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atbetaflight
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Merge branch 'timkostka-master'

This commit is contained in:
Dominic Clifton 2015-03-10 00:00:58 +01:00
parent e40a3663d2 4a12d00d1e
commit d94d2dd026
10 changed files with 54 additions and 23 deletions
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1
docs/Cli.md
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@ -118,6 +118,7 @@ Re-apply any new defaults as desired.
| disarm_kill_switch | Enabled by default. Disarms the motors independently of throttle value. Setting to 0 reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel. | 0 | 1 | 1 | Master | UINT8 |
| auto_disarm_delay | | 0 | 60 | 5 | Master | UINT8 |
| small_angle | If the copter tilt angle exceed this value the copter will refuse to arm. default is 25°. | 0 | 180 | 25 | Master | UINT8 |
| pid_at_min_throttle | If enabled, the copter will process the pid algorithm at minimum throttle. | 0 | 1 | 0 | Master | UINT8 |
| flaps_speed | | 0 | 100 | 0 | Master | UINT8 |
| fixedwing_althold_dir | | -1 | 1 | 1 | Master | INT8 |
| reboot_character | | 48 | 126 | 82 | Master | UINT8 |

21
src/main/config/config.c
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@ -119,7 +119,7 @@ profile_t *currentProfile;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 93;
static const uint8_t EEPROM_CONF_VERSION = 94;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -293,6 +293,16 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
rcControlsConfig->alt_hold_fast_change = 1;
}
void resetMixerConfig(mixerConfig_t *mixerConfig) {
mixerConfig->pid_at_min_throttle = 1;
mixerConfig->yaw_direction = 1;
#ifdef USE_SERVOS
mixerConfig->tri_unarmed_servo = 1;
mixerConfig->servo_lowpass_freq = 400;
mixerConfig->servo_lowpass_enable = 0;
#endif
}
uint8_t getCurrentProfile(void)
{
return masterConfig.current_profile_index;
@ -379,6 +389,8 @@ static void resetConf(void)
masterConfig.auto_disarm_delay = 5;
masterConfig.small_angle = 25;
resetMixerConfig(&masterConfig.mixerConfig);
masterConfig.airplaneConfig.flaps_speed = 0;
masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
@ -450,11 +462,6 @@ static void resetConf(void)
currentProfile->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
}
currentProfile->mixerConfig.yaw_direction = 1;
currentProfile->mixerConfig.tri_unarmed_servo = 1;
currentProfile->mixerConfig.servo_lowpass_freq = 400;
currentProfile->mixerConfig.servo_lowpass_enable = 0;
// gimbal
currentProfile->gimbalConfig.gimbal_flags = GIMBAL_NORMAL;
#endif
@ -646,7 +653,7 @@ void activateConfig(void)
#endif
&masterConfig.flight3DConfig,
&masterConfig.escAndServoConfig,
&currentProfile->mixerConfig,
&masterConfig.mixerConfig,
&masterConfig.airplaneConfig,
&masterConfig.rxConfig
);

3
src/main/config/config_master.h
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@ -66,6 +66,9 @@ typedef struct master_t {
uint8_t auto_disarm_delay; // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
uint8_t small_angle;
// mixer-related configuration
mixerConfig_t mixerConfig;
airplaneConfig_t airplaneConfig;
#ifdef GPS

3
src/main/config/config_profile.h
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@ -57,9 +57,6 @@ typedef struct profile_s {
// Failsafe related configuration
failsafeConfig_t failsafeConfig;
// mixer-related configuration
mixerConfig_t mixerConfig;
#ifdef GPS
gpsProfile_t gpsProfile;
#endif

15
src/main/flight/mixer.c
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@ -33,6 +33,7 @@
#include "drivers/pwm_mapping.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/system.h"
#include "rx/rx.h"
@ -671,8 +672,12 @@ void mixTable(void)
if (ARMING_FLAG(ARMED)) {
// Find the maximum motor output.
int16_t maxMotor = motor[0];
for (i = 1; i < motorCount; i++) {
// If one motor is above the maxthrottle threshold, we reduce the value
// of all motors by the amount of overshoot. That way, only one motor
// is at max and the relative power of each motor is preserved.
if (motor[i] > maxMotor) {
maxMotor = motor[i];
}
@ -691,16 +696,18 @@ void mixTable(void)
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, flight3DConfig->deadband3d_low);
}
} else {
// If we're at minimum throttle and FEATURE_MOTOR_STOP enabled,
// do not spin the motors.
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
if ((rcData[THROTTLE]) < rxConfig->mincheck) {
if (!feature(FEATURE_MOTOR_STOP))
motor[i] = escAndServoConfig->minthrottle;
else
if (feature(FEATURE_MOTOR_STOP)) {
motor[i] = escAndServoConfig->mincommand;
} else if (mixerConfig->pid_at_min_throttle == 0) {
motor[i] = escAndServoConfig->minthrottle;
}
}
}
}
} else {
for (i = 0; i < motorCount; i++) {
motor[i] = motor_disarmed[i];

