Merge branch 'master' into custom-servo-mixers
This commit is contained in:
Dominic Clifton
commit
bb0f909e83
3
Makefile
3
Makefile
|
|
@ -27,7 +27,7 @@ OPBL ?=no
|
|||
DEBUG ?=
|
||||
|
||||
# Serial port/Device for flashing
|
||||
SERIAL_DEVICE ?= /dev/ttyUSB0
|
||||
SERIAL_DEVICE ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
|
||||
|
||||
# Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override.
|
||||
FLASH_SIZE ?=
|
||||
|
|
@ -229,6 +229,7 @@ COMMON_SRC = build_config.c \
|
|||
flight/imu.c \
|
||||
flight/mixer.c \
|
||||
flight/lowpass.c \
|
||||
flight/filter.c \
|
||||
drivers/bus_i2c_soft.c \
|
||||
drivers/serial.c \
|
||||
drivers/sound_beeper.c \
|
||||
|
|
|
|||
|
|
@ -146,6 +146,8 @@ These chips are also supported:
|
|||
* Micron/ST M25P16 - 16 Mbit
|
||||
* Micron N25Q064 - 64 Mbit
|
||||
* Winbond W25Q64 - 64 Mbit
|
||||
* Micron N25Q0128 - 128 Mbit
|
||||
* Winbond W25Q128 - 128 Mbit
|
||||
|
||||
## Enabling the Blackbox (CLI)
|
||||
In the [Cleanflight Configurator][] , enter the CLI tab. Enable the Blackbox feature by typing in `feature BLACKBOX` and
|
||||
|
|
@ -242,4 +244,4 @@ tool:
|
|||
|
||||
https://github.com/cleanflight/blackbox-log-viewer
|
||||
|
||||
This allows you to scroll around a graphed version of your log and examine your log in detail.
|
||||
This allows you to scroll around a graphed version of your log and examine your log in detail.
|
||||
|
|
|
|||
|
|
@ -65,4 +65,5 @@ When SOFTSERIAL is enabled, LED_STRIP and CURRENT_METER are unavailable, but two
|
|||
| |
|
||||
|O O|
|
||||
\-------[USB]-------/
|
||||
```
|
||||
```
|
||||
|
||||
|
|
|
|||
|
|
@ -246,6 +246,9 @@ Re-apply any new defaults as desired.
|
|||
| `p_vel` | | 0 | 200 | 120 | Profile | UINT8 |
|
||||
| `i_vel` | | 0 | 200 | 45 | Profile | UINT8 |
|
||||
| `d_vel` | | 0 | 200 | 1 | Profile | UINT8 |
|
||||
| `dterm_cut_hz` | Lowpass cutoff filter for Dterm for all PID controllers | 0 | 200 | 0 | Profile | UINT8 |
|
||||
| `pterm_cut_hz` | Lowpass cutoff filter for Pterm for all PID controllers | 0 | 200 | 0 | Profile | UINT8 |
|
||||
| `gyro_cut_hz` | Lowpass cutoff filter for gyro input | 0 | 200 | 0 | Profile | UINT8 | | 0 | 200 | 0 | Profile | UINT8 |
|
||||
| `yaw_p_limit` | Limiter for yaw P term. This parameter is only affecting PID controller 3-5. To disable set to 500 (actual default). | 100 | 500 | 500 | Profile | UINT16 |
|
||||
| `blackbox_rate_num` | | 1 | 32 | 1 | Master | UINT8 |
|
||||
| `blackbox_rate_denom` | | 1 | 32 | 1 | Master | UINT8 |
|
||||
|
|
|
|||
|
|
@ -2,11 +2,11 @@
|
|||
|
||||
## Arming
|
||||
|
||||
When armed, the aircraft is ready to fly and the motors will spin when throttle is applied. The motors will
|
||||
When armed, the aircraft is ready to fly and the motors will spin when throttle is applied. The motors will
|
||||
spin at a slow speed when armed (this feature may be disabled by setting MOTOR_STOP, but for safety reasons,
|
||||
that is not recommended).
|
||||
|
||||
By default, arming and disarming is done using stick positions. (NOTE: this feature is disabled when using a
|
||||
By default, arming and disarming is done using stick positions. (NOTE: this feature is disabled when using a
|
||||
switch to arm.)
|
||||
|
||||
## Stick Positions
|
||||
|
|
@ -23,11 +23,11 @@ The stick positions are combined to activate different functions:
|
|||
|
||||
| Function | Throttle | Yaw | Pitch | Roll |
|
||||
| ----------------------------- | -------- | ------- | ------ | ------ |
|
||||
| ARM | LOW | HIGH | CENTER | CENTER |
|
||||
| ARM | LOW | HIGH | CENTER | CENTER |
|
||||
| DISARM | LOW | LOW | CENTER | CENTER |
|
||||
| Profile 1 | LOW | LOW | CENTER | LOW |
|
||||
| Profile 2 | LOW | LOW | HIGH | CENTER |
|
||||
| Profile 3 | LOW | LOW | CENTER | HIGH |
|
||||
| Profile 1 | LOW | LOW | CENTER | LOW |
|
||||
| Profile 2 | LOW | LOW | HIGH | CENTER |
|
||||
| Profile 3 | LOW | LOW | CENTER | HIGH |
|
||||
| Calibrate Gyro | LOW | LOW | LOW | CENTER |
|
||||
| Calibrate Acc | HIGH | LOW | LOW | CENTER |
|
||||
| Calibrate Mag/Compass | HIGH | HIGH | LOW | CENTER |
|
||||
|
|
@ -40,8 +40,9 @@ The stick positions are combined to activate different functions:
|
|||
| Enable LCD Page Cycling | LOW | CENTER | HIGH | HIGH |
|
||||
| Save setting | LOW | LOW | LOW | HIGH |
|
||||
|
||||
|
||||
|
||||
Download a graphic [cheat sheet](https://multiwii.googlecode.com/svn/branches/Hamburger/MultiWii-StickConfiguration-23_v0-5772156649.pdf) with Tx stick commands (the latest version can always be found
|
||||
Download a graphic [cheat sheet](https://multiwii.googlecode.com/svn/branches/Hamburger/MultiWii-StickConfiguration-23_v0-5772156649.pdf) with Tx stick commands (the latest version can always be found
|
||||
[here](https://code.google.com/p/multiwii/source/browse/#svn%2Fbranches%2FHamburger)).
|
||||
|
||||
## Yaw control
|
||||
|
|
|
|||
Binary file not shown.
|
After Width: | Height: | Size: 104 KiB |
|
|
@ -0,0 +1,805 @@
|
|||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<!-- Created with Inkscape (http://www.inkscape.org/) -->
|
||||
|
||||
<svg
|
||||
xmlns:dc="http://purl.org/dc/elements/1.1/"
|
||||
xmlns:cc="http://creativecommons.org/ns#"
|
||||
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
|
||||
xmlns:svg="http://www.w3.org/2000/svg"
|
||||
xmlns="http://www.w3.org/2000/svg"
|
||||
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
|
||||
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
|
||||
width="2478.5964mm"
|
||||
height="1086.9835mm"
|
||||
viewBox="0 0 8782.4284 3851.5164"
|
||||
id="svg2"
|
||||
version="1.1"
|
||||
inkscape:version="0.91 r13725"
|
||||
sodipodi:docname="StickPositions.svg"
|
||||
inkscape:export-filename="C:\Users\stuphi\Dropbox\projects\quad\StickPositions.png"
|
||||
inkscape:export-xdpi="74.996788"
|
||||
inkscape:export-ydpi="74.996788">
|
||||
<defs
|
||||
id="defs4" />
|
||||
<sodipodi:namedview
|
||||
id="base"
|
||||
pagecolor="#ffffff"
|
||||
bordercolor="#666666"
|
||||
borderopacity="1.0"
|
||||
inkscape:pageopacity="0.0"
|
||||
inkscape:pageshadow="2"
|
||||
inkscape:zoom="0.08"
|
||||
inkscape:cx="2990.2403"
|
||||
inkscape:cy="3041.654"
|
||||
inkscape:document-units="px"
|
||||
inkscape:current-layer="g4157"
|
||||
showgrid="false"
|
||||
inkscape:window-width="1920"
|
||||
inkscape:window-height="1137"
|
||||
inkscape:window-x="-8"
|
||||
inkscape:window-y="-8"
|
||||
inkscape:window-maximized="1"
|
||||
fit-margin-top="1"
|
||||
fit-margin-left="1"
|
||||
fit-margin-right="1"
|
||||
fit-margin-bottom="1"
|
||||
units="mm"
|
||||
showborder="true" />
|
||||
<metadata
|
||||
id="metadata7">
|
||||
<rdf:RDF>
|
||||
<cc:Work
|
||||
rdf:about="">
|
||||
<dc:format>image/svg+xml</dc:format>
|
||||
<dc:type
|
||||
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
|
||||
<dc:title></dc:title>
|
||||
</cc:Work>
|
||||
</rdf:RDF>
|
||||
</metadata>
|
||||
<g
|
||||
inkscape:label="Frame"
|
||||
inkscape:groupmode="layer"
|
||||
id="layer1"
|
||||
transform="translate(2203.3186,1653.7717)"
|
||||
style="display:inline" />
|
||||
<g
|
||||
inkscape:groupmode="layer"
|
||||
id="layer2"
|
||||
inkscape:label="StickCentre"
|
||||
style="display:inline"
|
||||
transform="translate(2203.3186,1962.0394)" />
|
||||
<g
|
||||
inkscape:groupmode="layer"
|
||||
id="layer3"
|
||||
inkscape:label="StickDown"
|
||||
style="display:inline"
|
||||
transform="translate(2203.3186,1962.0394)" />
|
||||
<g
|
||||
style="display:inline"
|
||||
inkscape:label="StickDownLeft"
|
||||
id="g4169"
|
||||
inkscape:groupmode="layer"
|
||||
transform="translate(2203.3186,1962.0394)" />
|
||||
<g
|
||||
inkscape:groupmode="layer"
|
||||
id="g4173"
|
||||
inkscape:label="StickDownRight"
|
||||
style="display:inline"
|
||||
transform="translate(2203.3186,1962.0394)" />
|
||||
<g
|
||||
style="display:inline"
|
||||
inkscape:label="StickUpRight"
|
||||
id="g4177"
|
||||
inkscape:groupmode="layer"
|
||||
transform="translate(2203.3186,1962.0394)" />
|
||||
<g
|
||||
inkscape:groupmode="layer"
|
||||
id="g4181"
|
||||
inkscape:label="StickUpLeft"
|
||||
style="display:inline"
|
||||
transform="translate(2203.3186,1962.0394)" />
|
||||
<g
|
||||
style="display:inline"
|
||||
inkscape:label="StickRight"
|
||||
id="g4161"
|
||||
inkscape:groupmode="layer"
|
||||
transform="translate(2203.3186,1962.0394)" />
|
||||
<g
|
||||
inkscape:groupmode="layer"
|
||||
id="g4165"
|
||||
inkscape:label="StickLeft"
|
||||
style="display:inline"
|
||||
transform="translate(2203.3186,1962.0394)" />
|
||||
<g
|
||||
inkscape:label="StickUp"
|
||||
id="g4157"
|
||||
inkscape:groupmode="layer"
|
||||
style="display:inline"
|
||||
transform="translate(2203.3186,1962.0394)">
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect4136"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="708.38544"
|
||||
y="-1390.3773"
|
||||
ry="0" />
|
||||
<path
|
||||
inkscape:transform-center-x="-73.935657"
|
||||
inkscape:transform-center-y="73.935654"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 948.22718,-1104.1681 c 7.47613,7.4761 23.9146,3.1588 36.71634,-9.6429 12.80173,-12.8017 17.11898,-29.2402 9.64285,-36.7163 -7.47612,-7.4762 -126.05745,-105.3018 -138.85919,-92.5 -12.80175,12.8017 85.02386,131.383 92.5,138.8592 z"
|
||||
id="path4175"
|
||||
inkscape:connector-curvature="0"
|
||||
sodipodi:nodetypes="sssss" />
|
||||
<rect
|
||||
ry="0"
|
||||
y="-1390.3773"
|
||||
x="1114.0997"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect4208"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<circle
|
||||
r="31.819805"
|
||||
cy="-1245.9056"
|
||||
cx="1258.5714"
|
||||
id="circle4210"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:10;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<text
|
||||
xml:space="preserve"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
x="486.66803"
|
||||
y="-1140.8967"
|
||||
id="text4574"
|
||||
sodipodi:linespacing="125%"><tspan
|
||||
sodipodi:role="line"
|
||||
x="486.668"
|
||||
y="-1140.8967"
|
||||
id="tspan4578"
|
||||
style="text-align:end;text-anchor:end">Arm</tspan></text>
|
||||
<rect
|
||||
ry="0"
|
||||
y="-969.96918"
|
||||
x="708.38544"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect4615"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
inkscape:transform-center-x="73.935653"
|
||||
inkscape:transform-center-y="73.935654"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 756.60309,-683.75996 c -7.47613,7.47613 -23.9146,3.15888 -36.71634,-9.64286 -12.80173,-12.80174 -17.11899,-29.2402 -9.64285,-36.71634 7.47612,-7.47614 126.05745,-105.30174 138.85919,-92.5 12.80175,12.80174 -85.02386,131.38307 -92.5,138.8592 z"
|
||||
id="path4621"
|
||||
inkscape:connector-curvature="0"
|
||||
sodipodi:nodetypes="sssss" />
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect4637"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="1114.0997"
|
||||
y="-969.96918"
|
||||
ry="0" />
|
||||
<circle
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:10;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="circle4639"
|
||||
cx="1258.5714"
|
||||
cy="-825.4975"
|
||||
r="31.819805" />
|
||||
<text
|
||||
sodipodi:linespacing="125%"
|
||||
id="text4657"
|
||||
y="-720.48853"
|
||||
x="486.66803"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
xml:space="preserve"><tspan
|
||||
style="text-align:end;text-anchor:end"
|
||||
id="tspan4659"
|
||||
y="-720.48853"
|
||||
