Merge branch 'timkostka-master'

docs/Cli.md

@@ -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    |

src/main/config/config.c

@@ -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
     );

src/main/config/config_master.h

@@ -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

src/main/config/config_profile.h

@@ -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

src/main/flight/mixer.c

@@ -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))
+                    if (feature(FEATURE_MOTOR_STOP)) {
-                        motor[i] = escAndServoConfig->minthrottle;
-                    else
                         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];

src/main/flight/mixer.h

@@ -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

src/main/io/rc_controls.c

@@ -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;

src/main/io/rc_controls.h

@@ -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);

src/main/io/serial_cli.c

@@ -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 },
+    { "tri_unarmed_servo",          VAR_INT8   | PROFILE_VALUE, &masterConfig.mixerConfig.tri_unarmed_servo, 0, 1 },
-    { "servo_lowpass_freq",         VAR_INT16  | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_freq, 10, 400},
+    { "servo_lowpass_freq",         VAR_INT16  | PROFILE_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, 10, 400},
-    { "servo_lowpass_enable",       VAR_INT8   | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_enable, 0, 1 },
+    { "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 },

src/main/mw.c

@@ -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 (
+    if (ARMING_FLAG(ARMED)
-        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);
         }