1
src/main/flight/mixer.h
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@ -64,6 +64,7 @@ typedef struct mixer_t {
} mixer_t;
typedef struct mixerConfig_s {
uint8_t pid_at_min_throttle; // when enabled pids are used at minimum throttle
int8_t yaw_direction;
#ifdef USE_SERVOS
uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed

3
src/main/io/rc_controls.c
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@ -58,17 +58,20 @@
static escAndServoConfig_t *escAndServoConfig;
static pidProfile_t *pidProfile;
// true if arming is done via the sticks (as opposed to a switch)
static bool isUsingSticksToArm = true;
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
bool isUsingSticksForArming(void)
{
return isUsingSticksToArm;
}
bool areSticksInApModePosition(uint16_t ap_mode)
{
return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;

2
src/main/io/rc_controls.h
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@ -136,6 +136,8 @@ typedef struct rcControlsConfig_s {
uint8_t alt_hold_fast_change; // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_deadband; when enabled, altitude changes slowly proportional to stick movement
} rcControlsConfig_t;
bool areUsingSticksToArm(void);
bool areSticksInApModePosition(uint16_t ap_mode);
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch);

13
src/main/io/serial_cli.c
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@ -254,7 +254,7 @@ const clivalue_t valueTable[] = {
{ "min_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.mincheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "max_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.maxcheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "rssi_channel", VAR_INT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_channel, 0, MAX_SUPPORTED_RC_CHANNEL_COUNT },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_scale, RSSI_SCALE_MIN, RSSI_SCALE_MAX },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_scale, RSSI_SCALE_MIN, RSSI_SCALE_MAX },
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE, &masterConfig.inputFilteringMode, 0, 1 },
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
@ -381,12 +381,15 @@ const clivalue_t valueTable[] = {
{ "throttle_correction_angle", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_angle, 1, 900 },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, -1, 1 },
{ "yaw_direction", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.yaw_direction, -1, 1 },
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.mixerConfig.pid_at_min_throttle, 0, 1 },
{ "yaw_direction", VAR_INT8 | PROFILE_VALUE, &masterConfig.mixerConfig.yaw_direction, -1, 1 },
#ifdef USE_SERVOS
{ "tri_unarmed_servo", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.tri_unarmed_servo, 0, 1 },
{ "servo_lowpass_freq", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_freq, 10, 400},
{ "servo_lowpass_enable", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_enable, 0, 1 },
{ "tri_unarmed_servo", VAR_INT8 | PROFILE_VALUE, &masterConfig.mixerConfig.tri_unarmed_servo, 0, 1 },
{ "servo_lowpass_freq", VAR_INT16 | PROFILE_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, 10, 400},
{ "servo_lowpass_enable", VAR_INT8 | PROFILE_VALUE, &masterConfig.mixerConfig.servo_lowpass_enable, 0, 1 },
#endif
{ "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 },
{ "rc_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcRate8, 0, 250 },
{ "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, 0, 100 },

15
src/main/mw.c
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@ -525,12 +525,10 @@ void processRx(void)
}
// When armed and motors aren't spinning, disarm board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (
ARMING_FLAG(ARMED)
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING)
&& masterConfig.auto_disarm_delay != 0
&& isUsingSticksForArming()
) {
&& isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if ((int32_t)(disarmAt - millis()) < 0) // delay is over
mwDisarm();
@ -702,6 +700,15 @@ void loop(void)
}
#endif
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
if (isUsingSticksForArming() &&
rcData[THROTTLE] <= masterConfig.rxConfig.mincheck) {
rcCommand[YAW] = 0;
}
if (currentProfile->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile->throttle_correction_value);
}