x="486.66803"
|
||||
sodipodi:role="line">Disarm</tspan></text>
|
||||
<rect
|
||||
ry="0"
|
||||
y="-549.56104"
|
||||
x="708.38544"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect4667"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
inkscape:transform-center-x="73.935653"
|
||||
inkscape:transform-center-y="73.935654"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 756.60309,-263.35179 c -7.47613,7.47613 -23.9146,3.15888 -36.71634,-9.64286 -12.80173,-12.80174 -17.11899,-29.2402 -9.64285,-36.71634 7.47612,-7.47614 126.05745,-105.30174 138.85919,-92.5 12.80175,12.80174 -85.02386,131.38307 -92.5,138.8592 z"
|
||||
id="path4673"
|
||||
inkscape:connector-curvature="0"
|
||||
sodipodi:nodetypes="sssss" />
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect4689"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="1114.0997"
|
||||
y="-549.56104"
|
||||
ry="0" />
|
||||
<path
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 1090.881,-372.67398 c -10.5728,0 -19.1438,-14.67651 -19.1438,-32.7809 0,-18.10439 8.571,-32.7809 19.1438,-32.7809 10.5729,-1e-5 163.5957,14.6765 163.5957,32.7809 0,18.1044 -153.0228,32.78091 -163.5957,32.7809 z"
|
||||
id="path4705"
|
||||
inkscape:connector-curvature="0"
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:transform-center-x="94.95434"
|
||||
inkscape:transform-center-y="0.5050695" />
|
||||
<text
|
||||
sodipodi:linespacing="125%"
|
||||
id="text4709"
|
||||
y="-300.08038"
|
||||
x="486.66803"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
xml:space="preserve"><tspan
|
||||
style="text-align:end;text-anchor:end"
|
||||
id="tspan4711"
|
||||
y="-300.08038"
|
||||
x="486.668"
|
||||
sodipodi:role="line">Profile 1</tspan></text>
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect4719"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="708.38544"
|
||||
y="-129.15286"
|
||||
ry="0" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path4725"
|
||||
d="m 756.60309,157.05638 c -7.47613,7.47613 -23.9146,3.15888 -36.71634,-9.64286 -12.80173,-12.80174 -17.11899,-29.2402 -9.64285,-36.71634 7.47612,-7.47614 126.05745,-105.30174 138.85919,-92.5 12.80175,12.80174 -85.02386,131.38307 -92.5,138.8592 z"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
inkscape:transform-center-y="73.935654"
|
||||
inkscape:transform-center-x="73.935653" />
|
||||
<rect
|
||||
ry="0"
|
||||
y="-129.15286"
|
||||
x="1114.0997"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect4741"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
style="opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 1291.3523,-149.39445 c 0,-10.57285 -14.6765,-19.14384 -32.7809,-19.14384 -18.1043,0 -32.7809,8.57099 -32.7809,19.14384 0,10.57285 14.6765,163.59566 32.7809,163.59566 18.1044,0 32.781,-153.02281 32.7809,-163.59566 z"
|
||||
id="path4759"
|
||||
inkscape:connector-curvature="0"
|
||||
sodipodi:nodetypes="sssss" />
|
||||
<text
|
||||
xml:space="preserve"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
x="486.66803"
|
||||
y="120.3278"
|
||||
id="text4761"
|
||||
sodipodi:linespacing="125%"><tspan
|
||||
sodipodi:role="line"
|
||||
x="486.668"
|
||||
y="120.3278"
|
||||
id="tspan4763"
|
||||
style="text-align:end;text-anchor:end">Profile 2</tspan></text>
|
||||
<rect
|
||||
ry="0"
|
||||
y="291.25531"
|
||||
x="708.38544"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect4771"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
inkscape:transform-center-x="73.935653"
|
||||
inkscape:transform-center-y="73.935654"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 756.60309,577.46454 c -7.47613,7.47613 -23.9146,3.15888 -36.71634,-9.64286 -12.80173,-12.80174 -17.11899,-29.2402 -9.64285,-36.71634 7.47612,-7.47614 126.05745,-105.30174 138.85919,-92.5 12.80175,12.80174 -85.02386,131.38307 -92.5,138.8592 z"
|
||||
id="path4777"
|
||||
inkscape:connector-curvature="0"
|
||||
sodipodi:nodetypes="sssss" />
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect4793"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="1114.0997"
|
||||
y="291.25531"
|
||||
ry="0" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path4807"
|
||||
d="m 1425.2415,403.08564 c 10.5729,0 19.1439,14.67651 19.1439,32.7809 0,18.10439 -8.571,32.7809 -19.1439,32.7809 -10.5728,10e-6 -163.5957,-14.6765 -163.5957,-32.7809 0,-18.1044 153.0229,-32.78091 163.5957,-32.7809 z"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<text
|
||||
sodipodi:linespacing="125%"
|
||||
id="text4813"
|
||||
y="540.73602"
|
||||
x="486.66803"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
xml:space="preserve"><tspan
|
||||
style="text-align:end;text-anchor:end"
|
||||
id="tspan4815"
|
||||
y="540.73602"
|
||||
x="486.668"
|
||||
sodipodi:role="line">Profile 3</tspan></text>
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect4823"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="708.38544"
|
||||
y="711.66351"
|
||||
ry="0" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path4829"
|
||||
d="m 756.60309,997.87274 c -7.47613,7.47616 -23.9146,3.15886 -36.71634,-9.64286 -12.80173,-12.80174 -17.11899,-29.2402 -9.64285,-36.71634 7.47612,-7.47614 126.05745,-105.30174 138.85919,-92.5 12.80175,12.80174 -85.02386,131.38307 -92.5,138.8592 z"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
inkscape:transform-center-y="73.935654"
|
||||
inkscape:transform-center-x="73.935653" />
|
||||
<rect
|
||||
ry="0"
|
||||
y="711.66351"
|
||||
x="1114.0997"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect4845"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path4849"
|
||||
d="m 1291.3523,1021.9347 c 0,10.5728 -14.6765,19.1438 -32.7809,19.1438 -18.1043,0 -32.7809,-8.571 -32.7809,-19.1438 0,-10.5729 14.6765,-163.5957 32.7809,-163.5957 18.1044,0 32.781,153.0228 32.7809,163.5957 z"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<text
|
||||
xml:space="preserve"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
x="486.66803"
|
||||
y="961.14417"
|
||||
id="text4865"
|
||||
sodipodi:linespacing="125%"><tspan
|
||||
sodipodi:role="line"
|
||||
x="486.66791"
|
||||
y="961.14417"
|
||||
id="tspan4867"
|
||||
style="text-align:end;text-anchor:end">Calibrate Gyro</tspan></text>
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect4875"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="708.38544"
|
||||
y="1132.0717"
|
||||
ry="0" />
|
||||
<path
|
||||
inkscape:transform-center-x="73.935669"
|
||||
inkscape:transform-center-y="-73.935654"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 757.10817,1133.9385 c -7.47613,-7.4762 -23.9146,-3.1589 -36.71634,9.6428 -12.80173,12.8018 -17.11899,29.2402 -9.64285,36.7164 7.47612,7.4761 126.05745,105.3017 138.85919,92.5 12.80175,-12.8018 -85.02386,-131.3831 -92.5,-138.8592 z"
|
||||
id="path4887"
|
||||
inkscape:connector-curvature="0"
|
||||
sodipodi:nodetypes="sssss" />
|
||||
<rect
|
||||
ry="0"
|
||||
y="1132.0717"
|
||||
x="1114.0997"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect4897"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path4901"
|
||||
d="m 1291.3523,1442.3429 c 0,10.5728 -14.6765,19.1438 -32.7809,19.1438 -18.1043,0 -32.7809,-8.571 -32.7809,-19.1438 0,-10.5729 14.6765,-163.5957 32.7809,-163.5957 18.1044,0 32.781,153.0228 32.7809,163.5957 z"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<text
|
||||
xml:space="preserve"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
x="486.66803"
|
||||
y="1381.5524"
|
||||
id="text4917"
|
||||
sodipodi:linespacing="125%"><tspan
|
||||
sodipodi:role="line"
|
||||
x="486.66803"
|
||||
y="1381.5524"
|
||||
id="tspan4919"
|
||||
style="text-align:end;text-anchor:end">Calibrate Acc</tspan></text>
|
||||
<rect
|
||||
ry="0"
|
||||
y="1552.4799"
|
||||
x="708.38544"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect4927"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
inkscape:transform-center-x="-73.935665"
|
||||
inkscape:transform-center-y="-73.935654"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 948.22718,1554.3467 c 7.47613,-7.4762 23.9146,-3.1589 36.71634,9.6428 12.80173,12.8018 17.11898,29.2402 9.64285,36.7164 -7.47612,7.4761 -126.05745,105.3017 -138.85919,92.5 -12.80175,-12.8018 85.02386,-131.3831 92.5,-138.8592 z"
|
||||
id="path4937"
|
||||
inkscape:connector-curvature="0"
|
||||
sodipodi:nodetypes="sssss" />
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect4949"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="1114.0997"
|
||||
y="1552.4799"
|
||||
ry="0" />
|
||||
<path
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 1291.3523,1862.7511 c 0,10.5728 -14.6765,19.1438 -32.7809,19.1438 -18.1043,0 -32.7809,-8.571 -32.7809,-19.1438 0,-10.5729 14.6765,-163.5957 32.7809,-163.5957 18.1044,0 32.781,153.0228 32.7809,163.5957 z"
|
||||
id="path4953"
|
||||
inkscape:connector-curvature="0"
|
||||
sodipodi:nodetypes="sssss" />
|
||||
<text
|
||||
sodipodi:linespacing="125%"
|
||||
id="text4969"
|
||||
y="1801.9606"
|
||||
x="486.66803"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
xml:space="preserve"><tspan
|
||||
style="text-align:end;text-anchor:end"
|
||||
id="tspan4971"
|
||||
y="1801.9606"
|
||||
x="486.66791"
|
||||
sodipodi:role="line">Calibrate Compass</tspan></text>
|
||||
<rect
|
||||
ry="0"
|
||||
y="-1390.3773"
|
||||
x="5835.5283"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect5607"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
inkscape:transform-center-x="73.935653"
|
||||
inkscape:transform-center-y="73.935654"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 5883.7461,-1104.1681 c -7.4762,7.4761 -23.9146,3.1588 -36.7164,-9.6429 -12.8017,-12.8017 -17.119,-29.2402 -9.6428,-36.7163 7.4761,-7.4762 126.0574,-105.3018 138.8592,-92.5 12.8017,12.8017 -85.0239,131.383 -92.5,138.8592 z"
|
||||
id="path5613"
|
||||
inkscape:connector-curvature="0"
|
||||
sodipodi:nodetypes="sssss" />
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect5629"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="6241.2427"
|
||||
y="-1390.3773"
|
||||
ry="0" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path5639"
|
||||
d="m 6481.0845,-1388.5106 c 7.4761,-7.4762 23.9146,-3.1589 36.7163,9.6428 12.8017,12.8018 17.119,29.2402 9.6428,36.7164 -7.4761,7.4761 -126.0574,105.3017 -138.8591,92.5 -12.8018,-12.8018 85.0238,-131.3831 92.5,-138.8592 z"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
inkscape:transform-center-y="-73.935654"
|
||||
inkscape:transform-center-x="-73.935665" />
|
||||
<text
|
||||
sodipodi:linespacing="125%"
|
||||
id="text5649"
|
||||
y="-1140.8967"
|
||||
x="5613.811"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
xml:space="preserve"><tspan
|
||||
style="text-align:end;text-anchor:end"
|
||||
id="tspan5651"
|
||||
y="-1140.8967"
|
||||
x="5613.811"
|
||||
sodipodi:role="line">In-flight Calibration Controls</tspan></text>
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect5659"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="5835.5283"
|
||||
y="-969.96918"
|
||||
ry="0" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path5677"
|
||||
d="m 6012.781,-990.21079 c 0,-10.57281 -14.6765,-19.14381 -32.7809,-19.14381 -18.1044,0 -32.7809,8.571 -32.7809,19.14381 0,10.57285 14.6765,163.59566 32.7809,163.59566 18.1044,0 32.7809,-153.02281 32.7809,-163.59566 z"
|
||||
style="opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<rect
|
||||
ry="0"
|
||||
y="-969.96918"
|
||||
