig.serialrx_provider = 2;
config->motorConfig.minthrottle = 1070;
@ -48,7 +48,7 @@ void targetConfiguration(master_t *config)
config->boardAlignment.pitchDegrees = 10;
//config->rcControlsConfig.deadband = 10;
//config->rcControlsConfig.yaw_deadband = 10;
config->mag_hardware = 1;
config->sensorSelectionConfig.mag_hardware = 1;
config->profile[0].controlRateProfile[0].dynThrPID = 45;
config->profile[0].controlRateProfile[0].tpa_breakpoint = 1700;

22
src/main/target/COLIBRI_RACE/i2c_bst.c
View File

@ -556,7 +556,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
// DEPRECATED - Use MSP_API_VERSION
case BST_IDENT:
bstWrite8(MW_VERSION);
bstWrite8(masterConfig.mixerMode);
bstWrite8(masterConfig.mixerConfig.mixerMode);
bstWrite8(BST_PROTOCOL_VERSION);
bstWrite32(CAP_DYNBALANCE); // "capability"
break;
@ -683,8 +683,8 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite16((int16_t)constrain(amperage, -0x8000, 0x7FFF)); // send amperage in 0.01 A steps, range is -320A to 320A
break;
case BST_ARMING_CONFIG:
bstWrite8(masterConfig.auto_disarm_delay);
bstWrite8(masterConfig.disarm_kill_switch);
bstWrite8(masterConfig.armingConfig.auto_disarm_delay);
bstWrite8(masterConfig.armingConfig.disarm_kill_switch);
break;
case BST_LOOP_TIME:
//bstWrite16(masterConfig.looptime);
@ -769,7 +769,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite8(masterConfig.rxConfig.rssi_channel);
bstWrite8(0);
bstWrite16(masterConfig.mag_declination / 10);
bstWrite16(masterConfig.compassConfig.mag_declination / 10);
bstWrite8(masterConfig.batteryConfig.vbatscale);
bstWrite8(masterConfig.batteryConfig.vbatmincellvoltage);
@ -868,7 +868,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
break;
case BST_MIXER:
bstWrite8(masterConfig.mixerMode);
bstWrite8(masterConfig.mixerConfig.mixerMode);
break;
case BST_RX_CONFIG:
@ -904,7 +904,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
break;
case BST_BF_CONFIG:
bstWrite8(masterConfig.mixerMode);
bstWrite8(masterConfig.mixerConfig.mixerMode);
bstWrite32(featureMask());
@ -1033,8 +1033,8 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
masterConfig.accelerometerTrims.values.roll = bstRead16();
break;
case BST_SET_ARMING_CONFIG:
masterConfig.auto_disarm_delay = bstRead8();
masterConfig.disarm_kill_switch = bstRead8();
masterConfig.armingConfig.auto_disarm_delay = bstRead8();
masterConfig.armingConfig.disarm_kill_switch = bstRead8();
break;
case BST_SET_LOOP_TIME:
//masterConfig.looptime = bstRead16();
@ -1132,7 +1132,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
masterConfig.rxConfig.rssi_channel = bstRead8();
bstRead8();
masterConfig.mag_declination = bstRead16() * 10;
masterConfig.compassConfig.mag_declination = bstRead16() * 10;
masterConfig.batteryConfig.vbatscale = bstRead8(); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = bstRead8(); // vbatlevel_warn1 in MWC2.3 GUI
@ -1273,7 +1273,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
#ifndef USE_QUAD_MIXER_ONLY
case BST_SET_MIXER:
masterConfig.mixerMode = bstRead8();
masterConfig.mixerConfig.mixerMode = bstRead8();
break;
#endif
@ -1319,7 +1319,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
#ifdef USE_QUAD_MIXER_ONLY
bstRead8(); // mixerMode ignored
#else
masterConfig.mixerMode = bstRead8(); // mixerMode
masterConfig.mixerConfig.mixerMode = bstRead8(); // mixerMode
#endif
featureClearAll();

2
src/main/target/MULTIFLITEPICO/config.c
View File

@ -41,7 +41,7 @@
// alternative defaults settings for MULTIFLITEPICO targets
void targetConfiguration(master_t *config) {
config->mag_hardware = MAG_NONE; // disabled by default
config->sensorSelectionConfig.mag_hardware = MAG_NONE; // disabled by default
config->batteryConfig.vbatscale = 100;
config->batteryConfig.vbatresdivval = 15;

2
src/main/telemetry/mavlink.c
View File

@ -430,7 +430,7 @@ void mavlinkSendHUDAndHeartbeat(void)
mavModes |= MAV_MODE_FLAG_SAFETY_ARMED;
uint8_t mavSystemType;
switch(masterConfig.mixerMode)
switch(masterConfig.mixerConfig.mixerMode)
{
case MIXER_TRI:
mavSystemType = MAV_TYPE_TRICOPTER;