x="6241.2427"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect5681"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
inkscape:transform-center-y="0.5050695"
|
||||
inkscape:transform-center-x="94.95434"
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path5697"
|
||||
d="m 6218.024,-793.08215 c -10.5729,0 -19.1438,-14.67651 -19.1438,-32.7809 0,-18.10439 8.5709,-32.7809 19.1438,-32.7809 10.5728,-10e-6 163.5957,14.6765 163.5957,32.7809 0,18.1044 -153.0229,32.78091 -163.5957,32.7809 z"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<text
|
||||
xml:space="preserve"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
x="5613.811"
|
||||
y="-720.48853"
|
||||
id="text5701"
|
||||
sodipodi:linespacing="125%"><tspan
|
||||
sodipodi:role="line"
|
||||
x="5613.811"
|
||||
y="-720.48853"
|
||||
id="tspan5703"
|
||||
style="text-align:end;text-anchor:end">Trim Acc Left</tspan></text>
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect5711"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="5835.5283"
|
||||
y="-549.56104"
|
||||
ry="0" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path5729"
|
||||
d="m 6012.781,-569.80262 c 0,-10.57285 -14.6765,-19.14384 -32.7809,-19.14384 -18.1044,0 -32.7809,8.57099 -32.7809,19.14384 0,10.57285 14.6765,163.59566 32.7809,163.59566 18.1044,0 32.7809,-153.02281 32.7809,-163.59566 z"
|
||||
style="opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<rect
|
||||
ry="0"
|
||||
y="-549.56104"
|
||||
x="6241.2427"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect5733"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 6552.3845,-437.73069 c 10.5728,0 19.1438,14.67651 19.1438,32.7809 0,18.10439 -8.571,32.7809 -19.1438,32.7809 -10.5729,10e-6 -163.5957,-14.6765 -163.5957,-32.7809 0,-18.1044 153.0228,-32.78091 163.5957,-32.7809 z"
|
||||
id="path5747"
|
||||
inkscape:connector-curvature="0"
|
||||
sodipodi:nodetypes="sssss" />
|
||||
<text
|
||||
xml:space="preserve"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
x="5613.811"
|
||||
y="-300.08038"
|
||||
id="text5753"
|
||||
sodipodi:linespacing="125%"><tspan
|
||||
sodipodi:role="line"
|
||||
x="5613.811"
|
||||
y="-300.08038"
|
||||
id="tspan5755"
|
||||
style="text-align:end;text-anchor:end">Trim Acc Right</tspan></text>
|
||||
<rect
|
||||
ry="0"
|
||||
y="-129.15286"
|
||||
x="5835.5283"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect5763"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
style="opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 6012.781,-149.39445 c 0,-10.57285 -14.6765,-19.14384 -32.7809,-19.14384 -18.1044,0 -32.7809,8.57099 -32.7809,19.14384 0,10.57285 14.6765,163.59566 32.7809,163.59566 18.1044,0 32.7809,-153.02281 32.7809,-163.59566 z"
|
||||
id="path5781"
|
||||
inkscape:connector-curvature="0"
|
||||
sodipodi:nodetypes="sssss" />
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect5785"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="6241.2427"
|
||||
y="-129.15286"
|
||||
ry="0" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path5803"
|
||||
d="m 6418.4953,-149.39445 c 0,-10.57285 -14.6765,-19.14384 -32.7809,-19.14384 -18.1044,0 -32.7809,8.57099 -32.7809,19.14384 0,10.57285 14.6765,163.59566 32.7809,163.59566 18.1044,0 32.7809,-153.02281 32.7809,-163.59566 z"
|
||||
style="opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<text
|
||||
sodipodi:linespacing="125%"
|
||||
id="text5805"
|
||||
y="120.3278"
|
||||
x="5613.811"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
xml:space="preserve"><tspan
|
||||
style="text-align:end;text-anchor:end"
|
||||
id="tspan5807"
|
||||
y="120.3278"
|
||||
x="5613.811"
|
||||
sodipodi:role="line">Trim Acc Forwards</tspan></text>
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect5815"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="5835.5283"
|
||||
y="291.25531"
|
||||
ry="0" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path5833"
|
||||
d="m 6012.781,271.01371 c 0,-10.57285 -14.6765,-19.14384 -32.7809,-19.14384 -18.1044,0 -32.7809,8.57099 -32.7809,19.14384 0,10.57285 14.6765,163.59566 32.7809,163.59566 18.1044,0 32.7809,-153.02281 32.7809,-163.59566 z"
|
||||
style="opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<rect
|
||||
ry="0"
|
||||
y="291.25531"
|
||||
x="6241.2427"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect5837"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path5841"
|
||||
d="m 6418.4953,601.52646 c 0,10.57285 -14.6765,19.14384 -32.7809,19.14384 -18.1044,0 -32.7809,-8.57099 -32.7809,-19.14384 0,-10.57285 14.6765,-163.59566 32.7809,-163.59566 18.1044,0 32.7809,153.02281 32.7809,163.59566 z"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<text
|
||||
xml:space="preserve"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
x="5613.811"
|
||||
y="540.73602"
|
||||
id="text5857"
|
||||
sodipodi:linespacing="125%"><tspan
|
||||
sodipodi:role="line"
|
||||
x="5613.811"
|
||||
y="540.73602"
|
||||
id="tspan5859"
|
||||
style="text-align:end;text-anchor:end">Trim Acc Backwards</tspan></text>
|
||||
<rect
|
||||
ry="0"
|
||||
y="711.66351"
|
||||
x="5835.5283"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect5867"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path5871"
|
||||
d="m 6012.781,1021.9347 c 0,10.5728 -14.6765,19.1438 -32.7809,19.1438 -18.1044,0 -32.7809,-8.571 -32.7809,-19.1438 0,-10.5729 14.6765,-163.5957 32.7809,-163.5957 18.1044,0 32.7809,153.0228 32.7809,163.5957 z"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect5889"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="6241.2427"
|
||||
y="711.66351"
|
||||
ry="0" />
|
||||
<path
|
||||
inkscape:transform-center-x="73.935669"
|
||||
inkscape:transform-center-y="-73.935654"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 6289.9654,713.53025 c -7.4761,-7.47613 -23.9146,-3.15888 -36.7163,9.64286 -12.8017,12.80174 -17.119,29.2402 -9.6428,36.71634 7.4761,7.47614 126.0574,105.30174 138.8591,92.5 12.8018,-12.80174 -85.0238,-131.38307 -92.5,-138.8592 z"
|
||||
id="path5901"
|
||||
inkscape:connector-curvature="0"
|
||||
sodipodi:nodetypes="sssss" />
|
||||
<text
|
||||
sodipodi:linespacing="125%"
|
||||
id="text5909"
|
||||
y="961.14417"
|
||||
x="5613.811"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
xml:space="preserve"><tspan
|
||||
style="text-align:end;text-anchor:end"
|
||||
id="tspan5911"
|
||||
y="961.14417"
|
||||
x="5613.811"
|
||||
sodipodi:role="line">Disable LCD Page Cycling</tspan></text>
|
||||
<rect
|
||||
ry="0"
|
||||
y="1132.0717"
|
||||
x="5835.5283"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect5919"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path5923"
|
||||
d="m 6012.781,1442.3429 c 0,10.5728 -14.6765,19.1438 -32.7809,19.1438 -18.1044,0 -32.7809,-8.571 -32.7809,-19.1438 0,-10.5729 14.6765,-163.5957 32.7809,-163.5957 18.1044,0 32.7809,153.0228 32.7809,163.5957 z"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect5941"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="6241.2427"
|
||||
y="1132.0717"
|
||||
ry="0" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path5951"
|
||||
d="m 6481.0845,1133.9385 c 7.4761,-7.4762 23.9146,-3.1589 36.7163,9.6428 12.8017,12.8018 17.119,29.2402 9.6428,36.7164 -7.4761,7.4761 -126.0574,105.3017 -138.8591,92.5 -12.8018,-12.8018 85.0238,-131.3831 92.5,-138.8592 z"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
inkscape:transform-center-y="-73.935654"
|
||||
inkscape:transform-center-x="-73.935665" />
|
||||
<text
|
||||
sodipodi:linespacing="125%"
|
||||
id="text5961"
|
||||
y="1381.5524"
|
||||
x="5613.811"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
xml:space="preserve"><tspan
|
||||
style="text-align:end;text-anchor:end"
|
||||
id="tspan5963"
|
||||
y="1381.5524"
|
||||
x="5613.811"
|
||||
sodipodi:role="line">Enable LCD Page Cycling</tspan></text>
|
||||
<rect
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="rect5971"
|
||||
width="288.94339"
|
||||
height="288.94339"
|
||||
x="5835.5283"
|
||||
y="1552.4799"
|
||||
ry="0" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path5977"
|
||||
d="m 5883.7461,1838.6891 c -7.4762,7.4762 -23.9146,3.1589 -36.7164,-9.6428 -12.8017,-12.8018 -17.119,-29.2402 -9.6428,-36.7164 7.4761,-7.4761 126.0574,-105.3017 138.8592,-92.5 12.8017,12.8018 -85.0239,131.3831 -92.5,138.8592 z"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
inkscape:transform-center-y="73.935654"
|
||||
inkscape:transform-center-x="73.935653" />
|
||||
<rect
|
||||
ry="0"
|
||||
y="1552.4799"
|
||||
x="6241.2427"
|
||||
height="288.94339"
|
||||
width="288.94339"
|
||||
id="rect5993"
|
||||
style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
sodipodi:nodetypes="sssss"
|
||||
inkscape:connector-curvature="0"
|
||||
id="path6001"
|
||||
d="m 6481.0845,1838.6891 c 7.4761,7.4762 23.9146,3.1589 36.7163,-9.6428 12.8017,-12.8018 17.119,-29.2402 9.6428,-36.7164 -7.4761,-7.4761 -126.0574,-105.3017 -138.8591,-92.5 -12.8018,12.8018 85.0238,131.3831 92.5,138.8592 z"
|
||||
style="display:inline;opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:8.07780743;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
inkscape:transform-center-y="73.935654"
|
||||
inkscape:transform-center-x="-73.935657" />
|
||||
<text
|
||||
xml:space="preserve"
|
||||
style="font-style:normal;font-weight:normal;font-size:286.5987854px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
x="5613.811"
|
||||
y="1801.9606"
|
||||
id="text6013"
|
||||
sodipodi:linespacing="125%"><tspan
|
||||
sodipodi:role="line"
|
||||
x="5613.811"
|
||||
y="1801.9606"
|
||||
id="tspan6015"
|
||||
style="text-align:end;text-anchor:end">Save Setting</tspan></text>
|
||||
<text
|
||||
xml:space="preserve"
|
||||
style="font-style:normal;font-weight:normal;font-size:352.85842896px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
x="2179.2813"
|
||||
y="-1690.4064"
|
||||
id="text7907"
|
||||
sodipodi:linespacing="125%"><tspan
|
||||
sodipodi:role="line"
|
||||
x="2179.2813"
|
||||
y="-1690.4064"
|
||||
id="tspan7909"
|
||||
style="text-align:center;text-anchor:middle">Mode 2 Stick Functions</tspan></text>
|
||||
</g>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 40 KiB |
|
|
@ -217,26 +217,26 @@ enum EP_BUF_NUM
|
|||
#define _SetBTABLE(wRegValue)(*BTABLE = (uint16_t)(wRegValue & 0xFFF8))
|
||||
|
||||
/* GetCNTR */
|
||||
#define _GetCNTR() ((uint16_t) *CNTR)
|
||||
#define _GetCNTR() ((__IO uint16_t) *CNTR)
|
||||
|
||||
/* GetISTR */
|
||||
#define _GetISTR() ((uint16_t) *ISTR)
|
||||
#define _GetISTR() ((__IO uint16_t) *ISTR)
|
||||
|
||||
/* GetFNR */
|
||||
#define _GetFNR() ((uint16_t) *FNR)
|
||||
#define _GetFNR() ((__IO uint16_t) *FNR)
|
||||
|
||||
/* GetDADDR */
|
||||
#define _GetDADDR() ((uint16_t) *DADDR)
|
||||
#define _GetDADDR() ((__IO uint16_t) *DADDR)
|
||||
|
||||
/* GetBTABLE */
|
||||
#define _GetBTABLE() ((uint16_t) *BTABLE)
|
||||
#define _GetBTABLE() ((__IO uint16_t) *BTABLE)
|
||||
|
||||
/* SetENDPOINT */
|
||||
#define _SetENDPOINT(bEpNum,wRegValue) (*(EP0REG + bEpNum)= \
|
||||
(uint16_t)wRegValue)
|
||||
|
||||
/* GetENDPOINT */
|
||||
#define _GetENDPOINT(bEpNum) ((uint16_t)(*(EP0REG + bEpNum)))
|
||||
#define _GetENDPOINT(bEpNum) ((__IO uint16_t)(*(EP0REG + bEpNum)))
|
||||
|
||||
/*******************************************************************************
|
||||
* Macro Name : SetEPType
|
||||
|
|
@ -334,9 +334,9 @@ enum EP_BUF_NUM
|
|||
* Output : None.
|
||||
* Return : status .
|
||||
*******************************************************************************/
|
||||
#define _GetEPTxStatus(bEpNum) ((uint16_t)_GetENDPOINT(bEpNum) & EPTX_STAT)
|
||||
#define _GetEPTxStatus(bEpNum) ((__IO uint16_t)_GetENDPOINT(bEpNum) & EPTX_STAT)
|
||||
|
||||
#define _GetEPRxStatus(bEpNum) ((uint16_t)_GetENDPOINT(bEpNum) & EPRX_STAT)
|
||||
#define _GetEPRxStatus(bEpNum) ((__IO uint16_t)_GetENDPOINT(bEpNum) & EPRX_STAT)
|
||||
|
||||
/*******************************************************************************
|
||||
* Macro Name : SetEPTxValid / SetEPRxValid
|
||||
|
|
@ -446,12 +446,12 @@ enum EP_BUF_NUM
|
|||
* Output : None.
|
||||
* Return : None.
|
||||
*******************************************************************************/
|
||||
#define _GetEPAddress(bEpNum) ((uint8_t)(_GetENDPOINT(bEpNum) & EPADDR_FIELD))
|
||||
#define _GetEPAddress(bEpNum) ((__IO uint8_t)(_GetENDPOINT(bEpNum) & EPADDR_FIELD))
|
||||
|
||||
#define _pEPTxAddr(bEpNum) ((uint32_t *)((_GetBTABLE()+bEpNum*8 )*2 + PMAAddr))
|
||||
#define _pEPTxCount(bEpNum) ((uint32_t *)((_GetBTABLE()+bEpNum*8+2)*2 + PMAAddr))
|
||||
#define _pEPRxAddr(bEpNum) ((uint32_t *)((_GetBTABLE()+bEpNum*8+4)*2 + PMAAddr))
|
||||
#define _pEPRxCount(bEpNum) ((uint32_t *)((_GetBTABLE()+bEpNum*8+6)*2 + PMAAddr))
|
||||
#define _pEPTxAddr(bEpNum) ((__IO uint32_t *)((_GetBTABLE()+bEpNum*8 )*2 + PMAAddr))
|
||||
#define _pEPTxCount(bEpNum) ((__IO uint32_t *)((_GetBTABLE()+bEpNum*8+2)*2 + PMAAddr))
|
||||
#define _pEPRxAddr(bEpNum) ((__IO uint32_t *)((_GetBTABLE()+bEpNum*8+4)*2 + PMAAddr))
|
||||
#define _pEPRxCount(bEpNum) ((__IO uint32_t *)((_GetBTABLE()+bEpNum*8+6)*2 + PMAAddr))
|
||||
|
||||
/*******************************************************************************
|
||||
* Macro Name : SetEPTxAddr / SetEPRxAddr.
|
||||
|
|
@ -471,8 +471,8 @@ enum EP_BUF_NUM
|
|||
* Output : None.
|
||||
* Return : address of the buffer.
|
||||
*******************************************************************************/
|
||||
#define _GetEPTxAddr(bEpNum) ((uint16_t)*_pEPTxAddr(bEpNum))
|
||||
#define _GetEPRxAddr(bEpNum) ((uint16_t)*_pEPRxAddr(bEpNum))
|
||||
#define _GetEPTxAddr(bEpNum) ((__IO uint16_t)*_pEPTxAddr(bEpNum))
|
||||
#define _GetEPRxAddr(bEpNum) ((__IO uint16_t)*_pEPRxAddr(bEpNum))
|
||||
|
||||
/*******************************************************************************
|
||||
* Macro Name : SetEPCountRxReg.
|
||||
|
|
@ -505,7 +505,7 @@ enum EP_BUF_NUM
|
|||
|
||||
|
||||
#define _SetEPRxDblBuf0Count(bEpNum,wCount) {\
|
||||
uint32_t *pdwReg = _pEPTxCount(bEpNum); \
|
||||
__IO uint32_t *pdwReg = _pEPTxCount(bEpNum); \
|
||||
_SetEPCountRxReg(pdwReg, wCount);\
|
||||
}
|
||||
/*******************************************************************************
|
||||
|
|
@ -518,7 +518,7 @@ enum EP_BUF_NUM
|
|||
*******************************************************************************/
|
||||
#define _SetEPTxCount(bEpNum,wCount) (*_pEPTxCount(bEpNum) = wCount)
|
||||
#define _SetEPRxCount(bEpNum,wCount) {\
|
||||
uint32_t *pdwReg = _pEPRxCount(bEpNum); \
|
||||
__IO uint32_t *pdwReg = _pEPRxCount(bEpNum); \
|
||||
_SetEPCountRxReg(pdwReg, wCount);\
|
||||
}
|
||||
/*******************************************************************************
|
||||
|
|
@ -528,8 +528,8 @@ enum EP_BUF_NUM
|
|||
* Output : None.
|
||||
* Return : Counter value.
|
||||
*******************************************************************************/
|
||||
#define _GetEPTxCount(bEpNum)((uint16_t)(*_pEPTxCount(bEpNum)) & 0x3ff)
|
||||
#define _GetEPRxCount(bEpNum)((uint16_t)(*_pEPRxCount(bEpNum)) & 0x3ff)
|
||||
#define _GetEPTxCount(bEpNum)((__IO uint16_t)(*_pEPTxCount(bEpNum)) & 0x3ff)
|
||||
#define _GetEPRxCount(bEpNum)((__IO uint16_t)(*_pEPRxCount(bEpNum)) & 0x3ff)
|
||||
|
||||
/*******************************************************************************
|
||||
* Macro Name : SetEPDblBuf0Addr / SetEPDblBuf1Addr.
|
||||
|
|
|
|||
|
|
@ -81,6 +81,7 @@
|
|||
|
||||
#define BLACKBOX_I_INTERVAL 32
|
||||
#define BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS 200
|
||||
#define SLOW_FRAME_INTERVAL 4096
|
||||
|
||||
#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
|
||||
|
||||
|
|
@ -97,35 +98,18 @@
|
|||
|
||||
static const char blackboxHeader[] =
|
||||
"H Product:Blackbox flight data recorder by Nicholas Sherlock\n"
|
||||
"H Blackbox version:1\n"
|
||||
"H Data version:2\n"
|
||||
"H I interval:" STR(BLACKBOX_I_INTERVAL) "\n";
|
||||
|
||||
static const char* const blackboxMainHeaderNames[] = {
|
||||
"I name",
|
||||
"I signed",
|
||||
"I predictor",
|
||||
"I encoding",
|
||||
"P predictor",
|
||||
"P encoding"
|
||||
static const char* const blackboxFieldHeaderNames[] = {
|
||||
"name",
|
||||
"signed",
|
||||
"predictor",
|
||||
"encoding",
|
||||
"predictor",
|
||||
"encoding"
|
||||
};
|
||||
|
||||
#ifdef GPS
|
||||
static const char* const blackboxGPSGHeaderNames[] = {
|
||||
"G name",
|
||||
"G signed",
|
||||
"G predictor",
|
||||
"G encoding"
|
||||
};
|
||||
|
||||
static const char* const blackboxGPSHHeaderNames[] = {
|
||||
"H name",
|
||||
"H signed",
|
||||
"H predictor",
|
||||
"H encoding"
|
||||
};
|
||||
#endif
|
||||
|
||||
/* All field definition structs should look like this (but with longer arrs): */
|
||||
typedef struct blackboxFieldDefinition_t {
|
||||
const char *name;
|
||||
|
|
@ -136,7 +120,30 @@ typedef struct blackboxFieldDefinition_t {
|
|||
uint8_t arr[1];
|
||||
} blackboxFieldDefinition_t;
|
||||
|
||||
typedef struct blackboxMainFieldDefinition_t {
|
||||
#define BLACKBOX_DELTA_FIELD_HEADER_COUNT ARRAY_LENGTH(blackboxFieldHeaderNames)
|
||||
#define BLACKBOX_SIMPLE_FIELD_HEADER_COUNT (BLACKBOX_DELTA_FIELD_HEADER_COUNT - 2)
|
||||
#define BLACKBOX_CONDITIONAL_FIELD_HEADER_COUNT (BLACKBOX_DELTA_FIELD_HEADER_COUNT - 2)
|
||||
|
||||
typedef struct blackboxSimpleFieldDefinition_t {
|
||||
const char *name;
|
||||
int8_t fieldNameIndex;
|
||||
|
||||
uint8_t isSigned;
|
||||
uint8_t predict;
|
||||
uint8_t encode;
|
||||
} blackboxSimpleFieldDefinition_t;
|
||||
|
||||
typedef struct blackboxConditionalFieldDefinition_t {
|
||||
const char *name;
|
||||
int8_t fieldNameIndex;
|
||||
|
||||
uint8_t isSigned;
|
||||
uint8_t predict;
|
||||
uint8_t encode;
|
||||
uint8_t condition; // Decide whether this field should appear in the log
|
||||
} blackboxConditionalFieldDefinition_t;
|
||||
|
||||
typedef struct blackboxDeltaFieldDefinition_t {
|
||||
const char *name;
|
||||
int8_t fieldNameIndex;
|
||||
|
||||
|
|
@ -146,17 +153,7 @@ typedef struct blackboxMainFieldDefinition_t {
|
|||
uint8_t Ppredict;
|
||||
uint8_t Pencode;
|
||||
uint8_t condition; // Decide whether this field should appear in the log
|
||||
} blackboxMainFieldDefinition_t;
|
||||
|
||||
typedef struct blackboxGPSFieldDefinition_t {
|
||||
const char *name;
|
||||
int8_t fieldNameIndex;
|
||||
|
||||
uint8_t isSigned;
|
||||
uint8_t predict;
|
||||
uint8_t encode;
|
||||
uint8_t condition; // Decide whether this field should appear in the log
|
||||
} blackboxGPSFieldDefinition_t;
|
||||
} blackboxDeltaFieldDefinition_t;
|
||||
|
||||
/**
|
||||
* Description of the blackbox fields we are writing in our main intra (I) and inter (P) frames. This description is
|
||||
|
|
@ -164,7 +161,7 @@ typedef struct blackboxGPSFieldDefinition_t {
|
|||
* the encoding to happen, we have to encode the flight log ourselves in write{Inter|Intra}frame() in a way that matches
|
||||
* the encoding we've promised here).
|
||||
*/
|
||||
static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
|
||||
static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
|
||||
/* loopIteration doesn't appear in P frames since it always increments */
|
||||
{"loopIteration",-1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(INC), .Pencode = FLIGHT_LOG_FIELD_ENCODING_NULL, CONDITION(ALWAYS)},
|
||||
/* Time advances pretty steadily so the P-frame prediction is a straight line */
|
||||
|
|
@ -226,7 +223,7 @@ static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
|
|||
|
||||
#ifdef GPS
|
||||
// GPS position/vel frame
|
||||
static const blackboxGPSFieldDefinition_t blackboxGpsGFields[] = {
|
||||
static const blackboxConditionalFieldDefinition_t blackboxGpsGFields[] = {
|
||||
{"time", -1, UNSIGNED, PREDICT(LAST_MAIN_FRAME_TIME), ENCODING(UNSIGNED_VB), CONDITION(NOT_LOGGING_EVERY_FRAME)},
|
||||
{"GPS_numSat", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
|
||||
{"GPS_coord", 0, SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
|
||||
|
|
@ -237,28 +234,69 @@ static const blackboxGPSFieldDefinition_t blackboxGpsGFields[] = {
|
|||
};
|
||||
|
||||
// GPS home frame
|
||||
static const blackboxGPSFieldDefinition_t blackboxGpsHFields[] = {
|
||||
{"GPS_home", 0, SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
|
||||
{"GPS_home", 1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)}
|
||||
static const blackboxSimpleFieldDefinition_t blackboxGpsHFields[] = {
|
||||
{"GPS_home", 0, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
|
||||
{"GPS_home", 1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)}
|
||||
};
|
||||
#endif
|
||||
|
||||
// Rarely-updated fields
|
||||
static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
|
||||
{"flightModeFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
|
||||
{"stateFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
|
||||
{"failsafePhase", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}
|
||||
};
|
||||
|
||||
typedef enum BlackboxState {
|
||||
BLACKBOX_STATE_DISABLED = 0,
|
||||
BLACKBOX_STATE_STOPPED,
|
||||
BLACKBOX_STATE_SEND_HEADER,
|
||||
BLACKBOX_STATE_SEND_FIELDINFO,
|
||||
BLACKBOX_STATE_SEND_GPS_H_HEADERS,
|
||||
BLACKBOX_STATE_SEND_GPS_G_HEADERS,
|
||||
BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER,
|
||||
BLACKBOX_STATE_SEND_GPS_H_HEADER,
|
||||
BLACKBOX_STATE_SEND_GPS_G_HEADER,
|
||||
BLACKBOX_STATE_SEND_SLOW_HEADER,
|
||||
BLACKBOX_STATE_SEND_SYSINFO,
|
||||
BLACKBOX_STATE_RUNNING,
|
||||
BLACKBOX_STATE_SHUTTING_DOWN
|
||||
} BlackboxState;
|
||||
|
||||
typedef struct gpsState_t {
|
||||
typedef struct blackboxMainState_t {
|
||||
uint32_t time;
|
||||
|
||||
int32_t axisPID_P[XYZ_AXIS_COUNT], axisPID_I[XYZ_AXIS_COUNT], axisPID_D[XYZ_AXIS_COUNT];
|
||||
|
||||
int16_t rcCommand[4];
|
||||
int16_t gyroADC[XYZ_AXIS_COUNT];
|
||||
int16_t accSmooth[XYZ_AXIS_COUNT];
|
||||
int16_t motor[MAX_SUPPORTED_MOTORS];
|
||||
int16_t servo[MAX_SUPPORTED_SERVOS];
|
||||
|
||||
uint16_t vbatLatest;
|
||||
uint16_t amperageLatest;
|
||||
|
||||
#ifdef BARO
|
||||
int32_t BaroAlt;
|
||||
#endif
|
||||
#ifdef MAG
|
||||
int16_t magADC[XYZ_AXIS_COUNT];
|
||||
#endif
|
||||
#ifdef SONAR
|
||||
int32_t sonarRaw;
|
||||
#endif
|
||||
uint16_t rssi;
|
||||
} blackboxMainState_t;
|
||||
|
||||
typedef struct blackboxGpsState_t {
|
||||
int32_t GPS_home[2], GPS_coord[2];
|
||||
uint8_t GPS_numSat;
|
||||
} gpsState_t;
|
||||
} blackboxGpsState_t;
|
||||
|
||||
// This data is updated really infrequently:
|
||||
typedef struct blackboxSlowState_t {
|
||||
uint16_t flightModeFlags;
|
||||
uint8_t stateFlags;
|
||||
uint8_t failsafePhase;
|
||||
} __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()
|
||||
|
||||
//From mixer.c:
|
||||
extern uint8_t motorCount;
|
||||
|
|
@ -292,7 +330,8 @@ static uint32_t blackboxConditionCache;
|
|||
STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_NEVER, too_many_flight_log_conditions);
|
||||
|
||||
static uint32_t blackboxIteration;
|
||||
static uint32_t blackboxPFrameIndex, blackboxIFrameIndex;
|
||||
static uint16_t blackboxPFrameIndex, blackboxIFrameIndex;
|
||||
static uint16_t blackboxSlowFrameIterationTimer;
|
||||
|
||||
/*
|
||||
* We store voltages in I-frames relative to this, which was the voltage when the blackbox was activated.
|
||||
|
|
@ -301,13 +340,14 @@ static uint32_t blackboxPFrameIndex, blackboxIFrameIndex;
|
|||
*/
|
||||
static uint16_t vbatReference;
|
||||
|
||||
static gpsState_t gpsHistory;
|
||||
static blackboxGpsState_t gpsHistory;
|
||||
static blackboxSlowState_t slowHistory;
|
||||
|
||||
// Keep a history of length 2, plus a buffer for MW to store the new values into
|
||||
static blackboxValues_t blackboxHistoryRing[3];
|
||||
static blackboxMainState_t blackboxHistoryRing[3];
|
||||
|
||||
// These point into blackboxHistoryRing, use them to know where to store history of a given age (0, 1 or 2 generations old)
|
||||
static blackboxValues_t* blackboxHistory[3];
|
||||
static blackboxMainState_t* blackboxHistory[3];
|
||||
|
||||
static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
|
||||
{
|
||||
|
|
@ -403,9 +443,10 @@ static void blackboxSetState(BlackboxState newState)
|
|||
xmitState.headerIndex = 0;
|
||||
xmitState.u.startTime = millis();
|
||||
break;
|
||||
case BLACKBOX_STATE_SEND_FIELDINFO:
|
||||
case BLACKBOX_STATE_SEND_GPS_G_HEADERS:
|
||||
case BLACKBOX_STATE_SEND_GPS_H_HEADERS:
|
||||
case BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER:
|
||||
case BLACKBOX_STATE_SEND_GPS_G_HEADER:
|
||||
case BLACKBOX_STATE_SEND_GPS_H_HEADER:
|
||||
case BLACKBOX_STATE_SEND_SLOW_HEADER:
|
||||
xmitState.headerIndex = 0;
|
||||
xmitState.u.fieldIndex = -1;
|
||||
break;
|
||||
|
|
@ -416,6 +457,7 @@ static void blackboxSetState(BlackboxState newState)
|
|||
blackboxIteration = 0;
|
||||
blackboxPFrameIndex = 0;
|
||||
blackboxIFrameIndex = 0;
|
||||
blackboxSlowFrameIterationTimer = SLOW_FRAME_INTERVAL; //Force a slow frame to be written on the first iteration
|
||||
break;
|
||||
case BLACKBOX_STATE_SHUTTING_DOWN:
|
||||
xmitState.u.startTime = millis();
|
||||
|
|
@ -429,7 +471,7 @@ static void blackboxSetState(BlackboxState newState)
|
|||
|
||||
static void writeIntraframe(void)
|
||||
{
|
||||
blackboxValues_t *blackboxCurrent = blackboxHistory[0];
|
||||
blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
|
||||
int x;
|
||||
|
||||
blackboxWrite('I');
|
||||
|
|
@ -531,8 +573,8 @@ static void writeInterframe(void)
|
|||
int x;
|
||||
int32_t deltas[8];
|
||||
|
||||
blackboxValues_t *blackboxCurrent = blackboxHistory[0];
|
||||
blackboxValues_t *blackboxLast = blackboxHistory[1];
|
||||
blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
|
||||
blackboxMainState_t *blackboxLast = blackboxHistory[1];
|
||||
|
||||
blackboxWrite('P');
|
||||
|
||||
|
|
@ -638,6 +680,60 @@ static void writeInterframe(void)
|
|||
blackboxHistory[0] = ((blackboxHistory[0] - blackboxHistoryRing + 1) % 3) + blackboxHistoryRing;
|
||||
}
|
||||
|
||||
/* Write the contents of the global "slowHistory" to the log as an "S" frame. Because this data is logged so
|
||||
* infrequently, delta updates are not reasonable, so we log independent frames. */
|
||||
static void writeSlowFrame(void)
|
||||
{
|
||||
blackboxWrite('S');
|
||||
|
||||
blackboxWriteUnsignedVB(slowHistory.flightModeFlags);
|
||||
blackboxWriteUnsignedVB(slowHistory.stateFlags);
|
||||
blackboxWriteUnsignedVB(slowHistory.failsafePhase);
|
||||
|
||||
blackboxSlowFrameIterationTimer = 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Load rarely-changing values from the FC into the given structure
|
||||
*/
|
||||
static void loadSlowState(blackboxSlowState_t *slow)
|
||||
{
|
||||
slow->flightModeFlags = flightModeFlags;
|
||||
slow->stateFlags = stateFlags;
|
||||
slow->failsafePhase = failsafePhase();
|
||||
}
|
||||
|
||||
/**
|
||||
* If the data in the slow frame has changed, log a slow frame.
|
||||
*
|
||||
* If allowPeriodicWrite is true, the frame is also logged if it has been more than SLOW_FRAME_INTERVAL logging iterations
|
||||
* since the field was last logged.
|
||||
*/
|
||||
static void writeSlowFrameIfNeeded(bool allowPeriodicWrite)
|
||||
{
|
||||
// Write the slow frame peridocially so it can be recovered if we ever lose sync
|
||||
bool shouldWrite = allowPeriodicWrite && blackboxSlowFrameIterationTimer >= SLOW_FRAME_INTERVAL;
|
||||
|
||||
if (shouldWrite) {
|
||||
loadSlowState(&slowHistory);
|
||||
} else {
|
||||
blackboxSlowState_t newSlowState;
|
||||
|
||||
loadSlowState(&newSlowState);
|
||||
|
||||
// Only write a slow frame if it was different from the previous state
|
||||
if (memcmp(&newSlowState, &slowHistory, sizeof(slowHistory)) != 0) {
|
||||
// Use the new state as our new history
|
||||
memcpy(&slowHistory, &newSlowState, sizeof(slowHistory));
|
||||
shouldWrite = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (shouldWrite) {
|
||||
writeSlowFrame();
|
||||
}
|
||||
}
|
||||
|
||||
static int gcd(int num, int denom)
|
||||
{
|
||||
if (denom == 0) {
|
||||
|
|
@ -774,9 +870,9 @@ static void writeGPSFrame()
|
|||
/**
|
||||
* Fill the current state of the blackbox using values read from the flight controller
|
||||
*/
|
||||
static void loadBlackboxState(void)
|
||||
static void loadMainState(void)
|
||||
{
|
||||
blackboxValues_t *blackboxCurrent = blackboxHistory[0];
|
||||
blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
|
||||
int i;
|
||||
|
||||
blackboxCurrent->time = currentTime;
|
||||
|
|
@ -839,6 +935,9 @@ static void loadBlackboxState(void)
|
|||
* H Field I name:a,b,c
|
||||
* H Field I predictor:0,1,2
|
||||
*
|
||||
* For all header types, provide a "mainFrameChar" which is the name for the field and will be used to refer to it in the
|
||||
* header (e.g. P, I etc). For blackboxDeltaField_t fields, also provide deltaFrameChar, otherwise set this to zero.
|
||||
*
|
||||
* Provide an array 'conditions' of FlightLogFieldCondition enums if you want these conditions to decide whether a field
|
||||
* should be included or not. Otherwise provide NULL for this parameter and NULL for secondCondition.
|
||||
*
|
||||
|
|
@ -849,15 +948,22 @@ static void loadBlackboxState(void)
|
|||
*
|
||||
* Returns true if there is still header left to transmit (so call again to continue transmission).
|
||||
*/
|
||||
static bool sendFieldDefinition(const char * const *headerNames, unsigned int headerCount, const void *fieldDefinitions,
|
||||
static bool sendFieldDefinition(char mainFrameChar, char deltaFrameChar, const void *fieldDefinitions,
|
||||
const void *secondFieldDefinition, int fieldCount, const uint8_t *conditions, const uint8_t *secondCondition)
|
||||
{
|
||||
const blackboxFieldDefinition_t *def;
|
||||
int charsWritten;
|
||||
unsigned int headerCount;
|
||||
static bool needComma = false;
|
||||
size_t definitionStride = (char*) secondFieldDefinition - (char*) fieldDefinitions;
|
||||
size_t conditionsStride = (char*) secondCondition - (char*) conditions;
|
||||
|
||||
if (deltaFrameChar) {
|
||||
headerCount = BLACKBOX_DELTA_FIELD_HEADER_COUNT;
|
||||
} else {
|
||||
headerCount = BLACKBOX_SIMPLE_FIELD_HEADER_COUNT;
|
||||
}
|
||||
|
||||
/*
|
||||
* We're chunking up the header data so we don't exceed our datarate. So we'll be called multiple times to transmit
|
||||
* the whole header.
|
||||
|
|
@ -867,10 +973,7 @@ static bool sendFieldDefinition(const char * const *headerNames, unsigned int he
|
|||
return false; //Someone probably called us again after we had already completed transmission
|
||||
}
|
||||
|
||||
charsWritten = blackboxPrint("H Field ");
|
||||
charsWritten += blackboxPrint(headerNames[xmitState.headerIndex]);
|
||||
blackboxWrite(':');
|
||||
charsWritten++;
|
||||
charsWritten = blackboxPrintf("H Field %c %s:", xmitState.headerIndex >= BLACKBOX_SIMPLE_FIELD_HEADER_COUNT ? deltaFrameChar : mainFrameChar, blackboxFieldHeaderNames[xmitState.headerIndex]);
|
||||
|
||||
xmitState.u.fieldIndex++;
|
||||
needComma = false;
|
||||
|
|
@ -1051,6 +1154,80 @@ static void blackboxCheckAndLogArmingBeep()
|
|||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Use the user's num/denom settings to decide if the P-frame of the given index should be logged, allowing the user to control
|
||||
* the portion of logged loop iterations.
|
||||
*/
|
||||
static bool blackboxShouldLogPFrame(uint32_t pFrameIndex)
|
||||
{
|
||||
/* Adding a magic shift of "masterConfig.blackbox_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;
|
||||
}
|
||||
|
||||
// Called once every FC loop in order to log the current state
|
||||
static void blackboxLogIteration()
|
||||
{
|
||||
// Write a keyframe every BLACKBOX_I_INTERVAL frames so we can resynchronise upon missing frames
|
||||
if (blackboxPFrameIndex == 0) {
|
||||
/*
|
||||
* Don't log a slow frame if the slow data didn't change ("I" frames are already large enough without adding
|
||||
* an additional item to write at the same time)
|
||||
*/
|
||||
writeSlowFrameIfNeeded(false);
|
||||
|
||||
loadMainState();
|
||||
writeIntraframe();
|
||||
} else {
|
||||
blackboxCheckAndLogArmingBeep();
|
||||
|
||||
if (blackboxShouldLogPFrame(blackboxPFrameIndex)) {
|
||||
/*
|
||||
* We assume that slow frames are only interesting in that they aid the interpretation of the main data stream.
|
||||
* So only log slow frames during loop iterations where we log a main frame.
|
||||
*/
|
||||
writeSlowFrameIfNeeded(true);
|
||||
|
||||
loadMainState();
|
||||
writeInterframe();
|
||||
}
|
||||
#ifdef GPS
|
||||
if (feature(FEATURE_GPS)) {
|
||||
/*
|
||||
* If the GPS home point has been updated, or every 128 intraframes (~10 seconds), write the
|
||||
* GPS home position.
|
||||
*
|
||||
* We write it periodically so that if one Home Frame goes missing, the GPS coordinates can
|
||||
* still be interpreted correctly.
|
||||
*/
|
||||
if (GPS_home[0] != gpsHistory.GPS_home[0] || GPS_home[1] != gpsHistory.GPS_home[1]
|
||||
|| (blackboxPFrameIndex == BLACKBOX_I_INTERVAL / 2 && blackboxIFrameIndex % 128 == 0)) {
|
||||
|
||||
writeGPSHomeFrame();
|
||||
writeGPSFrame();
|
||||
} else if (GPS_numSat != gpsHistory.GPS_numSat || GPS_coord[0] != gpsHistory.GPS_coord[0]
|
||||
|| GPS_coord[1] != gpsHistory.GPS_coord[1]) {
|
||||
//We could check for velocity changes as well but I doubt it changes independent of position
|
||||
writeGPSFrame();
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
//Flush every iteration so that our runtime variance is minimized
|
||||
blackboxDeviceFlush();
|
||||
|
||||
blackboxSlowFrameIterationTimer++;
|
||||
blackboxIteration++;
|
||||
blackboxPFrameIndex++;
|
||||
|
||||
if (blackboxPFrameIndex == BLACKBOX_I_INTERVAL) {
|
||||
blackboxPFrameIndex = 0;
|
||||
blackboxIFrameIndex++;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Call each flight loop iteration to perform blackbox logging.
|
||||
*/
|
||||
|
|
@ -1072,38 +1249,45 @@ void handleBlackbox(void)
|
|||
}
|
||||
|
||||
if (blackboxHeader[xmitState.headerIndex] == '\0') {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_FIELDINFO);
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case BLACKBOX_STATE_SEND_FIELDINFO:
|
||||
case BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER:
|
||||
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
|
||||
if (!sendFieldDefinition(blackboxMainHeaderNames, ARRAY_LENGTH(blackboxMainHeaderNames), blackboxMainFields, blackboxMainFields + 1,
|
||||
ARRAY_LENGTH(blackboxMainFields), &blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
|
||||
if (!sendFieldDefinition('I', 'P', blackboxMainFields, blackboxMainFields + 1, ARRAY_LENGTH(blackboxMainFields),
|
||||
&blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
|
||||
#ifdef GPS
|
||||
if (feature(FEATURE_GPS)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADERS);
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADER);
|
||||
} else
|
||||
#endif
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SLOW_HEADER);
|
||||
}
|
||||
break;
|
||||
#ifdef GPS
|
||||
case BLACKBOX_STATE_SEND_GPS_H_HEADERS:
|
||||
case BLACKBOX_STATE_SEND_GPS_H_HEADER:
|
||||
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
|
||||
if (!sendFieldDefinition(blackboxGPSHHeaderNames, ARRAY_LENGTH(blackboxGPSHHeaderNames), blackboxGpsHFields, blackboxGpsHFields + 1,
|
||||
ARRAY_LENGTH(blackboxGpsHFields), &blackboxGpsHFields[0].condition, &blackboxGpsHFields[1].condition)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_GPS_G_HEADERS);
|
||||
if (!sendFieldDefinition('H', 0, blackboxGpsHFields, blackboxGpsHFields + 1, ARRAY_LENGTH(blackboxGpsHFields),
|
||||
NULL, NULL)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_GPS_G_HEADER);
|
||||
}
|
||||
break;
|
||||
case BLACKBOX_STATE_SEND_GPS_G_HEADERS:
|
||||
case BLACKBOX_STATE_SEND_GPS_G_HEADER:
|
||||
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
|
||||
if (!sendFieldDefinition(blackboxGPSGHeaderNames, ARRAY_LENGTH(blackboxGPSGHeaderNames), blackboxGpsGFields, blackboxGpsGFields + 1,
|
||||
ARRAY_LENGTH(blackboxGpsGFields), &blackboxGpsGFields[0].condition, &blackboxGpsGFields[1].condition)) {
|
||||
if (!sendFieldDefinition('G', 0, blackboxGpsGFields, blackboxGpsGFields + 1, ARRAY_LENGTH(blackboxGpsGFields),
|
||||
&blackboxGpsGFields[0].condition, &blackboxGpsGFields[1].condition)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SLOW_HEADER);
|
||||
}
|
||||
break;
|
||||
#endif
|
||||
case BLACKBOX_STATE_SEND_SLOW_HEADER:
|
||||
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
|
||||
if (!sendFieldDefinition('S', 0, blackboxSlowFields, blackboxSlowFields + 1, ARRAY_LENGTH(blackboxSlowFields),
|
||||
NULL, NULL)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
|
||||
}
|
||||
break;
|
||||
#endif
|
||||
case BLACKBOX_STATE_SEND_SYSINFO:
|
||||
//On entry of this state, xmitState.headerIndex is 0
|
||||
|
||||
|
|
@ -1115,51 +1299,7 @@ void handleBlackbox(void)
|
|||
case BLACKBOX_STATE_RUNNING:
|
||||
// On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
|
||||
|
||||
// Write a keyframe every BLACKBOX_I_INTERVAL frames so we can resynchronise upon missing frames
|
||||
if (blackboxPFrameIndex == 0) {
|
||||
// Copy current system values into the blackbox
|
||||
loadBlackboxState();
|
||||
writeIntraframe();
|
||||
} else {
|
||||
blackboxCheckAndLogArmingBeep();
|
||||
|
||||
/* Adding a magic shift of "masterConfig.blackbox_rate_num - 1" in here creates a better spread of
|
||||
* recorded / skipped frames when the I frame's position is considered:
|
||||
*/
|
||||
if ((blackboxPFrameIndex + masterConfig.blackbox_rate_num - 1) % masterConfig.blackbox_rate_denom < masterConfig.blackbox_rate_num) {
|
||||
loadBlackboxState();
|
||||
writeInterframe();
|
||||
}
|
||||
#ifdef GPS
|
||||
if (feature(FEATURE_GPS)) {
|
||||
/*
|
||||
* If the GPS home point has been updated, or every 128 intraframes (~10 seconds), write the
|
||||
* GPS home position.
|
||||
*
|
||||
* We write it periodically so that if one Home Frame goes missing, the GPS coordinates can
|
||||
* still be interpreted correctly.
|
||||
*/
|
||||
if (GPS_home[0] != gpsHistory.GPS_home[0] || GPS_home[1] != gpsHistory.GPS_home[1]
|
||||
|| (blackboxPFrameIndex == BLACKBOX_I_INTERVAL / 2 && blackboxIFrameIndex % 128 == 0)) {
|
||||
|
||||
writeGPSHomeFrame();
|
||||
writeGPSFrame();
|
||||
} else if (GPS_numSat != gpsHistory.GPS_numSat || GPS_coord[0] != gpsHistory.GPS_coord[0]
|
||||
|| GPS_coord[1] != gpsHistory.GPS_coord[1]) {
|
||||
//We could check for velocity changes as well but I doubt it changes independent of position
|
||||
writeGPSFrame();
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
blackboxIteration++;
|
||||
blackboxPFrameIndex++;
|
||||
|
||||
if (blackboxPFrameIndex == BLACKBOX_I_INTERVAL) {
|
||||
blackboxPFrameIndex = 0;
|
||||
blackboxIFrameIndex++;
|
||||
}
|
||||
blackboxLogIteration();
|
||||
break;
|
||||
case BLACKBOX_STATE_SHUTTING_DOWN:
|
||||
//On entry of this state, startTime is set and a flush is performed
|
||||
|
|
|
|||
|
|
@ -17,38 +17,8 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include "common/axis.h"
|
||||
#include "flight/mixer.h"
|
||||
#include "blackbox/blackbox_fielddefs.h"
|
||||
|
||||
typedef struct blackboxValues_t {
|
||||
uint32_t time;
|
||||
|
||||
int32_t axisPID_P[XYZ_AXIS_COUNT], axisPID_I[XYZ_AXIS_COUNT], axisPID_D[XYZ_AXIS_COUNT];
|
||||
|
||||
int16_t rcCommand[4];
|
||||
int16_t gyroADC[XYZ_AXIS_COUNT];
|
||||
int16_t accSmooth[XYZ_AXIS_COUNT];
|
||||
int16_t motor[MAX_SUPPORTED_MOTORS];
|
||||
int16_t servo[MAX_SUPPORTED_SERVOS];
|
||||
|
||||
uint16_t vbatLatest;
|
||||
uint16_t amperageLatest;
|
||||
|
||||
#ifdef BARO
|
||||
int32_t BaroAlt;
|
||||
#endif
|
||||
#ifdef MAG
|
||||
int16_t magADC[XYZ_AXIS_COUNT];
|
||||
#endif
|
||||
#ifdef SONAR
|
||||
int32_t sonarRaw;
|
||||
#endif
|
||||
uint16_t rssi;
|
||||
} blackboxValues_t;
|
||||
|
||||
void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data);
|
||||
|
||||
void initBlackbox(void);
|
||||
|
|
|
|||
|
|
@ -17,6 +17,8 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
typedef enum FlightLogFieldCondition {
|
||||
FLIGHT_LOG_FIELD_CONDITION_ALWAYS = 0,
|
||||
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1,
|
||||
|
|
|
|||
|
|
@ -105,6 +105,10 @@ regs Kusti, 23.10.2004
|
|||
#ifndef __TFP_PRINTF__
|
||||
#define __TFP_PRINTF__
|
||||
|
||||
#include <stdarg.h>
|
||||
|
||||
#include "drivers/serial.h"
|
||||
|
||||
void init_printf(void *putp, void (*putf) (void *, char));
|
||||
|
||||
int tfp_printf(const char *fmt, ...);
|
||||
|
|
|
|||
|
|
@ -171,6 +171,9 @@ static void resetPidProfile(pidProfile_t *pidProfile)
|
|||
pidProfile->D8[PIDVEL] = 1;
|
||||
|
||||
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
|
||||
pidProfile->dterm_cut_hz = 0;
|
||||
pidProfile->pterm_cut_hz = 0;
|
||||
pidProfile->gyro_cut_hz = 0;
|
||||
|
||||
pidProfile->P_f[ROLL] = 2.5f; // new PID with preliminary defaults test carefully
|
||||
pidProfile->I_f[ROLL] = 0.6f;
|
||||
|
|
|
|||
|
|
@ -372,7 +372,9 @@ bool mpu6050GyroDetect(const mpu6050Config_t *configToUse, gyro_t *gyro, uint16_
|
|||
// 16.4 dps/lsb scalefactor
|
||||
gyro->scale = 1.0f / 16.4f;
|
||||
|
||||
if (lpf >= 188)
|
||||
if (lpf == 256)
|
||||
mpuLowPassFilter = INV_FILTER_256HZ_NOLPF2;
|
||||
else if (lpf >= 188)
|
||||
mpuLowPassFilter = INV_FILTER_188HZ;
|
||||
else if (lpf >= 98)
|
||||
mpuLowPassFilter = INV_FILTER_98HZ;
|
||||
|
|
@ -382,8 +384,10 @@ bool mpu6050GyroDetect(const mpu6050Config_t *configToUse, gyro_t *gyro, uint16_
|
|||
mpuLowPassFilter = INV_FILTER_20HZ;
|
||||
else if (lpf >= 10)
|
||||
mpuLowPassFilter = INV_FILTER_10HZ;
|
||||
else
|
||||
else if (lpf > 0)
|
||||
mpuLowPassFilter = INV_FILTER_5HZ;
|
||||
else
|
||||
mpuLowPassFilter = INV_FILTER_256HZ_NOLPF2;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -275,33 +275,22 @@ bool mpu6000SpiGyroDetect(gyro_t *gyro, uint16_t lpf)
|
|||
int16_t data[3];
|
||||
|
||||
// default lpf is 42Hz
|
||||
switch (lpf) {
|
||||
case 256:
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_256HZ;
|
||||
break;
|
||||
case 188:
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_188HZ;
|
||||
break;
|
||||
case 98:
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_98HZ;
|
||||
break;
|
||||
default:
|
||||
case 42:
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
|
||||
break;
|
||||
case 20:
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_20HZ;
|
||||
break;
|
||||
case 10:
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_10HZ;
|
||||
break;
|
||||
case 5:
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_5HZ;
|
||||
break;
|
||||
case 0:
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_2100HZ_NOLPF;
|
||||
break;
|
||||
}
|
||||
if (lpf == 256)
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_256HZ;
|
||||
else if (lpf >= 188)
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_188HZ;
|
||||
else if (lpf >= 98)
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_98HZ;
|
||||
else if (lpf >= 42)
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
|
||||
else if (lpf >= 20)
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_20HZ;
|
||||
else if (lpf >= 10)
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_10HZ;
|
||||
else if (lpf > 0)
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_5HZ;
|
||||
else
|
||||
mpuLowPassFilter = BITS_DLPF_CFG_256HZ;
|
||||
|
||||
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
|
||||
|
||||
|
|
|
|||
|
|
@ -20,10 +20,10 @@
|
|||
#include <stdint.h>
|
||||
|
||||
typedef struct flashGeometry_t {
|
||||
uint8_t sectors; // Count of the number of erasable blocks on the device
|
||||
uint16_t sectors; // Count of the number of erasable blocks on the device
|
||||
|
||||
uint16_t pagesPerSector;
|
||||
uint16_t pageSize; // In bytes
|
||||
const uint16_t pageSize; // In bytes
|
||||
|
||||
uint32_t sectorSize; // This is just pagesPerSector * pageSize
|
||||
|
||||
|
|
|
|||
|
|
@ -42,6 +42,8 @@
|
|||
#define JEDEC_ID_MICRON_M25P16 0x202015
|
||||
#define JEDEC_ID_MICRON_N25Q064 0x20BA17
|
||||
#define JEDEC_ID_WINBOND_W25Q64 0xEF4017
|
||||
#define JEDEC_ID_MICRON_N25Q128 0x20ba18
|
||||
#define JEDEC_ID_WINBOND_W25Q128 0xEF4018
|
||||
|
||||
#define DISABLE_M25P16 GPIO_SetBits(M25P16_CS_GPIO, M25P16_CS_PIN)
|
||||
#define ENABLE_M25P16 GPIO_ResetBits(M25P16_CS_GPIO, M25P16_CS_PIN)
|
||||
|
|
@ -53,7 +55,7 @@
|
|||
#define SECTOR_ERASE_TIMEOUT_MILLIS 5000
|
||||
#define BULK_ERASE_TIMEOUT_MILLIS 21000
|
||||
|
||||
static flashGeometry_t geometry;
|
||||
static flashGeometry_t geometry = {.pageSize = M25P16_PAGESIZE};
|
||||
|
||||
/*
|
||||
* Whether we've performed an action that could have made the device busy for writes.
|
||||
|
|
@ -148,23 +150,27 @@ static bool m25p16_readIdentification()
|
|||
// Manufacturer, memory type, and capacity
|
||||
chipID = (in[1] << 16) | (in[2] << 8) | (in[3]);
|
||||
|
||||
// All supported chips use the same pagesize of 256 bytes
|
||||
|
||||
switch (chipID) {
|
||||
case JEDEC_ID_MICRON_M25P16:
|
||||
geometry.sectors = 32;
|
||||
geometry.pagesPerSector = 256;
|
||||
geometry.pageSize = 256;
|
||||
break;
|
||||
case JEDEC_ID_MICRON_N25Q064:
|
||||
case JEDEC_ID_WINBOND_W25Q64:
|
||||
geometry.sectors = 128;
|
||||
geometry.pagesPerSector = 256;
|
||||
geometry.pageSize = 256;
|
||||
break;
|
||||
case JEDEC_ID_MICRON_N25Q128:
|
||||
case JEDEC_ID_WINBOND_W25Q128:
|
||||
geometry.sectors = 256;
|
||||
geometry.pagesPerSector = 256;
|
||||
break;
|
||||
default:
|
||||
// Unsupported chip or not an SPI NOR flash
|
||||
geometry.sectors = 0;
|
||||
geometry.pagesPerSector = 0;
|
||||
geometry.pageSize = 0;
|
||||
|
||||
geometry.sectorSize = 0;
|
||||
geometry.totalSize = 0;
|
||||
|
|
|
|||
|
|
@ -20,6 +20,8 @@
|
|||
#include <stdint.h>
|
||||
#include "flash.h"
|
||||
|
||||
#define M25P16_PAGESIZE 256
|
||||
|
||||
bool m25p16_init();
|
||||
|
||||
void m25p16_eraseSector(uint32_t address);
|
||||
|
|
|
|||
|
|
@ -0,0 +1,27 @@
|
|||
/*
|
||||
* filter.c
|
||||
*
|
||||
* Created on: 24 jun. 2015
|
||||
* Author: borisb
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <stdlib.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "common/axis.h"
|
||||
|
||||
#include "flight/filter.h"
|
||||
|
||||
extern uint16_t cycleTime;
|
||||
|
||||
// PT1 Low Pass filter
|
||||
float filterApplyPt1(float input, filterStatePt1_t* state, uint8_t f_cut) {
|
||||
float dT = (float)cycleTime * 0.000001f;
|
||||
float RC= 1.0f / ( 2.0f * (float)M_PI * f_cut );
|
||||
|
||||
*state = *state + dT / (RC + dT) * (input - *state);
|
||||
|
||||
return *state;
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
/*
|
||||
* filter.h
|
||||
*
|
||||
* Created on: 24 jun. 2015
|
||||
* Author: borisb
|
||||
*/
|
||||
|
||||
|
||||
typedef float filterStatePt1_t;
|
||||
|
||||
float filterApplyPt1(float input, filterStatePt1_t* state, uint8_t f_cut);
|
||||
|
|
@ -42,6 +42,7 @@
|
|||
#include "flight/imu.h"
|
||||
#include "flight/navigation.h"
|
||||
#include "flight/autotune.h"
|
||||
#include "flight/filter.h"
|
||||
|
||||
#include "config/runtime_config.h"
|
||||
|
||||
|
|
@ -93,6 +94,8 @@ void pidResetErrorGyro(void)
|
|||
|
||||
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
|
||||
|
||||
static filterStatePt1_t PTermState[3], DTermState[3];
|
||||
|
||||
#ifdef AUTOTUNE
|
||||
bool shouldAutotune(void)
|
||||
{
|
||||
|
|
@ -184,6 +187,11 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
|
|||
|
||||
// -----calculate P component
|
||||
PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
|
||||
|
||||
// Pterm low pass
|
||||
if (pidProfile->pterm_cut_hz) {
|
||||
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz);
|
||||
}
|
||||
// -----calculate I component. Note that PIDweight is divided by 10, because it is simplified formule from the previous multiply by 10
|
||||
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * PIDweight[axis] / 10, -250.0f, 250.0f);
|
||||
|
||||
|
|
@ -202,6 +210,12 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
|
|||
deltaSum = delta1[axis] + delta2[axis] + delta;
|
||||
delta2[axis] = delta1[axis];
|
||||
delta1[axis] = delta;
|
||||
|
||||
// Dterm low pass
|
||||
if (pidProfile->dterm_cut_hz) {
|
||||
deltaSum = filterApplyPt1(deltaSum, &DTermState[axis], pidProfile->dterm_cut_hz);
|
||||
}
|
||||
|
||||
DTerm = constrainf((deltaSum / 3.0f) * pidProfile->D_f[axis] * PIDweight[axis] / 100, -300.0f, 300.0f);
|
||||
|
||||
// -----calculate total PID output
|
||||
|
|
@ -282,11 +296,23 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
|
|||
}
|
||||
|
||||
PTerm -= ((int32_t)gyroADC[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
|
||||
|
||||
// Pterm low pass
|
||||
if (pidProfile->pterm_cut_hz) {
|
||||
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz);
|
||||
}
|
||||
|
||||
delta = (gyroADC[axis] - lastGyro[axis]) / 4;
|
||||
lastGyro[axis] = gyroADC[axis];
|
||||
deltaSum = delta1[axis] + delta2[axis] + delta;
|
||||
delta2[axis] = delta1[axis];
|
||||
delta1[axis] = delta;
|
||||
|
||||
// Dterm low pass
|
||||
if (pidProfile->dterm_cut_hz) {
|
||||
deltaSum = filterApplyPt1(deltaSum, &DTermState[axis], pidProfile->dterm_cut_hz);
|
||||
}
|
||||
|
||||
DTerm = (deltaSum * dynD8[axis]) / 32;
|
||||
axisPID[axis] = PTerm + ITerm - DTerm;
|
||||
|
||||
|
|
@ -361,12 +387,22 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
|
|||
|
||||
PTerm -= ((int32_t)(gyroADC[axis] / 4) * dynP8[axis]) >> 6; // 32 bits is needed for calculation
|
||||
|
||||
// Pterm low pass
|
||||
if (pidProfile->pterm_cut_hz) {
|
||||
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz);
|
||||
}
|
||||
|
||||
delta = (gyroADC[axis] - lastGyro[axis]) / 4; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
|
||||
lastGyro[axis] = gyroADC[axis];
|
||||
DTerm = delta1[axis] + delta2[axis] + delta;
|
||||
delta2[axis] = delta1[axis];
|
||||
delta1[axis] = delta;
|
||||
|
||||
// Dterm low pass
|
||||
if (pidProfile->dterm_cut_hz) {
|
||||
DTerm = filterApplyPt1(DTerm, &DTermState[axis], pidProfile->dterm_cut_hz);
|
||||
}
|
||||
|
||||
DTerm = ((int32_t)DTerm * dynD8[axis]) >> 5; // 32 bits is needed for calculation
|
||||
|
||||
axisPID[axis] = PTerm + ITerm - DTerm;
|
||||
|
|
@ -474,11 +510,22 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
|
|||
}
|
||||
|
||||
PTerm -= ((int32_t)gyroADC[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
|
||||
|
||||
// Pterm low pass
|
||||
if (pidProfile->pterm_cut_hz) {
|
||||
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz);
|
||||
}
|
||||
delta = (gyroADC[axis] - lastGyro[axis]) / 4;
|
||||
lastGyro[axis] = gyroADC[axis];
|
||||
deltaSum = delta1[axis] + delta2[axis] + delta;
|
||||
delta2[axis] = delta1[axis];
|
||||
delta1[axis] = delta;
|
||||
|
||||
// Dterm low pass
|
||||
if (pidProfile->dterm_cut_hz) {
|
||||
deltaSum = filterApplyPt1(deltaSum, &DTermState[axis], pidProfile->dterm_cut_hz);
|
||||
}
|
||||
|
||||
DTerm = (deltaSum * dynD8[axis]) / 32;
|
||||
axisPID[axis] = PTerm + ITerm - DTerm;
|
||||
|
||||
|
|
@ -529,8 +576,7 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
|
|||
uint8_t axis;
|
||||
float ACCDeltaTimeINS, FLOATcycleTime, Mwii3msTimescale;
|
||||
|
||||
// MainDptCut = RCconstPI / (float)cfg.maincuthz; // Initialize Cut off frequencies for mainpid D
|
||||
MainDptCut = RCconstPI / MAIN_CUT_HZ; // maincuthz (default 12Hz, Range 1-50Hz), hardcoded for now
|
||||
MainDptCut = RCconstPI / constrain(pidProfile->dterm_cut_hz, 1, 50); // maincuthz (default 0 (disabled), Range 1-50Hz)
|
||||
FLOATcycleTime = (float)constrain(cycleTime, 1, 100000); // 1us - 100ms
|
||||
ACCDeltaTimeINS = FLOATcycleTime * 0.000001f; // ACCDeltaTimeINS is in seconds now
|
||||
RCfactor = ACCDeltaTimeINS / (MainDptCut + ACCDeltaTimeINS); // used for pt1 element
|
||||
|
|
@ -585,6 +631,12 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
|
|||
}
|
||||
|
||||
PTerm -= gyroADCQuant * dynP8[axis] * 0.003f;
|
||||
|
||||
// Pterm low pass
|
||||
if (pidProfile->pterm_cut_hz) {
|
||||
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz);
|
||||
}
|
||||
|
||||
delta = (gyroADCQuant - lastGyro[axis]) / ACCDeltaTimeINS;
|
||||
|
||||
lastGyro[axis] = gyroADCQuant;
|
||||
|
|
@ -631,6 +683,12 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
|
|||
PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
|
||||
}
|
||||
}
|
||||
|
||||
// Pterm low pass
|
||||
if (pidProfile->pterm_cut_hz) {
|
||||
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz);
|
||||
}
|
||||
|
||||
axisPID[FD_YAW] = PTerm + ITerm;
|
||||
axisPID[FD_YAW] = lrintf(axisPID[FD_YAW]); // Round up result.
|
||||
|
||||
|
|
@ -720,6 +778,12 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
|
|||
|
||||
// -----calculate P component
|
||||
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
|
||||
|
||||
// Pterm low pass
|
||||
if (pidProfile->pterm_cut_hz) {
|
||||
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz);
|
||||
}
|
||||
|
||||
// -----calculate I component
|
||||
// there should be no division before accumulating the error to integrator, because the precision would be reduced.
|
||||
// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
|
||||
|
|
@ -743,6 +807,12 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
|
|||
deltaSum = delta1[axis] + delta2[axis] + delta;
|
||||
delta2[axis] = delta1[axis];
|
||||
delta1[axis] = delta;
|
||||
|
||||
// Dterm delta low pass
|
||||
if (pidProfile->dterm_cut_hz) {
|
||||
deltaSum = filterApplyPt1(deltaSum, &DTermState[axis], pidProfile->dterm_cut_hz);
|
||||
}
|
||||
|
||||
DTerm = (deltaSum * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
|
||||
|
||||
// -----calculate total PID output
|
||||
|
|
|
|||
|
|
@ -19,7 +19,6 @@
|
|||
|
||||
#define GYRO_I_MAX 256 // Gyro I limiter
|
||||
#define RCconstPI 0.159154943092f // 0.5f / M_PI;
|
||||
#define MAIN_CUT_HZ 12.0f // (default 12Hz, Range 1-50Hz)
|
||||
#define OLD_YAW 0 // [0/1] 0 = MultiWii 2.3 yaw, 1 = older yaw.
|
||||
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
|
||||
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
|
||||
|
|
@ -63,6 +62,9 @@ typedef struct pidProfile_s {
|
|||
float H_level;
|
||||
uint8_t H_sensitivity;
|
||||
uint16_t yaw_p_limit; // set P term limit (fixed value was 300)
|
||||
uint8_t dterm_cut_hz; // (default 17Hz, Range 1-50Hz) Used for PT1 element in PID1, PID2 and PID5
|
||||
uint8_t pterm_cut_hz; // Used for fitlering Pterm noise on noisy frames
|
||||
uint8_t gyro_cut_hz; // Used for soft gyro filtering
|
||||
} pidProfile_t;
|
||||
|
||||
#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
|
||||
|
|
@ -75,4 +77,3 @@ void pidSetController(pidControllerType_e type);
|
|||
void pidResetErrorAngle(void);
|
||||
void pidResetErrorGyro(void);
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -49,15 +49,10 @@ static uint8_t bufferHead = 0, bufferTail = 0;
|
|||
|
||||
// The position of the buffer's tail in the overall flash address space:
|
||||
static uint32_t tailAddress = 0;
|
||||
// The index of the tail within the flash page it is inside
|
||||
static uint16_t tailIndexInPage = 0;
|
||||
|
||||
static bool shouldFlush = false;
|
||||
|
||||
static void flashfsClearBuffer()
|
||||
{
|
||||
bufferTail = bufferHead = 0;
|
||||
shouldFlush = false;
|
||||
}
|
||||
|
||||
static bool flashfsBufferIsEmpty()
|
||||
|
|
@ -68,10 +63,6 @@ static bool flashfsBufferIsEmpty()
|
|||
static void flashfsSetTailAddress(uint32_t address)
|
||||
{
|
||||
tailAddress = address;
|
||||
|
||||
if (m25p16_getGeometry()->pageSize > 0) {
|
||||
tailIndexInPage = tailAddress % m25p16_getGeometry()->pageSize;
|
||||
}
|
||||
}
|
||||
|
||||
void flashfsEraseCompletely()
|
||||
|
|
@ -157,8 +148,6 @@ static uint32_t flashfsTransmitBufferUsed()
|
|||
*/
|
||||
static uint32_t flashfsWriteBuffers(uint8_t const **buffers, uint32_t *bufferSizes, int bufferCount, bool sync)
|
||||
{
|
||||
const flashGeometry_t *geometry = m25p16_getGeometry();
|
||||
|
||||
uint32_t bytesTotal = 0;
|
||||
|
||||
int i;
|
||||
|
|
@ -181,8 +170,8 @@ static uint32_t flashfsWriteBuffers(uint8_t const **buffers, uint32_t *bufferSiz
|
|||
* Each page needs to be saved in a separate program operation, so
|
||||
* if we would cross a page boundary, only write up to the boundary in this iteration:
|
||||
*/
|
||||
if (tailIndexInPage + bytesTotalRemaining > geometry->pageSize) {
|
||||
bytesTotalThisIteration = geometry->pageSize - tailIndexInPage;
|
||||
if (tailAddress % M25P16_PAGESIZE + bytesTotalRemaining > M25P16_PAGESIZE) {
|
||||
bytesTotalThisIteration = M25P16_PAGESIZE - tailAddress % M25P16_PAGESIZE;
|
||||
} else {
|
||||
bytesTotalThisIteration = bytesTotalRemaining;
|
||||
}
|
||||
|
|
@ -293,15 +282,14 @@ static void flashfsAdvanceTailInBuffer(uint32_t delta)
|
|||
}
|
||||
|
||||
/**
|
||||
* If the flash is ready to accept writes, flush the buffer to it, otherwise schedule
|
||||
* a flush for later and return immediately.
|
||||
* If the flash is ready to accept writes, flush the buffer to it.
|
||||
*
|
||||
* Returns true if all data in the buffer has been flushed to the device.
|
||||
* Returns true if all data in the buffer has been flushed to the device, or false if
|
||||
* there is still data to be written (call flush again later).
|
||||
*/
|
||||
bool flashfsFlushAsync()
|
||||
{
|
||||
if (flashfsBufferIsEmpty()) {
|
||||
shouldFlush = false;
|
||||
return true; // Nothing to flush
|
||||
}
|
||||
|
||||
|
|
@ -313,8 +301,6 @@ bool flashfsFlushAsync()
|
|||
bytesWritten = flashfsWriteBuffers(buffers, bufferSizes, 2, false);
|
||||
flashfsAdvanceTailInBuffer(bytesWritten);
|
||||
|
||||
shouldFlush = !flashfsBufferIsEmpty();
|
||||
|
||||
return flashfsBufferIsEmpty();
|
||||
}
|
||||
|
||||
|
|
@ -327,7 +313,6 @@ bool flashfsFlushAsync()
|
|||
void flashfsFlushSync()
|
||||
{
|
||||
if (flashfsBufferIsEmpty()) {
|
||||
shouldFlush = false;
|
||||
return; // Nothing to flush
|
||||
}
|
||||
|
||||
|
|
@ -366,7 +351,7 @@ void flashfsWriteByte(uint8_t byte)
|
|||
bufferHead = 0;
|
||||
}
|
||||
|
||||
if (shouldFlush || flashfsTransmitBufferUsed() >= FLASHFS_WRITE_BUFFER_AUTO_FLUSH_LEN) {
|
||||
if (flashfsTransmitBufferUsed() >= FLASHFS_WRITE_BUFFER_AUTO_FLUSH_LEN) {
|
||||
flashfsFlushAsync();
|
||||
}
|
||||
}
|
||||
|
|
@ -393,7 +378,7 @@ void flashfsWrite(const uint8_t *data, unsigned int len, bool sync)
|
|||
* Would writing this data to our buffer cause our buffer to reach the flush threshold? If so try to write through
|
||||
* to the flash now
|
||||
*/
|
||||
if (shouldFlush || bufferSizes[0] + bufferSizes[1] + bufferSizes[2] >= FLASHFS_WRITE_BUFFER_AUTO_FLUSH_LEN) {
|
||||
if (bufferSizes[0] + bufferSizes[1] + bufferSizes[2] >= FLASHFS_WRITE_BUFFER_AUTO_FLUSH_LEN) {
|
||||
uint32_t bytesWritten;
|
||||
|
||||
// Attempt to write all three buffers through to the flash asynchronously
|
||||
|
|
|
|||
|
|
@ -486,6 +486,9 @@ const clivalue_t valueTable[] = {
|
|||
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], 0, 200 },
|
||||
|
||||
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX },
|
||||
{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, 0, 200 },
|
||||
{ "pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pterm_cut_hz, 0, 200 },
|
||||
{ "gyro_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_cut_hz, 0, 200 },
|
||||
|
||||
#ifdef BLACKBOX
|
||||
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, 1, 32 },
|
||||
|
|
|
|||
|
|
@ -72,6 +72,7 @@
|
|||
#include "flight/failsafe.h"
|
||||
#include "flight/autotune.h"
|
||||
#include "flight/navigation.h"
|
||||
#include "flight/filter.h"
|
||||
|
||||
|
||||
#include "config/runtime_config.h"
|
||||
|
|
@ -740,6 +741,16 @@ void loop(void)
|
|||
cycleTime = (int32_t)(currentTime - previousTime);
|
||||
previousTime = currentTime;
|
||||
|
||||
// Gyro Low Pass
|
||||
if (currentProfile->pidProfile.gyro_cut_hz) {
|
||||
int axis;
|
||||
static filterStatePt1_t gyroADCState[XYZ_AXIS_COUNT];
|
||||
|
||||
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
|
||||
gyroADC[axis] = filterApplyPt1(gyroADC[axis], &gyroADCState[axis], currentProfile->pidProfile.gyro_cut_hz);
|
||||
}
|
||||
}
|
||||
|
||||
annexCode();
|
||||
#if defined(BARO) || defined(SONAR)
|
||||
haveProcessedAnnexCodeOnce = true;
|
||||
|
|
|
|||
|
|
@ -4,7 +4,7 @@
|
|||
* @author MCD Application Team
|
||||
* @version V3.5.0
|
||||
* @date 11-March-2011
|
||||
* @brief STM32F10x Medium Density Devices vector table for Atollic toolchain.
|
||||
* @brief STM32F10x High Density Devices vector table for Atollic toolchain.
|
||||
* This module performs:
|
||||
* - Set the initial SP
|
||||
* - Set the initial PC == Reset_Handler,
|
||||
|
|
@ -47,8 +47,9 @@ defined in linker script */
|
|||
.word _sbss
|
||||
/* end address for the .bss section. defined in linker script */
|
||||
.word _ebss
|
||||
/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
|
||||
|
||||
.equ BootRAM, 0xF108F85F
|
||||
.equ BootRAM, 0xF1E0F85F
|
||||
/**
|
||||
* @brief This is the code that gets called when the processor first
|
||||
* starts execution following a reset event. Only the absolutely
|
||||
|
|
@ -230,16 +231,69 @@ g_pfnVectors:
|
|||
.word EXTI15_10_IRQHandler
|
||||
.word RTCAlarm_IRQHandler
|
||||
.word USBWakeUp_IRQHandler
|
||||
.word 0
|
||||
.word TIM8_BRK_IRQHandler
|
||||
.word TIM8_UP_IRQHandler
|
||||
.word TIM8_TRG_COM_IRQHandler
|
||||
.word TIM8_CC_IRQHandler
|
||||
.word ADC3_IRQHandler
|
||||
.word FSMC_IRQHandler
|
||||
.word SDIO_IRQHandler
|
||||
.word TIM5_IRQHandler
|
||||
.word SPI3_IRQHandler
|
||||
.word UART4_IRQHandler
|
||||
.word UART5_IRQHandler
|
||||
.word TIM6_IRQHandler
|
||||
.word TIM7_IRQHandler
|
||||
.word DMA2_Channel1_IRQHandler
|
||||
.word DMA2_Channel2_IRQHandler
|
||||
.word DMA2_Channel3_IRQHandler
|
||||
.word DMA2_Channel4_5_IRQHandler
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word BootRAM /* @0x108. This is for boot in RAM mode for
|
||||
STM32F10x Medium Density devices. */
|
||||
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word BootRAM /* @0x1E0. This is for boot in RAM mode for
|
||||
STM32F10x High Density devices. */
|
||||
/*******************************************************************************
|
||||
*
|
||||
* Provide weak aliases for each Exception handler to the Default_Handler.
|
||||
|
|
@ -404,5 +458,56 @@ g_pfnVectors:
|
|||
.weak USBWakeUp_IRQHandler
|
||||
.thumb_set USBWakeUp_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM8_BRK_IRQHandler
|
||||
.thumb_set TIM8_BRK_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM8_UP_IRQHandler
|
||||
.thumb_set TIM8_UP_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM8_TRG_COM_IRQHandler
|
||||
.thumb_set TIM8_TRG_COM_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM8_CC_IRQHandler
|
||||
.thumb_set TIM8_CC_IRQHandler,Default_Handler
|
||||
|
||||
.weak ADC3_IRQHandler
|
||||
.thumb_set ADC3_IRQHandler,Default_Handler
|
||||
|
||||
.weak FSMC_IRQHandler
|
||||
.thumb_set FSMC_IRQHandler,Default_Handler
|
||||
|
||||
.weak SDIO_IRQHandler
|
||||
.thumb_set SDIO_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM5_IRQHandler
|
||||
.thumb_set TIM5_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI3_IRQHandler
|
||||
.thumb_set SPI3_IRQHandler,Default_Handler
|
||||
|
||||
.weak UART4_IRQHandler
|
||||
.thumb_set UART4_IRQHandler,Default_Handler
|
||||
|
||||
.weak UART5_IRQHandler
|
||||
.thumb_set UART5_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM6_IRQHandler
|
||||
.thumb_set TIM6_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM7_IRQHandler
|
||||
.thumb_set TIM7_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Channel1_IRQHandler
|
||||
.thumb_set DMA2_Channel1_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Channel2_IRQHandler
|
||||
.thumb_set DMA2_Channel2_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Channel3_IRQHandler
|
||||
.thumb_set DMA2_Channel3_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Channel4_5_IRQHandler
|
||||
.thumb_set DMA2_Channel4_5_IRQHandler,Default_Handler
|
||||
|
||||
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue