diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 09e27045ca6..111a0cc35c0 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -100,7 +100,7 @@ jobs: - name: Build SITL run: | mkdir -p build_SITL && cd build_SITL - cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. + cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -G Ninja .. ninja - name: Upload artifacts diff --git a/.vscode/tasks.json b/.vscode/tasks.json index 3ca90b787d3..7be2cd3d176 100755 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -4,9 +4,9 @@ "version": "2.0.0", "tasks": [ { - "label": "Build Matek F722-SE", + "label": "Build AOCODARCH7DUAL", "type": "shell", - "command": "make MATEKF722SE", + "command": "make AOCODARCH7DUAL", "group": "build", "problemMatcher": [], "options": { @@ -14,9 +14,9 @@ } }, { - "label": "Build Matek F722", + "label": "Build AOCODARCH7DUAL", "type": "shell", - "command": "make MATEKF722", + "command": "make AOCODARCH7DUAL", "group": { "kind": "build", "isDefault": true diff --git a/build_docs.sh b/build_docs.sh index 70c2cc45cfb..9711d8775cf 100755 --- a/build_docs.sh +++ b/build_docs.sh @@ -21,7 +21,6 @@ doc_files=( 'Buzzer.md' 'Sonar.md' 'Profiles.md' - 'Modes.md' 'Inflight Adjustments.md' 'Controls.md' 'Gtune.md' @@ -49,7 +48,7 @@ if which gimli >/dev/null; then done rm -f ${filename}.pdf gimli -f ${filename}.md -stylesheet override.css \ - -w '--toc --title "Cleanflight Manual" --footer-right "[page]" --toc-depth 1' + -w '--toc --title "INAV Manual" --footer-right "[page]" --toc-depth 1' rm ${filename}.md popd >/dev/null else diff --git a/cmake/arm-none-eabi-checks.cmake b/cmake/arm-none-eabi-checks.cmake index 200065fdd41..f31a26c3e3a 100644 --- a/cmake/arm-none-eabi-checks.cmake +++ b/cmake/arm-none-eabi-checks.cmake @@ -47,7 +47,7 @@ function(arm_none_eabi_gcc_install) host_uname_machine(machine) if(machine STREQUAL "x86_64" OR machine STREQUAL "amd64") set(dist ${arm_none_eabi_darwin_amd64}) - elseif(machine STREQUAL "aarch64") + elseif(machine STREQUAL "aarch64" OR machine STREQUAL "arm64") set(dist ${arm_none_eabi_darwin_aarch64}) else() message("-- no precompiled ${arm_none_eabi_triplet} toolchain for machine ${machine}") diff --git a/docs/API/MSP_extensions.md b/docs/API/MSP_extensions.md index 357c6239e87..2ac8dd989f9 100644 --- a/docs/API/MSP_extensions.md +++ b/docs/API/MSP_extensions.md @@ -23,7 +23,7 @@ Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the | Data | Type | Notes | |------|------|-------| -| permanentId | uint8 | See Modes.md for a definition of the permanent ids | +| permanentId | uint8 | See [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for a definition of the permanent ids | | auxChannelIndex | uint8 | The Aux switch number (indexed from 0) | | rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 | | rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 | @@ -45,7 +45,7 @@ sending this message for all auxiliary slots. | Data | Type | Notes | |------|------|-------| | sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 | -| permanentId | uint8 | See Modes.md for a definition of the permanent ids | +| permanentId | uint8 | See [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for a definition of the permanent ids | | auxChannelIndex | uint8 | The Aux channel number (indexed from 0) | | rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 | | rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 | @@ -157,5 +157,5 @@ INAV. See also -------- -Modes.md describes the user visible implementation for the INAV +[The wiki](https://github.com/iNavFlight/inav/wiki/Modes) describes the user visible implementation for the INAV modes extension. diff --git a/docs/Fixed Wing Landing.md b/docs/Fixed Wing Landing.md index 4ccb3249536..c89a5ee2075 100644 --- a/docs/Fixed Wing Landing.md +++ b/docs/Fixed Wing Landing.md @@ -5,6 +5,8 @@ INAV supports advanced automatic landings for fixed wing aircraft from version 7.1. The procedure is based on landings for man-carrying aircraft, so that safe landings at a specific location are possible. Supported are landings at safehome after "Return to Home" or at a defined LAND waypoint for missions. +Every landing locations can be defined with a target point and 2 different approach headings (colinear to the landing strips) with exclusive direction or opposite directions allowed. +This enables up to 4 different approach directions, based on the landing site and surrounding area. ## General procedure: @@ -34,7 +36,7 @@ The following graphics illustrate the process: ### The following parameters are set for each landing site (Safefome/LAND waypoint): -All settings can also be conveniently made in the Configurator via Missionplanner. +All settings can also be conveniently made in the Configurator via Mission Control. CLI command `fwapproach`: `fwapproach ` @@ -54,7 +56,7 @@ This means that practically 4 landing directions can be saved. > [!CAUTION] > The Configuator automatically determines the ground altitude based on databases on the Internet, which may be inaccurate. Please always compare with the measured GPS altitude at the landing site to avoid crashes. -### Global paramters +### Global parameters All settings are available via “Advanced Tuning” in the Configurator. @@ -80,6 +82,23 @@ In degrees. Min: 0, Max: 45, Default: 0 * `nav_fw_land_max_tailwind`: Max. tailwind if no landing direction with downwind is available. Wind strengths below this value are ignored (error tolerance in the wind measurement). Landing then takes place in the main direction. If, for example, 90 degrees is configured, landing takes place in this direction, NOT in 270 degrees (see above). In cm/s. Min: 0; Max: 3000, Default: 140 +### General paramters and tuning tips + +* `nav_fw_wp_tracking_accuracy`: Its highly recommended that this parameter is used and tuned well. Only with WP-Tracking enabled, the Aircraft will try to precisely align with the runway during approach. +If WP-Tracking is not used, the Plane will head straight to the landiung location without flying in line with the intended landing strip. Wind can intensively alter the final landing heading. + +* `nav_fw_pitch2thr`: The navigation throttle modifier has to be tuned well to allow stable navigation during climbs and descents to prevent a stall. Make sure your plane maintains Ground or Airspeed, when climbing in any navigation mode. +The Craft should not get slower and not speed ub significantly during a navigation climb, if P2T is tuned properly. + +* `nav_wp_radius`: This parameter might be too high if you have set up your craft with INAV 6 or INAV 7. With a too high value, the turning points for the Crosswind-Leg and Final Approach are hit too early and make it difficult for the plane to align to the runway or cut short the approach. +Make sure this parameter is not set greater than 1000 (cm). The better your craft and navigation system is tuned, the lower this value can be. We recommend to start with 1000 for flying wings and 800 for a Plane with Tail. + +* Test your Navigation-Tuning: A better Navigation-Tune will reward you with smoother and more reliable landings. To test your nav systems limit, we recommend to create a waypoint missions with many 90° turn angles with shorter and shorter tracks. +With this Method, you can find out how well your plane can follow a navigation path and how long it takes to align to a waypoint track. A well tuned plane should be able to pull of a WP Mission that looks like this, where the distance between WP6 and WP7 si recommended to be the minimum approach length: + +![Test Waypoint Track](https://github.com/iNavFlight/inav/assets/33039058/a929cd0c-80b1-42d6-815d-89a90e9daa1b) + + ## Waypoint missions Only one landing waypoint per mission can be active and saved and the landing waypoint must be the last waypoint of the mission. @@ -87,7 +106,7 @@ If the altitude of the waypoint and the "Approach Altitude" are different, the a ## Logic Conditions -The current landing state can be retrieved via ID 41 in "Flight" (FW Land State). This allows additional actions to be executed according to the landing phases, e.g. deplyoment of the landing flaps. +The current landing state can be retrieved via ID 41 in "Flight" (FW Land State). This allows additional actions to be executed according to the landing phases, e.g. deployment of the landing flaps. | Returned value | State | | --- | --- | diff --git a/docs/Getting Started.md b/docs/Getting Started.md index 2faa8e33234..f49ca32cc44 100644 --- a/docs/Getting Started.md +++ b/docs/Getting Started.md @@ -70,7 +70,7 @@ Now, there are two ways to [configure CF](Configuration.md); via the Configurat * Verify the range of each channel goes from ~1000 to ~2000. See also [controls](Controls.md). and `rx_min_usec` and `rx_max_usec`. * You can also set EXPO here instead of your Tx. * Click Save! -* Modes tab: Setup the desired modes. See the [modes](Modes.md) chapter for what each mode does, but for the beginning you mainly need HORIZON, if any. +* Modes tab: Setup the desired modes. See the [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for what each mode does. * Before finishing this section, you should calibrate the ESCs, install the FC to the frame, and connect the RSSI cable, buzzer and battery if you have chosen to use those. diff --git a/docs/OSD.md b/docs/OSD.md index b3526d0d761..d57da7e25f3 100644 --- a/docs/OSD.md +++ b/docs/OSD.md @@ -19,155 +19,156 @@ Not all OSDs are created equally. This table shows the differences between the d ## OSD Elements Here are the OSD Elements provided by INAV. -| ID | Element | Added | -|-----|--------------------------------------------------|--------| -| 0 | OSD_RSSI_VALUE | 1.0.0 | -| 1 | OSD_MAIN_BATT_VOLTAGE | 1.0.0 | -| 2 | OSD_CROSSHAIRS | 1.0.0 | -| 3 | OSD_ARTIFICIAL_HORIZON | 1.0.0 | -| 4 | OSD_HORIZON_SIDEBARS | 1.0.0 | -| 5 | OSD_ONTIME | 1.0.0 | -| 6 | OSD_FLYTIME | 1.0.0 | -| 7 | OSD_FLYMODE | 1.0.0 | -| 8 | OSD_CRAFT_NAME | 1.0.0 | -| 9 | OSD_THROTTLE_POS | 1.0.0 | -| 10 | OSD_VTX_CHANNEL | 1.0.0 | -| 11 | OSD_CURRENT_DRAW | 1.0.0 | -| 12 | OSD_MAH_DRAWN | 1.0.0 | -| 13 | OSD_GPS_SPEED | 1.0.0 | -| 14 | OSD_GPS_SATS | 1.0.0 | -| 15 | OSD_ALTITUDE | 1.0.0 | -| 16 | OSD_ROLL_PIDS | 1.6.0 | -| 17 | OSD_PITCH_PIDS | 1.6.0 | -| 18 | OSD_YAW_PIDS | 1.6.0 | -| 19 | OSD_POWER | 1.6.0 | -| 20 | OSD_GPS_LON | 1.6.0 | -| 21 | OSD_GPS_LAT | 1.6.0 | -| 22 | OSD_HOME_DIR | 1.6.0 | -| 23 | OSD_HOME_DIST | 1.6.0 | -| 24 | OSD_HEADING | 1.6.0 | -| 25 | OSD_VARIO | 1.6.0 | -| 26 | OSD_VARIO_NUM | 1.6.0 | -| 27 | OSD_AIR_SPEED | 1.7.3 | -| 28 | OSD_ONTIME_FLYTIME | 1.8.0 | -| 29 | OSD_RTC_TIME | 1.8.0 | -| 30 | OSD_MESSAGES | 1.8.0 | -| 31 | OSD_GPS_HDOP | 1.8.0 | -| 32 | OSD_MAIN_BATT_CELL_VOLTAGE | 1.8.0 | -| 33 | OSD_SCALED_THROTTLE_POS | 1.8.0 | -| 34 | OSD_HEADING_GRAPH | 1.8.0 | -| 35 | OSD_EFFICIENCY_MAH_PER_KM | 1.9.0 | -| 36 | OSD_WH_DRAWN | 1.9.0 | -| 37 | OSD_BATTERY_REMAINING_CAPACITY | 1.9.0 | -| 38 | OSD_BATTERY_REMAINING_PERCENT | 1.9.0 | -| 39 | OSD_EFFICIENCY_WH_PER_KM | 1.9.0 | -| 40 | OSD_TRIP_DIST | 1.9.1 | -| 41 | OSD_ATTITUDE_PITCH | 2.0.0 | -| 42 | OSD_ATTITUDE_ROLL | 2.0.0 | -| 43 | OSD_MAP_NORTH | 2.0.0 | -| 44 | OSD_MAP_TAKEOFF | 2.0.0 | -| 45 | OSD_RADAR | 2.0.0 | -| 46 | OSD_WIND_SPEED_HORIZONTAL | 2.0.0 | -| 47 | OSD_WIND_SPEED_VERTICAL | 2.0.0 | -| 48 | OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH | 2.0.0 | -| 49 | OSD_REMAINING_DISTANCE_BEFORE_RTH | 2.0.0 | -| 50 | OSD_HOME_HEADING_ERROR | 2.0.0 | -| 51 | OSD_COURSE_HOLD_ERROR | 2.0.0 | -| 52 | OSD_COURSE_HOLD_ADJUSTMENT | 2.0.0 | -| 53 | OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE | 2.0.0 | -| 54 | OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE | 2.0.0 | -| 55 | OSD_POWER_SUPPLY_IMPEDANCE | 2.0.0 | -| 56 | OSD_LEVEL_PIDS | 2.0.0 | -| 57 | OSD_POS_XY_PIDS | 2.0.0 | -| 58 | OSD_POS_Z_PIDS | 2.0.0 | -| 59 | OSD_VEL_XY_PIDS | 2.0.0 | -| 60 | OSD_VEL_Z_PIDS | 2.0.0 | -| 61 | OSD_HEADING_P | 2.0.0 | -| 62 | OSD_BOARD_ALIGN_ROLL | 2.0.0 | -| 63 | OSD_BOARD_ALIGN_PITCH | 2.0.0 | -| 64 | OSD_RC_EXPO | 2.0.0 | -| 65 | OSD_RC_YAW_EXPO | 2.0.0 | -| 66 | OSD_THROTTLE_EXPO | 2.0.0 | -| 67 | OSD_PITCH_RATE | 2.0.0 | -| 68 | OSD_ROLL_RATE | 2.0.0 | -| 69 | OSD_YAW_RATE | 2.0.0 | -| 70 | OSD_MANUAL_RC_EXPO | 2.0.0 | -| 71 | OSD_MANUAL_RC_YAW_EXPO | 2.0.0 | -| 72 | OSD_MANUAL_PITCH_RATE | 2.0.0 | -| 73 | OSD_MANUAL_ROLL_RATE | 2.0.0 | -| 74 | OSD_MANUAL_YAW_RATE | 2.0.0 | -| 75 | OSD_NAV_FW_CRUISE_THR | 2.0.0 | -| 76 | OSD_NAV_FW_PITCH2THR | 2.0.0 | -| 77 | OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE | 2.0.0 | -| 78 | OSD_DEBUG | 2.0.0 | -| 79 | OSD_FW_ALT_PID_OUTPUTS | 2.0.0 | -| 80 | OSD_FW_POS_PID_OUTPUTS | 2.0.0 | -| 81 | OSD_MC_VEL_X_PID_OUTPUTS | 2.0.0 | -| 82 | OSD_MC_VEL_Y_PID_OUTPUTS | 2.0.0 | -| 83 | OSD_MC_VEL_Z_PID_OUTPUTS | 2.0.0 | -| 84 | OSD_MC_POS_XYZ_P_OUTPUTS | 2.0.0 | -| 85 | OSD_3D_SPEED | 2.1.0 | -| 86 | OSD_IMU_TEMPERATURE | 2.1.0 | -| 87 | OSD_BARO_TEMPERATURE | 2.1.0 | -| 88 | OSD_TEMP_SENSOR_0_TEMPERATURE | 2.1.0 | -| 89 | OSD_TEMP_SENSOR_1_TEMPERATURE | 2.1.0 | -| 90 | OSD_TEMP_SENSOR_2_TEMPERATURE | 2.1.0 | -| 91 | OSD_TEMP_SENSOR_3_TEMPERATURE | 2.1.0 | -| 92 | OSD_TEMP_SENSOR_4_TEMPERATURE | 2.1.0 | -| 93 | OSD_TEMP_SENSOR_5_TEMPERATURE | 2.1.0 | -| 94 | OSD_TEMP_SENSOR_6_TEMPERATURE | 2.1.0 | -| 95 | OSD_TEMP_SENSOR_7_TEMPERATURE | 2.1.0 | -| 96 | OSD_ALTITUDE_MSL | 2.1.0 | -| 97 | OSD_PLUS_CODE | 2.1.0 | -| 98 | OSD_MAP_SCALE | 2.2.0 | -| 99 | OSD_MAP_REFERENCE | 2.2.0 | -| 100 | OSD_GFORCE | 2.2.0 | -| 101 | OSD_GFORCE_X | 2.2.0 | -| 102 | OSD_GFORCE_Y | 2.2.0 | -| 103 | OSD_GFORCE_Z | 2.2.0 | -| 104 | OSD_RC_SOURCE | 2.2.0 | -| 105 | OSD_VTX_POWER | 2.2.0 | -| 106 | OSD_ESC_RPM | 2.3.0 | -| 107 | OSD_ESC_TEMPERATURE | 2.5.0 | -| 108 | OSD_AZIMUTH | 2.6.0 | -| 109 | OSD_CRSF_RSSI_DBM | 2.6.0 | -| 110 | OSD_CRSF_LQ | 2.6.0 | -| 111 | OSD_CRSF_SNR_DB | 2.6.0 | -| 112 | OSD_CRSF_TX_POWER | 2.6.0 | -| 113 | OSD_GVAR_0 | 2.6.0 | -| 114 | OSD_GVAR_1 | 2.6.0 | -| 115 | OSD_GVAR_2 | 2.6.0 | -| 116 | OSD_GVAR_3 | 2.6.0 | -| 117 | OSD_TPA | 2.6.0 | -| 118 | OSD_NAV_FW_CONTROL_SMOOTHNESS | 2.6.0 | -| 119 | OSD_VERSION | 3.0.0 | -| 120 | OSD_RANGEFINDER | 3.0.0 | -| 121 | OSD_PLIMIT_REMAINING_BURST_TIME | 3.0.0 | -| 122 | OSD_PLIMIT_ACTIVE_CURRENT_LIMIT | 3.0.0 | -| 123 | OSD_PLIMIT_ACTIVE_POWER_LIMIT | 3.0.0 | -| 124 | OSD_GLIDESLOPE | 3.0.1 | -| 125 | OSD_GPS_MAX_SPEED | 4.0.0 | -| 126 | OSD_3D_MAX_SPEED | 4.0.0 | -| 127 | OSD_AIR_MAX_SPEED | 4.0.0 | -| 128 | OSD_ACTIVE_PROFILE | 4.0.0 | -| 129 | OSD_MISSION | 4.0.0 | -| 130 | OSD_SWITCH_INDICATOR_0 | 5.0.0 | -| 131 | OSD_SWITCH_INDICATOR_1 | 5.0.0 | -| 132 | OSD_SWITCH_INDICATOR_2 | 5.0.0 | -| 133 | OSD_SWITCH_INDICATOR_3 | 5.0.0 | -| 134 | OSD_TPA_TIME_CONSTANT | 5.0.0 | -| 135 | OSD_FW_LEVEL_TRIM | 5.0.0 | -| 136 | OSD_GLIDE_TIME_REMAINING | 6.0.0 | -| 137 | OSD_GLIDE_RANGE | 6.0.0 | -| 138 | OSD_CLIMB_EFFICIENCY | 6.0.0 | -| 139 | OSD_NAV_WP_MULTI_MISSION_INDEX | 6.0.0 | -| 140 | OSD_GROUND_COURSE | 6.0.0 | -| 141 | OSD_CROSS_TRACK_ERROR | 6.0.0 | -| 142 | OSD_PILOT_NAME | 6.0.0 | -| 143 | OSD_PAN_SERVO_CENTRED | 6.0.0 | -| 144 | OSD_MULTI_FUNCTION | 7.0.0 | -| 145 | OSD_ODOMETER | 7.0.0 | -| 146 | OSD_PILOT_LOGO | 7.0.0 | +| ID | Element | Added | Notes | +|-----|--------------------------------------------------|--------|-------| +| 0 | OSD_RSSI_VALUE | 1.0.0 | | +| 1 | OSD_MAIN_BATT_VOLTAGE | 1.0.0 | | +| 2 | OSD_CROSSHAIRS | 1.0.0 | | +| 3 | OSD_ARTIFICIAL_HORIZON | 1.0.0 | | +| 4 | OSD_HORIZON_SIDEBARS | 1.0.0 | | +| 5 | OSD_ONTIME | 1.0.0 | | +| 6 | OSD_FLYTIME | 1.0.0 | | +| 7 | OSD_FLYMODE | 1.0.0 | | +| 8 | OSD_CRAFT_NAME | 1.0.0 | | +| 9 | OSD_THROTTLE_POS | 1.0.0 | | +| 10 | OSD_VTX_CHANNEL | 1.0.0 | | +| 11 | OSD_CURRENT_DRAW | 1.0.0 | | +| 12 | OSD_MAH_DRAWN | 1.0.0 | | +| 13 | OSD_GPS_SPEED | 1.0.0 | | +| 14 | OSD_GPS_SATS | 1.0.0 | | +| 15 | OSD_ALTITUDE | 1.0.0 | | +| 16 | OSD_ROLL_PIDS | 1.6.0 | | +| 17 | OSD_PITCH_PIDS | 1.6.0 | | +| 18 | OSD_YAW_PIDS | 1.6.0 | | +| 19 | OSD_POWER | 1.6.0 | | +| 20 | OSD_GPS_LON | 1.6.0 | | +| 21 | OSD_GPS_LAT | 1.6.0 | | +| 22 | OSD_HOME_DIR | 1.6.0 | | +| 23 | OSD_HOME_DIST | 1.6.0 | | +| 24 | OSD_HEADING | 1.6.0 | | +| 25 | OSD_VARIO | 1.6.0 | | +| 26 | OSD_VARIO_NUM | 1.6.0 | | +| 27 | OSD_AIR_SPEED | 1.7.3 | | +| 28 | OSD_ONTIME_FLYTIME | 1.8.0 | | +| 29 | OSD_RTC_TIME | 1.8.0 | | +| 30 | OSD_MESSAGES | 1.8.0 | | +| 31 | OSD_GPS_HDOP | 1.8.0 | | +| 32 | OSD_MAIN_BATT_CELL_VOLTAGE | 1.8.0 | | +| 33 | OSD_SCALED_THROTTLE_POS | 1.8.0 | | +| 34 | OSD_HEADING_GRAPH | 1.8.0 | | +| 35 | OSD_EFFICIENCY_MAH_PER_KM | 1.9.0 | | +| 36 | OSD_WH_DRAWN | 1.9.0 | | +| 37 | OSD_BATTERY_REMAINING_CAPACITY | 1.9.0 | | +| 38 | OSD_BATTERY_REMAINING_PERCENT | 1.9.0 | | +| 39 | OSD_EFFICIENCY_WH_PER_KM | 1.9.0 | | +| 40 | OSD_TRIP_DIST | 1.9.1 | | +| 41 | OSD_ATTITUDE_PITCH | 2.0.0 | | +| 42 | OSD_ATTITUDE_ROLL | 2.0.0 | | +| 43 | OSD_MAP_NORTH | 2.0.0 | | +| 44 | OSD_MAP_TAKEOFF | 2.0.0 | | +| 45 | OSD_RADAR | 2.0.0 | | +| 46 | OSD_WIND_SPEED_HORIZONTAL | 2.0.0 | | +| 47 | OSD_WIND_SPEED_VERTICAL | 2.0.0 | | +| 48 | OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH | 2.0.0 | | +| 49 | OSD_REMAINING_DISTANCE_BEFORE_RTH | 2.0.0 | | +| 50 | OSD_HOME_HEADING_ERROR | 2.0.0 | | +| 51 | OSD_COURSE_HOLD_ERROR | 2.0.0 | | +| 52 | OSD_COURSE_HOLD_ADJUSTMENT | 2.0.0 | | +| 53 | OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE | 2.0.0 | | +| 54 | OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE | 2.0.0 | | +| 55 | OSD_POWER_SUPPLY_IMPEDANCE | 2.0.0 | | +| 56 | OSD_LEVEL_PIDS | 2.0.0 | | +| 57 | OSD_POS_XY_PIDS | 2.0.0 | | +| 58 | OSD_POS_Z_PIDS | 2.0.0 | | +| 59 | OSD_VEL_XY_PIDS | 2.0.0 | | +| 60 | OSD_VEL_Z_PIDS | 2.0.0 | | +| 61 | OSD_HEADING_P | 2.0.0 | | +| 62 | OSD_BOARD_ALIGN_ROLL | 2.0.0 | | +| 63 | OSD_BOARD_ALIGN_PITCH | 2.0.0 | | +| 64 | OSD_RC_EXPO | 2.0.0 | | +| 65 | OSD_RC_YAW_EXPO | 2.0.0 | | +| 66 | OSD_THROTTLE_EXPO | 2.0.0 | | +| 67 | OSD_PITCH_RATE | 2.0.0 | | +| 68 | OSD_ROLL_RATE | 2.0.0 | | +| 69 | OSD_YAW_RATE | 2.0.0 | | +| 70 | OSD_MANUAL_RC_EXPO | 2.0.0 | | +| 71 | OSD_MANUAL_RC_YAW_EXPO | 2.0.0 | | +| 72 | OSD_MANUAL_PITCH_RATE | 2.0.0 | | +| 73 | OSD_MANUAL_ROLL_RATE | 2.0.0 | | +| 74 | OSD_MANUAL_YAW_RATE | 2.0.0 | | +| 75 | OSD_NAV_FW_CRUISE_THR | 2.0.0 | | +| 76 | OSD_NAV_FW_PITCH2THR | 2.0.0 | | +| 77 | OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE | 2.0.0 | | +| 78 | OSD_DEBUG | 2.0.0 | | +| 79 | OSD_FW_ALT_PID_OUTPUTS | 2.0.0 | | +| 80 | OSD_FW_POS_PID_OUTPUTS | 2.0.0 | | +| 81 | OSD_MC_VEL_X_PID_OUTPUTS | 2.0.0 | | +| 82 | OSD_MC_VEL_Y_PID_OUTPUTS | 2.0.0 | | +| 83 | OSD_MC_VEL_Z_PID_OUTPUTS | 2.0.0 | | +| 84 | OSD_MC_POS_XYZ_P_OUTPUTS | 2.0.0 | | +| 85 | OSD_3D_SPEED | 2.1.0 | | +| 86 | OSD_IMU_TEMPERATURE | 2.1.0 | | +| 87 | OSD_BARO_TEMPERATURE | 2.1.0 | | +| 88 | OSD_TEMP_SENSOR_0_TEMPERATURE | 2.1.0 | | +| 89 | OSD_TEMP_SENSOR_1_TEMPERATURE | 2.1.0 | | +| 90 | OSD_TEMP_SENSOR_2_TEMPERATURE | 2.1.0 | | +| 91 | OSD_TEMP_SENSOR_3_TEMPERATURE | 2.1.0 | | +| 92 | OSD_TEMP_SENSOR_4_TEMPERATURE | 2.1.0 | | +| 93 | OSD_TEMP_SENSOR_5_TEMPERATURE | 2.1.0 | | +| 94 | OSD_TEMP_SENSOR_6_TEMPERATURE | 2.1.0 | | +| 95 | OSD_TEMP_SENSOR_7_TEMPERATURE | 2.1.0 | | +| 96 | OSD_ALTITUDE_MSL | 2.1.0 | | +| 97 | OSD_PLUS_CODE | 2.1.0 | | +| 98 | OSD_MAP_SCALE | 2.2.0 | | +| 99 | OSD_MAP_REFERENCE | 2.2.0 | | +| 100 | OSD_GFORCE | 2.2.0 | | +| 101 | OSD_GFORCE_X | 2.2.0 | | +| 102 | OSD_GFORCE_Y | 2.2.0 | | +| 103 | OSD_GFORCE_Z | 2.2.0 | | +| 104 | OSD_RC_SOURCE | 2.2.0 | | +| 105 | OSD_VTX_POWER | 2.2.0 | | +| 106 | OSD_ESC_RPM | 2.3.0 | | +| 107 | OSD_ESC_TEMPERATURE | 2.5.0 | | +| 108 | OSD_AZIMUTH | 2.6.0 | | +| 109 | OSD_CRSF_RSSI_DBM | 2.6.0 | | +| 110 | OSD_CRSF_LQ | 2.6.0 | | +| 111 | OSD_CRSF_SNR_DB | 2.6.0 | | +| 112 | OSD_CRSF_TX_POWER | 2.6.0 | | +| 113 | OSD_GVAR_0 | 2.6.0 | | +| 114 | OSD_GVAR_1 | 2.6.0 | | +| 115 | OSD_GVAR_2 | 2.6.0 | | +| 116 | OSD_GVAR_3 | 2.6.0 | | +| 117 | OSD_TPA | 2.6.0 | | +| 118 | OSD_NAV_FW_CONTROL_SMOOTHNESS | 2.6.0 | | +| 119 | OSD_VERSION | 3.0.0 | | +| 120 | OSD_RANGEFINDER | 3.0.0 | | +| 121 | OSD_PLIMIT_REMAINING_BURST_TIME | 3.0.0 | | +| 122 | OSD_PLIMIT_ACTIVE_CURRENT_LIMIT | 3.0.0 | | +| 123 | OSD_PLIMIT_ACTIVE_POWER_LIMIT | 3.0.0 | | +| 124 | OSD_GLIDESLOPE | 3.0.1 | | +| 125 | OSD_GPS_MAX_SPEED | 4.0.0 | | +| 126 | OSD_3D_MAX_SPEED | 4.0.0 | | +| 127 | OSD_AIR_MAX_SPEED | 4.0.0 | | +| 128 | OSD_ACTIVE_PROFILE | 4.0.0 | | +| 129 | OSD_MISSION | 4.0.0 | | +| 130 | OSD_SWITCH_INDICATOR_0 | 5.0.0 | | +| 131 | OSD_SWITCH_INDICATOR_1 | 5.0.0 | | +| 132 | OSD_SWITCH_INDICATOR_2 | 5.0.0 | | +| 133 | OSD_SWITCH_INDICATOR_3 | 5.0.0 | | +| 134 | OSD_TPA_TIME_CONSTANT | 5.0.0 | | +| 135 | OSD_FW_LEVEL_TRIM | 5.0.0 | | +| 136 | OSD_GLIDE_TIME_REMAINING | 6.0.0 | | +| 137 | OSD_GLIDE_RANGE | 6.0.0 | | +| 138 | OSD_CLIMB_EFFICIENCY | 6.0.0 | | +| 139 | OSD_NAV_WP_MULTI_MISSION_INDEX | 6.0.0 | | +| 140 | OSD_GROUND_COURSE | 6.0.0 | | +| 141 | OSD_CROSS_TRACK_ERROR | 6.0.0 | | +| 142 | OSD_PILOT_NAME | 6.0.0 | | +| 143 | OSD_PAN_SERVO_CENTRED | 6.0.0 | | +| 144 | OSD_MULTI_FUNCTION | 7.0.0 | | +| 145 | OSD_ODOMETER | 7.0.0 | For this to work correctly, stats must be enabled (`set stats=ON`). Otherwise, this will show the total flight distance. | +| 146 | OSD_PILOT_LOGO | 7.0.0 | | +| 147 | OSD_BLACKBOX | 8.0.0 | The element will be hidden unless blackbox recording is attempted. | # Pilot Logos @@ -192,3 +193,43 @@ This is an example of the arming screen with the pilot logo enabled. This is usi This is an example of setting the `osd_inav_to_pilot_logo_spacing` to 0. This will allow a larger, single logo. ![Power on screen example with 0 spacing between logos](https://user-images.githubusercontent.com/17590174/271817352-6206402c-9da4-4682-9d83-790cc2396b00.png) + +# Post Flight Statistics +The post flight statistcs are set in the firmware. Statistics are only hidden if the supporting hardware is not present. Due to size contraints. The post flight statistics are spread over 2 pages on analogue systems. + +## Statistics shown +| Statistic | Requirement | Page | | +|-------------------------------|-----------------------|-------|-| +| Flight Time | | 1 | The total time from arm to disarm. | +| Flight Distance | | 1 | | +| Maximum Distance From Home | GPS | 1 | | +| Maximum Speed | GPS | 1 | | +| Average Speed | GPS | 1 | | +| Maximum Altitude | Baro/GPS | 1 | | +| Minimum Average Cell Voltage | | 1 | | +| Minimum Pack Voltage | | 1 | | +| Maximum Current | Current Sensor | 1 | | +| Maximum Power | Current Sensor | 1 | | +| Energy Used (Flight) | Current Sensor | 1 | | +| Energy Used (Battery Total) | Current Sensor | 1 | This data is not reset on arming. | +| Average Efficiency | Current Sensor & GPS | 1 | | +| Minimum RSSI | | 2 | | +| Minimum LQ | CRSF | 2 | | +| Minmum dBm | CRSF | 2 | | +| Minimum Satellites | GPS | 2 | | +| Maximum Satellites | GPS | 2 | | +| Minimum ESC Temperature | ESC Telemetry | 2 | | +| Maximum ESC Temperature | ESC Telemetry | 2 | | +| Maximum G-Force | | 2 | | +| Minimum Z axis G-Force | | 2 | | +| Maximum Z axis G-Force | | 2 | | +| Blackbox file number | Blackbox recording | 2 | | +| Disarm method | | 1 & 2 | | +| Settings save status | | 1 & 2 | Shows a message if the settings are being saved or have been saved on disarm. | + +## Configuration +There are a couple of settings that allow you to adjust parts of the post flights statistics. + +- `osd_stats_page_auto_swap_time` allows you to specify how long each stats page is displayed [seconds]. Reverts to manual control when Roll stick used to change pages. Disabled when set to 0. +- `osd_stats_energy_unit` allows you to choose the unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour). Default is MAH. +- `osd_stats_show_metric_efficiency` if you use non-metric units on your OSD. Enabling this option will also show the efficiency in metric. diff --git a/docs/Rangefinder.md b/docs/Rangefinder.md index b7910b0fa6c..b53ae439b7e 100644 --- a/docs/Rangefinder.md +++ b/docs/Rangefinder.md @@ -20,6 +20,23 @@ Following rangefinders are supported: * UIB - experimental * MSP - experimental * TOF10120 - small & lightweight laser range sensor, usable up to 200cm +* TERARANGER EVO - 30cm to 600cm, depends on version https://www.terabee.com/sensors-modules/lidar-tof-range-finders/#individual-distance-measurement-sensors +* NRA15/NRA24 - experimental, UART version + +#### NRA15/NRA24 +NRA15/NRA24 from nanoradar use US-D1_V0 or NRA protocol, it depends which firmware you use. Radar can be set by firmware +to two different resolutions. See table below. + +| Radar | Protocol | Resolution | Name in configurator | +|-------|----------|-----------------|----------------------| +| NRA15 | US-D1_V0 | 0-30m (+-4cm) | USD1_V0 | +| NRA15 | NRA | 0-30m (+-4cm) | NRA | +| NRA15 | NRA | 0-100m (+-10cm) | NRA | +| NRA24 | US-D1_V0 | 0-50m (+-4cm) | USD1_V0 | +| NRA24 | US-D1_V0 | 0-200m (+-10cm) | USD1_V0 | +| NRA24 | NRA | 0-50m (+-4cm) | NRA | +| NRA24 | NRA | 0-200m (+-10cm) | NRA | + ## Connections diff --git a/docs/SITL/SITL.md b/docs/SITL/SITL.md index 0c127135781..df3279f6d31 100644 --- a/docs/SITL/SITL.md +++ b/docs/SITL/SITL.md @@ -16,6 +16,10 @@ Currently supported are INAV SITL communicates for sensor data and control directly with the corresponding simulator, see the documentation of the individual simulators and the Configurator or the command line options. +AS SITL is still an inav software, but running on PC, it is possible to use HITL interface for communication. + +INAV-X-Plane-HITL plugin https://github.com/RomanLut/INAV-X-Plane-HITL can be used with SITL. + ## Sensors The following sensors are emulated: - IMU (Gyro, Accelerometer) @@ -30,13 +34,18 @@ The following sensors are emulated: Select "FAKE" as type for all mentioned, so that they receive the data from the simulator. -## Serial ports+ -UARTs are replaced by TCP starting with port 5760 ascending. UART 1 port 5760, UART2 5761, ... -By default, UART1 and UART2 are available as MSP connections. Other UARTs will have TCP listeners if they have an INAV function assigned. -To connect the Configurator to SITL: Select TCP and connect to ```localhost:5760``` (or ```127.0.0.1:5760``` if your OS doesn't understand `localhost`) (if SITL is running on the same machine). +## Serial ports +UARTs are replaced by TCP starting with port 5760 ascending. UART1 is mapped to port 5760, UART2 to 5761, etc. + +By default, UART1 and UART2 are configured for MSP connections. Other UARTs will have TCP listeners if they have an INAV function assigned. + +To connect the Configurator to SITL, select "SITL". + +Alternativelly, select "TCP" and connect to ```localhost:5760``` (or ```127.0.0.1:5760``` if your OS doesn't understand `localhost`) (if SITL is running on the same machine). + IPv4 and IPv6 are supported, either raw addresses or host-name lookup. -The assignment and status of user UART/TCP connections is displayed on the console. +The assignment and status of used UART/TCP connections is displayed on the console. ``` INAV 6.1.0 SITL @@ -51,39 +60,73 @@ INAV 6.1.0 SITL All other interfaces (I2C, SPI, etc.) are not emulated. ## Remote control -MSP_RX (TCP/IP) or joystick (via simulator) or serial receiver via USB/Serial interface are supported. +Multiple methods for connecting RC Controllers are available: +- MSP_RX (TCP/IP) +- joystick (via simulator) +- serial receiver via USB to serial converter +- any receiver with proxy flight controller + ### MSP_RX -MSP_RX is the default, 18 channels are supported over TCP/IP serial emulation. +MSP_RX is the default, 18 channels are supported over TCP/IP connection. ### Joystick interface Only 8 channels are supported. -Select "SIM (SITL)" as the receiver and set up a joystick in the simulator, details of which can be found in the documentation for the individual simulators. + +Select "SIM (SITL)" as the receiver and set up a joystick in the simulator. + +*Not available with INAV-X-Plane-HITL plugin.* ### Serial Receiver via USB -Connect a serial receiver (e.g. SBUS) to the PC via a UART/USB adapter. Configure the receiver in the Configurator as usual. +- Connect a serial receiver to the PC via a USB-to-serial adapter +- Configure the receiver in the SITL as usual +- While starting SITL from configurator, enable "Serial receiver" option + +The SITL offers a built-in option for forwarding the host's serial port to the SITL UART. + +Please note that 100000(SBUS) and 420000(CRSF) are non-standart baud rates which may not be supported by some USB-to-serial adapters. FDTI and CH340 should work. CP2102/9 does not work. -The Configurator offers a built-in option for forwarding the serial data to the SITL TCP port, if SITL is started manually the following option can be used: -The connection can then be established with a programme that forwards the serial data unaltered to TCP, e.g. with the Python script tcp_serial_redirect.py (https://github.com/Scavanger/TCP-Serial-Redirect) -If necessary, please download the required runtime environment from https://www.python.org/. -Please use the linked version, which has a smaller buffer, otherwise the control response is relatively slow. +#### Example SBUS: +For this you need a USB-to-serial adapter, receiver with inverter, or receiver which can output inverted SBUS (normal UART). -### Example SBUS: -For this you need a FT232 module. With FT-Prog (https://ftdichip.com/utilities/) the signals can be inverted: Devices->Scan and Parse, then Hardware Specific -> Invert RS232 Signals -> Invert RXD. +SBUS protocol is inverted UART. + +Receiver's SBUS output should be connected to the USB-to-serial adapter's RX pin (via inverter). + +With FT-Prog (https://ftdichip.com/utilities/) the signal can be inverted by adapter: Devices->Scan and Parse, then Hardware Specific -> Invert RS232 Signals -> Invert RXD. ![SITL-SBUS-FT232](assets/SITL-SBUS-FT232.png) -For SBUS, the command line arguments of the python script are: -```python tcp_serial_redirect.py --parity E --stopbits 2 -c 127.0.0.1:[INAV-UART-PORT] COMXX 100000``` +![SITL-SBUS](assets/serial_receiver_sbus.png) ### Telemetry +In the SITL configuration, enable serial receiver on some port and configure receiver type "Serial", "SBUS". + +#### Example CRSF: + +On receiver side, CRSF is normal UART. + +Connect receiver's RX/TX pins (and GND, 5V of course) to USB-To-Serial adapter's TX/RX pins (RX to TX, TX to RX). + +![SITL-SBUS](assets/serial_receiver_crsf.png) + +In the SITL configuration, enable serial receiver on some port and configure receiver type "Serial", "CRSF". + +### Proxy Flight controller + +The last, but probably the most easiest way to connect receiver to the SITL, is to use any inav/betaflight Flight controler as proxy. + +Connect receiver of any type to FC and configure FC to the point where channels are correctly updated in the "Receiver" tab. Inav and Betaflight are supported. -LTM and MAVLink telemetry are supported, either as a discrete function or shared with MSP. +You also can use your plane/quad ( if receiver is powered from USB). + +![SITL-SBUS](assets/serial_receiver_proxy.png) + +In the SITL configuration, select "Receiver type: SIM" regardles of the kind of receiver used. -RX Telemetry via a return channel through the receiver is not yet supported by SITL. ## OSD For the OSD the program INAV-Sim-OSD is available: https://github.com/Scavanger/INAV-SIM-OSD. @@ -91,6 +134,8 @@ For this, activate MSP-Displayport on a UART/TCP port and connect to the corresp Note: INAV-Sim-OSD only works if the simulator is in window mode. +*With INAV-X-Plane-HITL plugin, OSD is supported natively.* + ## Command line The command line options are only necessary if the SITL executable is started by hand. @@ -103,7 +148,7 @@ If SITL is started without command line options, only a serial MSP / CLI connect ```--path``` Path and file name to config file. If not present, eeprom.bin in the current directory is used. Example: ```C:\INAV_SITL\flying-wing.bin```, ```/home/user/sitl-eeproms/test-eeprom.bin```. -```--sim=[sim]``` Select the simulator. xp = X-Plane, rf = RealFlight. Example: ```--sim=xp``` +```--sim=[sim]``` Select the simulator. xp = X-Plane, rf = RealFlight. Example: ```--sim=xp```. If not specified, configurator-only mode is started. Omit for usage with INAV-X-Plane-HITL plugin. ```--simip=[ip]``` Hostname or IP address of the simulator, if you specify a simulator with "--sim" and omit this option IPv4 localhost (`127.0.0.1`) will be used. Example: ```--simip=172.65.21.15```, ```--simip acme-sims.org```, ```--sim ::1```. @@ -118,6 +163,18 @@ To assign motor1 to virtual receiver channel 1, servo 1 to channel 2, and servo2 ```--chanmap:M01-01,S01-02,S02-03``` Please also read the documentation of the individual simulators. +```--serialport``` Use serial receiver or proxy FC connected to host's serial port, f.e. ```--serialportCOM5``` or ```--serialportdev/ttyACM3``` + +```--serialuart``` Map serial receiver to SITL UART, f.e. ```--serialuart=3``` for UART3. Omit if using ```--fcproxy```. + +```--baudrate``` Serial receiver baudrate (default: 115200) + +```--stopbits=[None|One|Two]``` Serial receiver stopbits (default: One) + +```--parity=[Even|None|Odd]``` Serial receiver parity (default: None) + +```--fcproxy``` Use inav/betaflight FC as a proxy for serial receiver. + ```--help``` Displays help for the command line options. For options that take an argument, either form `--flag=value` or `--flag value` may be used. @@ -125,46 +182,13 @@ For options that take an argument, either form `--flag=value` or `--flag value` ## Running SITL It is recommended to start the tools in the following order: 1. Simulator, aircraft should be ready for take-off -2. INAV-SITL +2. SITL 3. OSD -4. serial redirect for RC input - -## Compile - -### Linux and FreeBSD: -Almost like normal, ruby, cmake and make are also required. -With cmake, the option "-DSITL=ON" must be specified. - -``` -mkdir build_SITL -cd build_SITL -cmake -DSITL=ON .. -make -``` - -### Windows: -Compile under cygwin, then as in Linux. -Copy cygwin1.dll into the directory, or include cygwin's /bin/ directory in the environment variable PATH. - -If the build fails (segfault, possibly out of memory), adding `-DCMAKE_BUILD_TYPE=MinRelSize` to the `cmake` command may help. - -#### Build manager - -`ninja` may also be used (parallel builds without `-j $(nproc)`): - -``` -cmake -GNinja -DSITL=ON .. -ninja -``` - -### Compiler requirements -* Modern GCC. Must be a *real* GCC, macOS faking it with clang will not work. GCC 10 to GCC 13 are known to work. -* Unix sockets networking. Cygwin is required on Windows (vice `winsock`). -* Pthreads +For INav-X-Plane-HITL plugin: +1. SITL (Run in configurator-only mode) +2. X-Plane -## Supported environments +# #Forwarding serial data for other UART -* Linux on x86_64, ia-32, Aarch64 (e.g. Rpi4), RISCV64 (e.g. VisionFive2) -* Windows on x86_64 -* FreeBSD (x86_64 at least). +Other UARTs can then be mapped to host's serial port using external tool, which can be found in directories ```inav-configurator\resources\sitl\linux\Ser2TCP```, ```inav-configurator\resources\sitl\windows\Ser2TCP.exe``` diff --git a/docs/SITL/assets/serial_receiver_crsf.png b/docs/SITL/assets/serial_receiver_crsf.png new file mode 100644 index 00000000000..55ae6af98b6 Binary files /dev/null and b/docs/SITL/assets/serial_receiver_crsf.png differ diff --git a/docs/SITL/assets/serial_receiver_proxy.png b/docs/SITL/assets/serial_receiver_proxy.png new file mode 100644 index 00000000000..6f22f5dbac6 Binary files /dev/null and b/docs/SITL/assets/serial_receiver_proxy.png differ diff --git a/docs/SITL/assets/serial_receiver_sbus.png b/docs/SITL/assets/serial_receiver_sbus.png new file mode 100644 index 00000000000..ce4ebcce169 Binary files /dev/null and b/docs/SITL/assets/serial_receiver_sbus.png differ diff --git a/docs/Safety.md b/docs/Safety.md index e0b969a78ab..ea21424391f 100644 --- a/docs/Safety.md +++ b/docs/Safety.md @@ -6,7 +6,7 @@ As many can attest, multirotors and RC models in general can be very dangerous, ## Before Installing -Please consult the [Cli](Cli.md), [Controls](Controls.md), [Failsafe](Failsafe.md) and [Modes](Modes.md) +Please consult the [Cli](Cli.md), [Controls](Controls.md), [Failsafe](Failsafe.md) and [Modes](https://github.com/iNavFlight/inav/wiki/Modes) pages for further important information. You are highly advised to use the Receiver tab in the INAV Configurator, making sure your Rx channel diff --git a/docs/Servo.md b/docs/Servo.md index 42acfaa3c9b..d3322b02f02 100644 --- a/docs/Servo.md +++ b/docs/Servo.md @@ -1,6 +1,6 @@ # Servo configuration -Servos can be configured from the graphical user interface's `Servos` tab. +Servos can be configured from the graphical user interface's `Outputs` tab. * MID: middle/neutral point of the servo * MIN: the minimum value that can be sent to the servo is MIN * Rate diff --git a/docs/Settings.md b/docs/Settings.md index 79278af68f3..30533330adf 100644 --- a/docs/Settings.md +++ b/docs/Settings.md @@ -104,7 +104,7 @@ Specifies the type of the software LPF of the acc signals. BIQUAD gives better f ### acc_notch_cutoff -_// TODO_ +Frequency of the software notch filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz) | Default | Min | Max | | --- | --- | --- | @@ -114,7 +114,7 @@ _// TODO_ ### acc_notch_hz -_// TODO_ +Frequency of the software notch filter to remove mechanical vibrations from the accelerometer measurements. Value is center frequency (Hz) | Default | Min | Max | | --- | --- | --- | @@ -394,7 +394,7 @@ Defines the deadband of throttle during alt_hold [r/c points] ### antigravity_accelerator -_// TODO_ +Multiplier for Antigravity gain. The bigger is the difference between actual and filtered throttle input, the bigger Antigravity gain | Default | Min | Max | | --- | --- | --- | @@ -552,16 +552,6 @@ Blackbox logging rate numerator. Use num/denom settings to decide if a frame sho --- -### control_deadband - -Stick deadband in [r/c points], applied after r/c deadband and expo. Used to check if sticks are centered. - -| Default | Min | Max | -| --- | --- | --- | -| 10 | 2 | 250 | - ---- - ### controlrate_profile Control rate profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control rate profile @@ -572,16 +562,6 @@ Control rate profile to switch to when the battery profile is selected, 0 to dis --- -### cpu_underclock - -This option is only available on certain architectures (F3 CPUs at the moment). It makes CPU clock lower to reduce interference to long-range RC systems working at 433MHz - -| Default | Min | Max | -| --- | --- | --- | -| OFF | OFF | ON | - ---- - ### cruise_power Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit @@ -634,7 +614,7 @@ ADC , VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the ### d_boost_gyro_delta_lpf_hz -_// TODO_ +Cutoff frequency for the low pass filter applied to the gyro delta signal used for D-term boost. Lower value will produce a smoother D-term boost signal, but it will be more delayed. | Default | Min | Max | | --- | --- | --- | @@ -644,7 +624,7 @@ _// TODO_ ### d_boost_max -_// TODO_ +D-term multiplier when rapid external conditions are detected. Lower values give sharper response to stick input, higher values give smoother response by scaling D-gains up. | Default | Min | Max | | --- | --- | --- | @@ -654,7 +634,7 @@ _// TODO_ ### d_boost_max_at_acceleration -_// TODO_ +Acceleration threshold for D-term multiplier. When acceleration is above this value, D-term multiplier is set to `d_boost_max` | Default | Min | Max | | --- | --- | --- | @@ -664,7 +644,7 @@ _// TODO_ ### d_boost_min -_// TODO_ +D-term multiplier when pilot provides rapid stick input. Lower values give sharper response to stick input, higher values give smoother response. | Default | Min | Max | | --- | --- | --- | @@ -678,7 +658,7 @@ These are values (in us) by how much RC input can be different before it's consi | Default | Min | Max | | --- | --- | --- | -| 5 | 0 | 32 | +| 2 | 0 | 32 | --- @@ -692,9 +672,9 @@ Defines debug values exposed in debug variables (developer / debugging setting) --- -### disarm_kill_switch +### disarm_always -Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel. +Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. | Default | Min | Max | | --- | --- | --- | @@ -772,16 +752,6 @@ Re-purpose the craft name field for messages. --- -### dji_workarounds - -Enables workarounds for different versions of MSP protocol used - -| Default | Min | Max | -| --- | --- | --- | -| 1 | 0 | 255 | - ---- - ### dshot_beeper_enabled Whether using DShot motors as beepers is enabled @@ -962,6 +932,16 @@ EzTune response --- +### ez_snappiness + +EzTune snappiness + +| Default | Min | Max | +| --- | --- | --- | +| 0 | 0 | 100 | + +--- + ### ez_stability EzTune stability @@ -1164,7 +1144,7 @@ Defines throw range in us for both ailerons that will be passed to servo mixer v ### fpv_mix_degrees -_// TODO_ +The tilt angle of the FPV camera in degrees, used by the FPV ANGLE MIX mode | Default | Min | Max | | --- | --- | --- | @@ -1592,16 +1572,6 @@ Gyro processing anti-aliasing filter cutoff frequency. In normal operation this --- -### gyro_anti_aliasing_lpf_type - -Specifies the type of the software LPF of the gyro signals. - -| Default | Min | Max | -| --- | --- | --- | -| PT1 | | | - ---- - ### gyro_dyn_lpf_curve_expo Expo value for the throttle-to-frequency mapping for Dynamic LPF @@ -1632,16 +1602,6 @@ Minimum frequency of the gyro Dynamic LPF --- -### gyro_hardware_lpf - -Hardware lowpass filter for gyro. This value should never be changed without a very strong reason! If you have to set gyro lpf below 256HZ, it means the frame is vibrating too much, and that should be fixed first. - -| Default | Min | Max | -| --- | --- | --- | -| 256HZ | | | - ---- - ### gyro_main_lpf_hz Software based gyro main lowpass filter. Value is cutoff frequency (Hz) @@ -1652,19 +1612,9 @@ Software based gyro main lowpass filter. Value is cutoff frequency (Hz) --- -### gyro_main_lpf_type - -Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation. - -| Default | Min | Max | -| --- | --- | --- | -| BIQUAD | | | - ---- - ### gyro_to_use -_// TODO_ +On multi-gyro targets, allows to choose which gyro to use. 0 = first gyro, 1 = second gyro | Default | Min | Max | | --- | --- | --- | @@ -1864,17 +1814,7 @@ Allows to chose when the home position is reset. Can help prevent resetting home ### inav_use_gps_no_baro -_// TODO_ - -| Default | Min | Max | -| --- | --- | --- | -| OFF | OFF | ON | - ---- - -### inav_use_gps_velned - -Defined if INAV should use velocity data provided by GPS module for doing position and speed estimation. If set to OFF INAV will fallback to calculating velocity from GPS coordinates. Using native velocity data may improve performance on some GPS modules. Some GPS modules introduce significant delay and using native velocity may actually result in much worse performance. +Defines if INAV should use only use GPS data for altitude estimation when barometer is not available. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed. | Default | Min | Max | | --- | --- | --- | @@ -1894,7 +1834,7 @@ Weight for accelerometer drift estimation ### inav_w_xy_flow_p -_// TODO_ +Weight of optical flow measurements in estimated UAV position. | Default | Min | Max | | --- | --- | --- | @@ -1904,7 +1844,7 @@ _// TODO_ ### inav_w_xy_flow_v -_// TODO_ +Weight of optical flow measurements in estimated UAV speed. | Default | Min | Max | | --- | --- | --- | @@ -1984,7 +1924,7 @@ Decay coefficient for estimated climb rate when baro/GPS reference for altitude ### inav_w_z_surface_p -_// TODO_ +Weight of rangefinder measurements in estimated altitude. Setting is used on both airplanes and multirotors when rangefinder is present and Surface mode enabled | Default | Min | Max | | --- | --- | --- | @@ -1994,7 +1934,7 @@ _// TODO_ ### inav_w_z_surface_v -_// TODO_ +Weight of rangefinder measurements in estimated climb rate. Setting is used on both airplanes and multirotors when rangefinder is present and Surface mode enabled | Default | Min | Max | | --- | --- | --- | @@ -2042,16 +1982,6 @@ PWM mode of LED pin. --- -### ledstrip_visual_beeper - -_// TODO_ - -| Default | Min | Max | -| --- | --- | --- | -| OFF | OFF | ON | - ---- - ### limit_attn_filter_cutoff Throttle attenuation PI control output filter cutoff frequency @@ -2354,7 +2284,7 @@ Servo travel multiplier for the YAW axis in `MANUAL` flight mode [0-100]% ### mavlink_ext_status_rate -_// TODO_ +Rate of the extended status message for MAVLink telemetry | Default | Min | Max | | --- | --- | --- | @@ -2364,7 +2294,7 @@ _// TODO_ ### mavlink_extra1_rate -_// TODO_ +Rate of the extra1 message for MAVLink telemetry | Default | Min | Max | | --- | --- | --- | @@ -2374,7 +2304,7 @@ _// TODO_ ### mavlink_extra2_rate -_// TODO_ +Rate of the extra2 message for MAVLink telemetry | Default | Min | Max | | --- | --- | --- | @@ -2384,7 +2314,7 @@ _// TODO_ ### mavlink_extra3_rate -_// TODO_ +Rate of the extra3 message for MAVLink telemetry | Default | Min | Max | | --- | --- | --- | @@ -2394,7 +2324,7 @@ _// TODO_ ### mavlink_pos_rate -_// TODO_ +Rate of the position message for MAVLink telemetry | Default | Min | Max | | --- | --- | --- | @@ -2404,7 +2334,7 @@ _// TODO_ ### mavlink_rc_chan_rate -_// TODO_ +Rate of the RC channels message for MAVLink telemetry | Default | Min | Max | | --- | --- | --- | @@ -2452,16 +2382,6 @@ These are min/max values (in us) which, when a channel is smaller (min) or large --- -### max_throttle - -This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK for everyone (legacy). For modern ESCs, higher values (c. 2000) may be more appropriate. If you have brushed motors, the value should be set to 2000. - -| Default | Min | Max | -| --- | --- | --- | -| 1850 | PWM_RANGE_MIN | PWM_RANGE_MAX | - ---- - ### mc_cd_lpf_hz Cutoff frequency for Control Derivative. This controls the cutoff for the LPF that is applied to the CD (Feed Forward) signal to the PID controller. Lower value will produce a smoother CD gain to the controller, but it will be more delayed. Higher values will produce CD gain that may have more noise in the signal depending on your RC link but wil be less delayed. @@ -2584,7 +2504,7 @@ Multicopter rate stabilisation I-gain for YAW ### mc_iterm_relax -_// TODO_ +Iterm relax type. When enabled, Iterm will be relaxed when stick is centered. This will help to reduce bounceback and followthrough on multirotors. It is recommended to enable this feature on all multirotors. | Default | Min | Max | | --- | --- | --- | @@ -2594,7 +2514,7 @@ _// TODO_ ### mc_iterm_relax_cutoff -_// TODO_ +Iterm relax cutoff frequency. | Default | Min | Max | | --- | --- | --- | @@ -2852,6 +2772,26 @@ Enable the possibility to manually increase the throttle in auto throttle contro --- +### nav_fw_alt_control_response + +Adjusts the deceleration response of fixed wing altitude control as the target altitude is approached. Decrease value to help avoid overshooting the target altitude. + +| Default | Min | Max | +| --- | --- | --- | +| 20 | 5 | 100 | + +--- + +### nav_fw_auto_climb_rate + +Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] + +| Default | Min | Max | +| --- | --- | --- | +| 500 | 10 | 2000 | + +--- + ### nav_fw_bank_angle Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll @@ -3004,11 +2944,11 @@ Max. tailwind (in cm/s) if no landing direction with downwind is available ### nav_fw_launch_accel -Forward acceleration threshold for bungee launch of throw launch [cm/s/s], 1G = 981 cm/s/s +Forward acceleration threshold for bungee launch or throw launch [cm/s/s], 1G = 981 cm/s/s | Default | Min | Max | | --- | --- | --- | -| 1863 | 1000 | 20000 | +| 1863 | 1500 | 20000 | --- @@ -3162,6 +3102,16 @@ Forward velocity threshold for swing-launch detection [cm/s] --- +### nav_fw_launch_wiggle_to_wake_idle + +Trigger the idle throttle by wiggling the plane. 0 = disabled. 1 and 2 signify 1 or 2 yaw wiggles to activate. 1 wiggle has a higher detection point, for airplanes without a tail. 2 wiggles has a lower detection point, but requires the repeated action. This is intended for larger models and airplanes with tails. + +| Default | Min | Max | +| --- | --- | --- | +| 0 | 0 | 2 | + +--- + ### nav_fw_loiter_radius PosHold radius. 3000 to 7500 is a good value (30-75m) [cm] @@ -3714,7 +3664,7 @@ A point (in percent of both target and current horizontal velocity) where nav_mc ### nav_mc_vel_xy_dterm_lpf_hz -_// TODO_ +D-term low pass filter cutoff frequency for horizontal velocity PID controller (Multirotor). It allows to smooth the PosHold CRUISE, WP and RTH when Multirotor is traveling at full speed. Dterm is not attenuated at low speeds, breaking and accelerating. | Default | Min | Max | | --- | --- | --- | @@ -3724,7 +3674,7 @@ _// TODO_ ### nav_mc_vel_xy_ff -_// TODO_ +FF gain of Position-Rate (Velocity to Acceleration) | Default | Min | Max | | --- | --- | --- | @@ -3794,7 +3744,7 @@ When ON, NAV engine will slow down when switching to the next waypoint. This pri ### nav_min_ground_speed -Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s. +Minimum ground speed for navigation flight modes [m/s]. Currently, this only affects fixed wing. Default 7 m/s. | Default | Min | Max | | --- | --- | --- | @@ -4094,7 +4044,7 @@ Selection of OPFLOW hardware. ### opflow_scale -_// TODO_ +Optical flow module scale factor | Default | Min | Max | | --- | --- | --- | @@ -4314,7 +4264,7 @@ Set the camera uptilt for the FPV camera in degres, positive is up, negative is ### osd_coordinate_digits -_// TODO_ +Number of digits for the coordinates displayed in the OSD [8-11]. | Default | Min | Max | | --- | --- | --- | @@ -4402,6 +4352,16 @@ Use wind estimation for remaining flight time/distance estimation --- +### osd_estimations_wind_mps + +Wind speed estimation in m/s + +| Default | Min | Max | +| --- | --- | --- | +| OFF | OFF | ON | + +--- + ### osd_failsafe_switch_layout If enabled the OSD automatically switches to the first layout during failsafe @@ -4664,7 +4624,7 @@ PWM value for UP key ### osd_left_sidebar_scroll -_// TODO_ +Scroll type for the left sidebar | Default | Min | Max | | --- | --- | --- | @@ -4794,7 +4754,7 @@ Number of leading digits removed from plus code. Removing 2, 4 and 6 digits requ ### osd_right_sidebar_scroll -_// TODO_ +Scroll type for the right sidebar | Default | Min | Max | | --- | --- | --- | @@ -4884,7 +4844,7 @@ Sidebar horizontal offset from default position. Positive values move the sideba ### osd_sidebar_scroll_arrows -_// TODO_ +Show arrows for scrolling the sidebars | Default | Min | Max | | --- | --- | --- | @@ -4922,23 +4882,23 @@ Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt --- -### osd_stats_min_voltage_unit +### osd_stats_page_auto_swap_time -Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats. +Auto swap display time interval between disarm stats pages (seconds). Reverts to manual control when Roll stick used to change pages. Disabled when set to 0. | Default | Min | Max | | --- | --- | --- | -| BATTERY | | | +| 3 | 0 | 10 | --- -### osd_stats_page_auto_swap_time +### osd_stats_show_metric_efficiency -Auto swap display time interval between disarm stats pages (seconds). Reverts to manual control when Roll stick used to change pages. Disabled when set to 0. +Enabling this option will show metric efficiency statistics on the post flight stats screen. In addition to the efficiency statistics in your chosen units. | Default | Min | Max | | --- | --- | --- | -| 3 | 0 | 10 | +| OFF | OFF | ON | --- @@ -5122,26 +5082,6 @@ Allows to set type of PID controller used in control loop. Possible values: `NON --- -### pidsum_limit - -A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help - -| Default | Min | Max | -| --- | --- | --- | -| 500 | PID_SUM_LIMIT_MIN | PID_SUM_LIMIT_MAX | - ---- - -### pidsum_limit_yaw - -A limitation to overall amount of correction Flight PID can request on each axis (Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help - -| Default | Min | Max | -| --- | --- | --- | -| 350 | PID_SUM_LIMIT_MIN | PID_SUM_LIMIT_MAX | - ---- - ### pilot_name Pilot name @@ -5214,7 +5154,7 @@ Selection of pitot hardware. ### pitot_lpf_milli_hz -_// TODO_ +Pitot tube lowpass filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay | Default | Min | Max | | --- | --- | --- | @@ -5224,7 +5164,7 @@ _// TODO_ ### pitot_scale -_// TODO_ +Pitot tube scale factor | Default | Min | Max | | --- | --- | --- | @@ -5594,7 +5534,7 @@ Used to control when safehomes will be used. Possible values are `OFF`, `RTH` an ### sbus_sync_interval -_// TODO_ +SBUS sync interval in us. Default value is 3000us. Lower values may cause issues with some receivers. | Default | Min | Max | | --- | --- | --- | @@ -6214,7 +6154,7 @@ Some VTXes may report max power incorrectly (i.e. 200mW for a 600mW VTX). Use th ### vtx_pit_mode_chan -_// TODO_ +Pit mode channel. | Default | Min | Max | | --- | --- | --- | @@ -6278,7 +6218,7 @@ These are values (in us) by how much RC input can be different before it's consi | Default | Min | Max | | --- | --- | --- | -| 5 | 0 | 100 | +| 2 | 0 | 100 | --- diff --git a/docs/boards/MAMBAH743_2022B.md b/docs/boards/MAMBAH743_2022B.md index 688c630cb84..d3d91e14c14 100644 --- a/docs/boards/MAMBAH743_2022B.md +++ b/docs/boards/MAMBAH743_2022B.md @@ -2,4 +2,8 @@ Contrary to what the documentation suggests, VTX power is actually on USER2. +# Dual Gyros + +INAV 7.1 changed the default gyro of the board from the gyro on SPI4 back to the one on SPI1. A new tagrt ```MAMBAH743_2022B_GYRO2``` was added to use gyro on SPI4, in case you suspect an issue with the gyro on SPI1, you can switch to the gyro on SPI4 by using the new target. + diff --git a/docs/development/Blackbox Internals.md b/docs/development/Blackbox Internals.md index bf7991c7041..5e82979bcad 100644 --- a/docs/development/Blackbox Internals.md +++ b/docs/development/Blackbox Internals.md @@ -566,7 +566,6 @@ The log end marker is an optional Event ("E") frame of type 0xFF whose payload i
  • Sticks
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    • -
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    • diff --git a/docs/development/Building SITL.md b/docs/development/Building SITL.md new file mode 100644 index 00000000000..33ba7ee3d5c --- /dev/null +++ b/docs/development/Building SITL.md @@ -0,0 +1,39 @@ +## Building SITL + +### Linux and FreeBSD: +Almost like normal, ruby, cmake and make are also required. +With cmake, the option "-DSITL=ON" must be specified. + +``` +mkdir build_SITL +cd build_SITL +cmake -DSITL=ON .. +make +``` + +### Windows: +Compile under cygwin, then as in Linux. +Copy cygwin1.dll into the directory, or include cygwin's /bin/ directory in the environment variable PATH. + +If the build fails (segfault, possibly out of memory), adding `-DCMAKE_BUILD_TYPE=MinRelSize` to the `cmake` command may help. + +#### Build manager + +`ninja` may also be used (parallel builds without `-j $(nproc)`): + +``` +cmake -GNinja -DSITL=ON .. +ninja +``` + +### Compiler requirements + +* Modern GCC. Must be a *real* GCC, macOS faking it with clang will not work. GCC 10 to GCC 13 are known to work. +* Unix sockets networking. Cygwin is required on Windows (vice `winsock`). +* Pthreads + +## Supported environments + +* Linux on x86_64, ia-32, Aarch64 (e.g. Rpi4), RISCV64 (e.g. VisionFive2) +* Windows on x86_64 +* FreeBSD (x86_64 at least). diff --git a/docs/development/Building in Docker.md b/docs/development/Building in Docker.md index 575614a95d1..fe3723359f4 100755 --- a/docs/development/Building in Docker.md +++ b/docs/development/Building in Docker.md @@ -1,5 +1,7 @@ # Building with Docker +> **On Windows building with this method is not advised and should be used only if Windows Linux Subsystem can not be used. In all other cases all Windows users should be using Linux Subsystem (WSL) instead** + Building with [Docker](https://www.docker.com/) is remarkably easy: an isolated container will hold all the needed compilation tools so that they won't interfere with your system and you won't need to install and manage them by yourself. You'll only need to have Docker itself [installed](https://docs.docker.com/install/). The first time that you'll run a build it will take a little more time than following executions since it will be building its base image first. Once this initial process is completed, the firmware will be always built immediately. diff --git a/docs/development/Building in Gitpod.md b/docs/development/Building in Gitpod.md new file mode 100644 index 00000000000..fb0203a529f --- /dev/null +++ b/docs/development/Building in Gitpod.md @@ -0,0 +1,19 @@ +# Building in Gitpod + +Gitpod offers an online build environment for building INAV targets. +## Setting up the environment and building targets + +1. Go to https://gitpod.io/new +1. Paste `https://github.com/iNavFlight/inav/tree/[version]` into the field called "Select a repository". +1. Ensure that you substitute [version] (e.g. 7.1.0) with the version number of INAV that you want to build. +1. Cick on the link that shows in the drop down and Gitpod will atomatically selects the adequate Editor and Browser. +1. Leave the other fields as default and click "Continue". Your build environment will be created. +1. At the bottom of the page, you will see a command line. Type `make [TARGET]` and wait for the target to be built. +1. Once the build has finished, navigate to the build folder using `cd build`. +1. Once in the folder, run `objcopy -O ihex -R .eeprom [TARGET].elf [TARGET].hex` to convert the `.elf` file to a `.hex` file. +1. Your new target `.hex` binary will be located in a folder called `bin`, which can be found at the top left of the page. + + +NOTE: You can use this method to build your forks as well. Just paste in the link to your fork and follow the rest of the steps. + +You are done! diff --git a/docs/development/Building in Vagrant.md b/docs/development/Building in Vagrant.md index 99d479b7c19..c931f2ffcca 100644 --- a/docs/development/Building in Vagrant.md +++ b/docs/development/Building in Vagrant.md @@ -1,5 +1,7 @@ # Building with Vagrant +> **On Windows building with this method is not advised and should be used only if Windows Linux Subsystem can not be used. In all other cases all Windows users should be using Linux Subsystem (WSL) instead** + Setting up build environment with Vagrant is remarkably simple, but you still need to have some basic knowlage of your OS. ## Installing Vagrant diff --git a/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md b/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md index 9cee0ede253..217b0a05a4d 100644 --- a/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md +++ b/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md @@ -1,6 +1,6 @@ -# Building in Windows 10 with Linux subsystem [Recommended] +# Building in Windows 10/11 with Linux subsystem (WSL) [Recommended] -Linux subsystem for Windows 10 is probably the simplest way of building INAV under Windows 10. +Linux subsystem for Windows (WSL) 10/11 is probably the simplest way of building INAV under Windows. ## Setting up the environment @@ -9,7 +9,6 @@ run `windows features` enable `windows subsytem for linux` reboot - Install Ubuntu: 1. Go to Microsoft store https://www.microsoft.com/en-gb/store/b/home 1. Search and install most recent Ubuntu LTS version @@ -56,12 +55,12 @@ You can fix this with by remounting the drive using the following commands 1. `sudo umount /mnt/c` 2. `sudo mount -t drvfs C: /mnt/c -o metadata` -## Building (example): +## Building with Make (example): -For detailed build instrusctions see [Building in Linux](Building%20in%20Linux.md) +For detailed build instructions see [Building in Linux](Building%20in%20Linux.md) Launch Ubuntu: -Click Windows Start button then scroll and lauch "Ubuntu" +Click Windows Start button then scroll and launch "Ubuntu" Building from Ubuntu command line @@ -80,6 +79,39 @@ cd build make MATEKF722 ``` +## Building with Ninja (example): + +[Ninja](https://ninja-build.org/) is a popular cross-platform tool. It is both lightweight and executes parallel builds by default. It is advantageous to use this over the old _make_ method. There are detailed instructions for building with Ninja in [Building in Linux](Building%20in%20Linux.md#building-with-ninja). + +Launch Ubuntu: +Click Windows Start button. Then scroll and launch **Ubuntu**. + +> [!TIP] +> Before using Ninja, you will need to install it. From the Ubuntu command prompt type `sudo apt-get install ninja-build -y` and press enter. + +Building from the command line: + +First, change to the INAV directory with +```cd /mnt/c/inav``` + +Before building, you will need to prepare the build environment. You only need to do this once, unless you reinstall WSL or cmake. + +``` +mkdir build +cd build +cmake -GNinja .. +``` + +From then on, you can build your target by calling the following from inside the build directory. +``` +ninja MATEKF722 +``` + +If you want to build multiple targets. You can use: +``` +ninja MATEKF722 MATEKF405SE SPEEDYBEEF405 +``` + ## Updating the documents ``` cd /mnt/c/inav diff --git a/docs/development/Building in Windows 10 or 11 with MSYS2.md b/docs/development/Building in Windows 10 or 11 with MSYS2.md index 2d7f967b505..bc55be7410d 100644 --- a/docs/development/Building in Windows 10 or 11 with MSYS2.md +++ b/docs/development/Building in Windows 10 or 11 with MSYS2.md @@ -1,4 +1,7 @@ # Building in Windows with MSYS2 + +> **Building with this method is not advised and should be used only if Windows Linux Subsystem can not be used. In all other cases all Windows users should be using Linux Subsystem (WSL) instead** + - This environment does not require installing WSL, which may not be available or would get in the way of other virtualization and/or anti-cheat software - It is also much faster to install and get set up because of its small size(~3.65 GB total after building hex file as of 6.0.0) ## Setting up the environment diff --git a/docs/development/Building in Windows light.md b/docs/development/[Deprecated] Building in Windows light.md similarity index 96% rename from docs/development/Building in Windows light.md rename to docs/development/[Deprecated] Building in Windows light.md index e05b2c92f3b..de4659e7455 100644 --- a/docs/development/Building in Windows light.md +++ b/docs/development/[Deprecated] Building in Windows light.md @@ -1,4 +1,8 @@ # Building in windows light [Deprecated] + +> **Building with this method is deprecated and not advised. All Windows users should be using +Linux Subsystem (WSL) instead** + no cygwin and no path changes ## Install Git for windows diff --git a/docs/policies/NEW_HARDWARE_POLICY.md b/docs/policies/NEW_HARDWARE_POLICY.md index 1e974134808..f11601b8380 100644 --- a/docs/policies/NEW_HARDWARE_POLICY.md +++ b/docs/policies/NEW_HARDWARE_POLICY.md @@ -23,8 +23,8 @@ New targets are accepted into INAV code if any of the following conditions is sa 3. The new target must meet the following minimal requirements: * On-board sensors include at least the IMU (gyroscope + accelerometer) - * At least 2 hardware serial ports are available with both TX and RX pins - * At least 512K of firmware flash memory and at least of 64K of RAM available + * At least 3 hardware serial ports are available with both TX and RX pads. 2 serial ports may be accepted if there is an onboard serial RX. + * At least 512K of firmware flash memory and at least of 128K of RAM available * At least one I2C bus broken out (SCL and SDA pins) and not shared with other functions ## New hardware support diff --git a/readme.md b/readme.md index b7bed7d94fc..a70c42d4c86 100644 --- a/readme.md +++ b/readme.md @@ -1,6 +1,6 @@ # INAV - navigation capable flight controller -# PSA +# F411 PSA > INAV no longer accepts targets based on STM32 F411 MCU. @@ -8,11 +8,32 @@ ![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png) +# PosHold, Navigation and RTH without compass PSA + +Attention all drone pilots and enthusiasts, + +Are you ready to take your flights to new heights with INAV 7.1? We've got some important information to share with you. + +INAV 7.1 brings an exciting update to navigation capabilities. Now, you can soar through the skies, navigate waypoints, and even return to home without relying on a compass. Yes, you heard that right! But before you launch into the air, there's something crucial to consider. + +While INAV 7.1 may not require a compass for basic navigation functions, we strongly advise you to install one for optimal flight performance. Here's why: + +🛰️ Better Flight Precision: A compass provides essential data for accurate navigation, ensuring smoother and more precise flight paths. + +🌐 Enhanced Reliability: With a compass onboard, your drone can maintain stability even in challenging environments, low speeds and strong wind. + +🚀 Minimize Risks: Although INAV 7.1 can get you where you need to go without a compass, flying without one may result in a bumpier ride and increased risk of drift or inaccurate positioning. + +Remember, safety and efficiency are paramount when operating drones. By installing a compass, you're not just enhancing your flight experience, but also prioritizing safety for yourself and those around you. + +So, before you take off on your next adventure, make sure to equip your drone with a compass. It's the smart choice for smoother flights and better navigation. + +Fly safe, fly smart with INAV 7.1 and a compass by your side! + # INAV Community * [INAV Discord Server](https://discord.gg/peg2hhbYwN) * [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial) -* [INAV Official on Telegram](https://t.me/INAVFlight) ## Features @@ -22,14 +43,15 @@ * Outstanding performance out of the box * Position Hold, Altitude Hold, Return To Home and Waypoint Missions * Excellent support for fixed wing UAVs: airplanes, flying wings +* Blackbox flight recorder logging +* Advanced gyro filtering * Fully configurable mixer that allows to run any hardware you want: multirotor, fixed wing, rovers, boats and other experimental devices * Multiple sensor support: GPS, Pitot tube, sonar, lidar, temperature, ESC with BlHeli_32 telemetry +* Logic Conditions, Global Functions and Global Variables: you can program INAV with a GUI * SmartAudio and IRC Tramp VTX support -* Blackbox flight recorder logging * Telemetry: SmartPort, FPort, MAVlink, LTM, CRSF * Multi-color RGB LED Strip support -* Advanced gyro filtering -* Logic Conditions, Global Functions and Global Variables: you can program INAV with a GUI +* On Screen Display (OSD) - both character and pixel style * And many more! For a list of features, changes and some discussion please review consult the releases [page](https://github.com/iNavFlight/inav/releases) and the documentation. @@ -52,10 +74,6 @@ Command line tools (`blackbox_decode`, `blackbox_render`) for Blackbox log conve Users of EdgeTX and OpenTX radios (Taranis, Horus, Jumper, Radiomaster, Nirvana) can use INAV OpenTX Telemetry Widget screen. Software and installation instruction are available here: [https://github.com/iNavFlight/OpenTX-Telemetry-Widget](https://github.com/iNavFlight/OpenTX-Telemetry-Widget) -### INAV magnetometer alignment helper - -[INAV Magnetometer Alignment helper](https://kernel-machine.github.io/INavMagAlignHelper/) allows to align INAV magnetometer despite position and orientation. This simplifies the process of INAV setup on multirotors with tilted GPS modules. - ### OSD layout Copy, Move, or Replace helper tool [Easy INAV OSD switcher tool](https://www.mrd-rc.com/tutorials-tools-and-testing/useful-tools/inav-osd-switcher-tool/) allows you to easily switch your OSD layouts around in INAV. Choose the from and to OSD layouts, and the method of transfering the layouts. diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt index 98a43854cf2..28c068966f8 100755 --- a/src/main/CMakeLists.txt +++ b/src/main/CMakeLists.txt @@ -1,3 +1,4 @@ + main_sources(COMMON_SRC main.c @@ -237,6 +238,8 @@ main_sources(COMMON_SRC drivers/rangefinder/rangefinder_us42.h drivers/rangefinder/rangefinder_tof10120_i2c.c drivers/rangefinder/rangefinder_tof10120_i2c.h + drivers/rangefinder/rangefinder_teraranger_evo.c + drivers/rangefinder/rangefinder_teraranger_evo.h drivers/resource.c drivers/resource.h @@ -483,6 +486,8 @@ main_sources(COMMON_SRC io/rangefinder.h io/rangefinder_msp.c io/rangefinder_benewake.c + io/rangefinder_usd1_v0.c + io/rangefinder_nanoradar.c io/rangefinder_fake.c io/opflow.h io/opflow_cxof.c diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index 453b8fda0cc..727488cc1b1 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -1308,10 +1308,16 @@ static void writeSlowFrame(void) static void loadSlowState(blackboxSlowState_t *slow) { memcpy(&slow->flightModeFlags, &rcModeActivationMask, sizeof(slow->flightModeFlags)); //was flightModeFlags; - // Also log Nav auto selected flight modes rather than just those selected by boxmode - if (!IS_RC_MODE_ACTIVE(BOXANGLE) && FLIGHT_MODE(ANGLE_MODE)) { + // Also log Nav auto enabled flight modes rather than just those selected by boxmode + if (FLIGHT_MODE(ANGLE_MODE)) { slow->flightModeFlags |= (1 << BOXANGLE); } + if (FLIGHT_MODE(NAV_ALTHOLD_MODE)) { + slow->flightModeFlags |= (1 << BOXNAVALTHOLD); + } + if (FLIGHT_MODE(NAV_RTH_MODE)) { + slow->flightModeFlags |= (1 << BOXNAVRTH); + } if (navigationGetHeadingControlState() == NAV_HEADING_CONTROL_AUTO) { slow->flightModeFlags |= (1 << BOXHEADINGHOLD); } @@ -1844,9 +1850,9 @@ static bool blackboxWriteSysinfo(void) BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s", systemConfig()->craftName); BLACKBOX_PRINT_HEADER_LINE("P interval", "%u/%u", blackboxConfig()->rate_num, blackboxConfig()->rate_denom); BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d", getThrottleIdleValue()); - BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", motorConfig()->maxthrottle); + BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", getMaxThrottle()); BLACKBOX_PRINT_HEADER_LINE("gyro_scale", "0x%x", castFloatBytesToInt(1.0f)); - BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", getThrottleIdleValue(),motorConfig()->maxthrottle); + BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", getThrottleIdleValue(),getMaxThrottle()); BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u", acc.dev.acc_1G); #ifdef USE_ADC @@ -1915,9 +1921,8 @@ static bool blackboxWriteSysinfo(void) BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_type", "%d", pidProfile()->dterm_lpf_type); BLACKBOX_PRINT_HEADER_LINE("deadband", "%d", rcControlsConfig()->deadband); BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d", rcControlsConfig()->yaw_deadband); - BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d", gyroConfig()->gyro_lpf); + BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d", GYRO_LPF_256HZ); BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_hz", "%d", gyroConfig()->gyro_main_lpf_hz); - BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_type", "%d", gyroConfig()->gyro_main_lpf_type); #ifdef USE_DYNAMIC_FILTERS BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchQ", "%d", gyroConfig()->dynamicGyroNotchQ); BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchMinHz", "%d", gyroConfig()->dynamicGyroNotchMinHz); @@ -1940,8 +1945,6 @@ static bool blackboxWriteSysinfo(void) BLACKBOX_PRINT_HEADER_LINE("waypoints", "%d,%d", getWaypointCount(),isWaypointListValid()); BLACKBOX_PRINT_HEADER_LINE("acc_notch_hz", "%d", accelerometerConfig()->acc_notch_hz); BLACKBOX_PRINT_HEADER_LINE("acc_notch_cutoff", "%d", accelerometerConfig()->acc_notch_cutoff); - BLACKBOX_PRINT_HEADER_LINE("pidSumLimit", "%d", pidProfile()->pidSumLimit); - BLACKBOX_PRINT_HEADER_LINE("pidSumLimitYaw", "%d", pidProfile()->pidSumLimitYaw); BLACKBOX_PRINT_HEADER_LINE("axisAccelerationLimitYaw", "%d", pidProfile()->axisAccelerationLimitYaw); BLACKBOX_PRINT_HEADER_LINE("axisAccelerationLimitRollPitch", "%d", pidProfile()->axisAccelerationLimitRollPitch); #ifdef USE_RPM_FILTER diff --git a/src/main/blackbox/blackbox_io.c b/src/main/blackbox/blackbox_io.c index 7a6f04149d3..3e6adb719b7 100644 --- a/src/main/blackbox/blackbox_io.c +++ b/src/main/blackbox/blackbox_io.c @@ -35,6 +35,10 @@ #include "config/parameter_group.h" #include "config/parameter_group_ids.h" +#ifdef USE_SDCARD +#include "drivers/sdcard/sdcard.h" +#endif + #include "io/asyncfatfs/asyncfatfs.h" #include "io/flashfs.h" #include "io/serial.h" @@ -507,6 +511,36 @@ bool isBlackboxDeviceFull(void) } } +bool isBlackboxDeviceWorking(void) +{ + switch (blackboxConfig()->device) { + case BLACKBOX_DEVICE_SERIAL: + return blackboxPort != NULL; +#ifdef USE_SDCARD + case BLACKBOX_DEVICE_SDCARD: + return sdcard_isInserted() && sdcard_isFunctional() && (afatfs_getFilesystemState() == AFATFS_FILESYSTEM_STATE_READY); +#endif +#ifdef USE_FLASHFS + case BLACKBOX_DEVICE_FLASH: + return flashfsIsReady(); +#endif + default: + return false; + } +} + +int32_t blackboxGetLogNumber(void) +{ + switch (blackboxConfig()->device) { +#ifdef USE_SDCARD + case BLACKBOX_DEVICE_SDCARD: + return blackboxSDCard.largestLogFileNumber; +#endif + default: + return -1; + } +} + /** * Call once every loop iteration in order to maintain the global blackboxHeaderBudget with the number of bytes we can * transmit this iteration. diff --git a/src/main/blackbox/blackbox_io.h b/src/main/blackbox/blackbox_io.h index e71fdadca30..d143b72098d 100644 --- a/src/main/blackbox/blackbox_io.h +++ b/src/main/blackbox/blackbox_io.h @@ -67,6 +67,8 @@ bool blackboxDeviceBeginLog(void); bool blackboxDeviceEndLog(bool retainLog); bool isBlackboxDeviceFull(void); +bool isBlackboxDeviceWorking(void); +int32_t blackboxGetLogNumber(void); void blackboxReplenishHeaderBudget(void); blackboxBufferReserveStatus_e blackboxDeviceReserveBufferSpace(int32_t bytes); diff --git a/src/main/build/build_config.h b/src/main/build/build_config.h index d97e6d300ce..75bb46668d7 100644 --- a/src/main/build/build_config.h +++ b/src/main/build/build_config.h @@ -40,7 +40,7 @@ #endif #ifdef __APPLE__ -#define FASTRAM __attribute__ ((section("__DATA,__.fastram_bss"), aligned(4))) +#define FASTRAM __attribute__ ((section("__DATA,__.fastram_bss"), aligned(8))) #else #define FASTRAM __attribute__ ((section(".fastram_bss"), aligned(4))) #endif diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c index 7612ec44181..5fd9df7d973 100644 --- a/src/main/cms/cms_menu_imu.c +++ b/src/main/cms/cms_menu_imu.c @@ -137,6 +137,30 @@ static long cmsx_PidWriteback(const OSD_Entry *self) return 0; } +static const OSD_Entry cmsx_menuEzTuneEntries[] = +{ + OSD_LABEL_DATA_ENTRY("-- EZTUNE --", profileIndexString), + + OSD_SETTING_ENTRY("ENABLED", SETTING_EZ_ENABLED), + OSD_SETTING_ENTRY("FILTER HZ", SETTING_EZ_FILTER_HZ), + OSD_SETTING_ENTRY("RATIO", SETTING_EZ_AXIS_RATIO), + OSD_SETTING_ENTRY("RESP.", SETTING_EZ_RESPONSE), + OSD_SETTING_ENTRY("DAMP.", SETTING_EZ_DAMPING), + OSD_SETTING_ENTRY("STAB.", SETTING_EZ_STABILITY), + OSD_SETTING_ENTRY("AGGR.", SETTING_EZ_AGGRESSIVENESS), + OSD_SETTING_ENTRY("RATE", SETTING_EZ_RATE), + OSD_SETTING_ENTRY("EXPO", SETTING_EZ_EXPO), + + OSD_BACK_AND_END_ENTRY, +}; + +static const CMS_Menu cmsx_menuEzTune = { + .onEnter = NULL, + .onExit = NULL, + .onGlobalExit = NULL, + .entries = cmsx_menuEzTuneEntries +}; + static const OSD_Entry cmsx_menuPidEntries[] = { OSD_LABEL_DATA_ENTRY("-- PID --", profileIndexString), @@ -198,6 +222,8 @@ static const OSD_Entry cmsx_menuPidAltMagEntries[] = { OSD_LABEL_DATA_ENTRY("-- ALT&MAG --", profileIndexString), + OSD_SETTING_ENTRY("FW ALT RESPONSE", SETTING_NAV_FW_ALT_CONTROL_RESPONSE), + OTHER_PIDFF_ENTRY("ALT P", &cmsx_pidPosZ.P), OTHER_PIDFF_ENTRY("ALT I", &cmsx_pidPosZ.I), OTHER_PIDFF_ENTRY("ALT D", &cmsx_pidPosZ.D), @@ -398,7 +424,6 @@ static const CMS_Menu cmsx_menuProfileOther = { static const OSD_Entry cmsx_menuFilterPerProfileEntries[] = { OSD_LABEL_DATA_ENTRY("-- FILTERING --", profileIndexString), - OSD_SETTING_ENTRY("HARDWARE LPF", SETTING_GYRO_HARDWARE_LPF), OSD_SETTING_ENTRY("GYRO MAIN", SETTING_GYRO_MAIN_LPF_HZ), OSD_SETTING_ENTRY("DTERM LPF", SETTING_DTERM_LPF_HZ), #ifdef USE_DYNAMIC_FILTERS @@ -458,6 +483,7 @@ static const OSD_Entry cmsx_menuImuEntries[] = // Profile dependent OSD_UINT8_CALLBACK_ENTRY("PID PROF", cmsx_profileIndexOnChange, (&(const OSD_UINT8_t){ &tmpProfileIndex, 1, MAX_PROFILE_COUNT, 1})), + OSD_SUBMENU_ENTRY("EZTUNE", &cmsx_menuEzTune), OSD_SUBMENU_ENTRY("PID", &cmsx_menuPid), OSD_SUBMENU_ENTRY("PID ALTMAG", &cmsx_menuPidAltMag), OSD_SUBMENU_ENTRY("PID GPSNAV", &cmsx_menuPidGpsnav), diff --git a/src/main/cms/cms_types.h b/src/main/cms/cms_types.h index 9b2b06646c5..a07e55eaaa4 100644 --- a/src/main/cms/cms_types.h +++ b/src/main/cms/cms_types.h @@ -26,6 +26,12 @@ //type of elements +#ifndef __APPLE__ +#define OSD_ENTRY_ATTR __attribute__((packed)) +#else +#define OSD_ENTRY_ATTR +#endif + typedef enum { OME_Label, @@ -71,7 +77,7 @@ typedef struct const void * const data; const uint8_t type; // from OSD_MenuElement uint8_t flags; -} __attribute__((packed)) OSD_Entry; +} OSD_ENTRY_ATTR OSD_Entry; // Bits in flags #define PRINT_VALUE (1 << 0) // Value has been changed, need to redraw diff --git a/src/main/common/maths.h b/src/main/common/maths.h index c681080500f..f3f2fd62746 100644 --- a/src/main/common/maths.h +++ b/src/main/common/maths.h @@ -56,6 +56,8 @@ #define RADIANS_TO_CENTIDEGREES(angle) (((angle) * 100.0f) / RAD) #define CENTIDEGREES_TO_RADIANS(angle) (((angle) * 0.01f) * RAD) +#define MILLIMETERS_TO_CENTIMETERS(mm) (mm / 10.0f) + #define CENTIMETERS_TO_CENTIFEET(cm) (cm / 0.3048f) #define CENTIMETERS_TO_FEET(cm) (cm / 30.48f) #define CENTIMETERS_TO_METERS(cm) (cm * 0.01f) @@ -65,6 +67,8 @@ #define METERS_TO_MILES(m) (m / 1609.344f) #define METERS_TO_NAUTICALMILES(m) (m / 1852.00f) +#define MWH_TO_WH(mWh) (mWh / 1000.0f) + #define CMSEC_TO_CENTIMPH(cms) (cms * 2.2369363f) #define CMSEC_TO_CENTIKPH(cms) (cms * 3.6f) #define CMSEC_TO_CENTIKNOTS(cms) (cms * 1.943845f) diff --git a/src/main/config/parameter_group.h b/src/main/config/parameter_group.h index 9594ad96c41..28a647ecb96 100644 --- a/src/main/config/parameter_group.h +++ b/src/main/config/parameter_group.h @@ -64,7 +64,7 @@ static inline uint16_t pgIsProfile(const pgRegistry_t* reg) {return (reg->size & #ifdef __APPLE__ extern const pgRegistry_t __pg_registry_start[] __asm("section$start$__DATA$__pg_registry"); extern const pgRegistry_t __pg_registry_end[] __asm("section$end$__DATA$__pg_registry"); -#define PG_REGISTER_ATTRIBUTES __attribute__ ((section("__DATA,__pg_registry"), used, aligned(4))) +#define PG_REGISTER_ATTRIBUTES __attribute__ ((section("__DATA,__pg_registry"), used, aligned(8))) extern const uint8_t __pg_resetdata_start[] __asm("section$start$__DATA$__pg_resetdata"); extern const uint8_t __pg_resetdata_end[] __asm("section$end$__DATA$__pg_resetdata"); diff --git a/src/main/drivers/accgyro/accgyro_bmi160.c b/src/main/drivers/accgyro/accgyro_bmi160.c index cadaeb22da5..fc7fb472b52 100644 --- a/src/main/drivers/accgyro/accgyro_bmi160.c +++ b/src/main/drivers/accgyro/accgyro_bmi160.c @@ -108,15 +108,6 @@ static const gyroFilterAndRateConfig_t gyroConfigs[] = { { GYRO_LPF_256HZ, 3200, { BMI160_BWP_OSR4 | BMI160_ODR_3200_Hz} }, { GYRO_LPF_256HZ, 1600, { BMI160_BWP_OSR2 | BMI160_ODR_1600_Hz} }, { GYRO_LPF_256HZ, 800, { BMI160_BWP_NORMAL | BMI160_ODR_800_Hz } }, - - { GYRO_LPF_188HZ, 800, { BMI160_BWP_OSR2 | BMI160_ODR_800_Hz } }, // ODR = 800 Hz, LPF = 128 Hz - { GYRO_LPF_188HZ, 400, { BMI160_BWP_NORMAL | BMI160_ODR_400_Hz } }, // ODR = 400 Hz, LPF = 137 Hz - - { GYRO_LPF_98HZ, 800, { BMI160_BWP_OSR4 | BMI160_ODR_800_Hz } }, // ODR = 800 Hz, LPF = 63 Hz - { GYRO_LPF_98HZ, 400, { BMI160_BWP_OSR2 | BMI160_ODR_400_Hz } }, // ODR = 400 Hz, LPF = 68 Hz - - { GYRO_LPF_42HZ, 800, { BMI160_BWP_OSR4 | BMI160_ODR_800_Hz } }, // ODR = 800 Hz, LPF = 63 Hz - { GYRO_LPF_42HZ, 400, { BMI160_BWP_OSR4 | BMI160_ODR_400_Hz } }, // ODR = 400 Hz, LPF = 34 Hz }; static void bmi160AccAndGyroInit(gyroDev_t *gyro) diff --git a/src/main/drivers/accgyro/accgyro_bmi270.c b/src/main/drivers/accgyro/accgyro_bmi270.c index 3e1db222536..1dc4d3fc590 100644 --- a/src/main/drivers/accgyro/accgyro_bmi270.c +++ b/src/main/drivers/accgyro/accgyro_bmi270.c @@ -134,15 +134,6 @@ static const gyroFilterAndRateConfig_t gyroConfigs[] = { { GYRO_LPF_256HZ, 3200, { BMI270_BWP_OSR4 | BMI270_ODR_3200} }, { GYRO_LPF_256HZ, 1600, { BMI270_BWP_OSR2 | BMI270_ODR_1600} }, { GYRO_LPF_256HZ, 800, { BMI270_BWP_NORM | BMI270_ODR_800 } }, - - { GYRO_LPF_188HZ, 800, { BMI270_BWP_OSR2 | BMI270_ODR_800 } }, - { GYRO_LPF_188HZ, 400, { BMI270_BWP_NORM | BMI270_ODR_400 } }, - - { GYRO_LPF_98HZ, 800, { BMI270_BWP_OSR4 | BMI270_ODR_800 } }, - { GYRO_LPF_98HZ, 400, { BMI270_BWP_OSR2 | BMI270_ODR_400 } }, - - { GYRO_LPF_42HZ, 800, { BMI270_BWP_OSR4 | BMI270_ODR_800 } }, - { GYRO_LPF_42HZ, 400, { BMI270_BWP_OSR4 | BMI270_ODR_400 } }, }; // Toggle the CS to switch the device into SPI mode. diff --git a/src/main/drivers/accgyro/accgyro_icm42605.c b/src/main/drivers/accgyro/accgyro_icm42605.c index 082b31540eb..13bc22fcee7 100644 --- a/src/main/drivers/accgyro/accgyro_icm42605.c +++ b/src/main/drivers/accgyro/accgyro_icm42605.c @@ -198,21 +198,6 @@ static const gyroFilterAndRateConfig_t icm42605GyroConfigs[] = { { GYRO_LPF_256HZ, 2000, { 3, 5 } }, /* 250 Hz LPF */ { GYRO_LPF_256HZ, 1000, { 1, 6 } }, /* 250 Hz LPF */ { GYRO_LPF_256HZ, 500, { 0, 15 } }, /* 250 Hz LPF */ - - { GYRO_LPF_188HZ, 1000, { 3, 6 } }, /* 125 HZ */ - { GYRO_LPF_188HZ, 500, { 1, 15 } }, /* 125 HZ */ - - { GYRO_LPF_98HZ, 1000, { 4, 6 } }, /* 100 HZ*/ - { GYRO_LPF_98HZ, 500, { 2, 15 } }, /* 100 HZ*/ - - { GYRO_LPF_42HZ, 1000, { 6, 6 } }, /* 50 HZ */ - { GYRO_LPF_42HZ, 500, { 4, 15 } }, - - { GYRO_LPF_20HZ, 1000, { 7, 6 } }, /* 25 HZ */ - { GYRO_LPF_20HZ, 500, { 6, 15 } }, - - { GYRO_LPF_10HZ, 1000, { 7, 6 } }, /* 25 HZ */ - { GYRO_LPF_10HZ, 500, { 7, 15 } } /* 12.5 HZ */ }; static void icm42605AccAndGyroInit(gyroDev_t *gyro) diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c index 710865436bd..a52606946b1 100644 --- a/src/main/drivers/accgyro/accgyro_mpu.c +++ b/src/main/drivers/accgyro/accgyro_mpu.c @@ -50,21 +50,6 @@ static const gyroFilterAndRateConfig_t mpuGyroConfigs[] = { { GYRO_LPF_256HZ, 1000, { MPU_DLPF_256HZ, 7 } }, { GYRO_LPF_256HZ, 666, { MPU_DLPF_256HZ, 11 } }, { GYRO_LPF_256HZ, 500, { MPU_DLPF_256HZ, 15 } }, - - { GYRO_LPF_188HZ, 1000, { MPU_DLPF_188HZ, 0 } }, - { GYRO_LPF_188HZ, 500, { MPU_DLPF_188HZ, 1 } }, - - { GYRO_LPF_98HZ, 1000, { MPU_DLPF_98HZ, 0 } }, - { GYRO_LPF_98HZ, 500, { MPU_DLPF_98HZ, 1 } }, - - { GYRO_LPF_42HZ, 1000, { MPU_DLPF_42HZ, 0 } }, - { GYRO_LPF_42HZ, 500, { MPU_DLPF_42HZ, 1 } }, - - { GYRO_LPF_20HZ, 1000, { MPU_DLPF_20HZ, 0 } }, - { GYRO_LPF_20HZ, 500, { MPU_DLPF_20HZ, 1 } }, - - { GYRO_LPF_10HZ, 1000, { MPU_DLPF_10HZ, 0 } }, - { GYRO_LPF_10HZ, 500, { MPU_DLPF_10HZ, 1 } } }; const gyroFilterAndRateConfig_t * mpuChooseGyroConfig(uint8_t desiredLpf, uint16_t desiredRateHz) diff --git a/src/main/drivers/bus.h b/src/main/drivers/bus.h index eca213b7218..6c2cedaff02 100644 --- a/src/main/drivers/bus.h +++ b/src/main/drivers/bus.h @@ -135,6 +135,7 @@ typedef enum { DEVHW_VL53L1X, DEVHW_US42, DEVHW_TOF10120_I2C, + DEVHW_TERARANGER_EVO_I2C, /* Other hardware */ DEVHW_MS4525, // Pitot meter diff --git a/src/main/drivers/compass/compass_ist8308.c b/src/main/drivers/compass/compass_ist8308.c index 739c0965e9d..75d7386350d 100644 --- a/src/main/drivers/compass/compass_ist8308.c +++ b/src/main/drivers/compass/compass_ist8308.c @@ -121,8 +121,9 @@ static bool ist8308Read(magDev_t * mag) return false; } + // Invert Y axis to co convert from left to right coordinate system mag->magADCRaw[X] = (int16_t)(buf[1] << 8 | buf[0]) * LSB2FSV; - mag->magADCRaw[Y] = (int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV; + mag->magADCRaw[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV; mag->magADCRaw[Z] = (int16_t)(buf[5] << 8 | buf[4]) * LSB2FSV; return true; diff --git a/src/main/drivers/compass/compass_ist8310.c b/src/main/drivers/compass/compass_ist8310.c index bbd4687eadc..c7b5b0b1249 100644 --- a/src/main/drivers/compass/compass_ist8310.c +++ b/src/main/drivers/compass/compass_ist8310.c @@ -139,7 +139,7 @@ static bool ist8310Read(magDev_t * mag) return false; } - // Looks like datasheet is incorrect and we need to invert Y axis to conform to right hand rule + // Invert Y axis to co convert from left to right coordinate system mag->magADCRaw[X] = (int16_t)(buf[1] << 8 | buf[0]) * LSB2FSV; mag->magADCRaw[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV; mag->magADCRaw[Z] = (int16_t)(buf[5] << 8 | buf[4]) * LSB2FSV; diff --git a/src/main/drivers/nvic.h b/src/main/drivers/nvic.h index 5a501fbc5ec..cb484937d3d 100644 --- a/src/main/drivers/nvic.h +++ b/src/main/drivers/nvic.h @@ -26,4 +26,4 @@ #else #define NVIC_PRIORITY_GROUPING NVIC_PriorityGroup_4 #endif -#endif +#endif \ No newline at end of file diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h index 2437b9d3c2c..91cdcbb5f6b 100644 --- a/src/main/drivers/osd_symbols.h +++ b/src/main/drivers/osd_symbols.h @@ -178,6 +178,8 @@ #define SYM_ALERT 0xDD // 221 General alert symbol #define SYM_TERRAIN_FOLLOWING 0xFB // 251 Terrain following (also Alt adjust) #define SYM_CROSS_TRACK_ERROR 0xFC // 252 Cross track error +#define SYM_ADSB 0xFD // 253 ADBS +#define SYM_BLACKBOX 0xFE // 254 Blackbox #define SYM_ADSB 0xFD // 253 ADSB diff --git a/src/main/drivers/pinio.c b/src/main/drivers/pinio.c index 69968ddb7d9..3e89e5fccca 100644 --- a/src/main/drivers/pinio.c +++ b/src/main/drivers/pinio.c @@ -100,16 +100,14 @@ void pinioInit(void) } } -void pinioSet(int index, bool on) +void pinioSet(int index, bool newState) { - const bool newState = on ^ pinioRuntime[index].inverted; - if (!pinioRuntime[index].io) { return; } if (newState != pinioRuntime[index].state) { - IOWrite(pinioRuntime[index].io, newState); + IOWrite(pinioRuntime[index].io, newState ^ pinioRuntime[index].inverted); pinioRuntime[index].state = newState; } } diff --git a/src/main/drivers/pinio.h b/src/main/drivers/pinio.h index baecc35a181..a1de21c12de 100644 --- a/src/main/drivers/pinio.h +++ b/src/main/drivers/pinio.h @@ -38,4 +38,4 @@ extern const pinioHardware_t pinioHardware[]; extern const int pinioHardwareCount; void pinioInit(void); -void pinioSet(int index, bool on); +void pinioSet(int index, bool newState); diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c index d898b1595f1..d48f38679e9 100644 --- a/src/main/drivers/pwm_output.c +++ b/src/main/drivers/pwm_output.c @@ -172,6 +172,8 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timHw, resourceOwner const IO_t io = IOGetByTag(timHw->tag); IOInit(io, owner, RESOURCE_OUTPUT, allocatedOutputPortCount); + pwmOutConfigTimer(p, tch, hz, period, value); + if (enableOutput) { IOConfigGPIOAF(io, IOCFG_AF_PP, timHw->alternateFunction); } @@ -181,7 +183,6 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timHw, resourceOwner IOLo(io); } - pwmOutConfigTimer(p, tch, hz, period, value); return p; } diff --git a/src/main/drivers/rangefinder/rangefinder_teraranger_evo.c b/src/main/drivers/rangefinder/rangefinder_teraranger_evo.c new file mode 100644 index 00000000000..1c397f5a381 --- /dev/null +++ b/src/main/drivers/rangefinder/rangefinder_teraranger_evo.c @@ -0,0 +1,128 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include + +#include "platform.h" + +#include "common/maths.h" + +#if defined(USE_RANGEFINDER) && defined(USE_RANGEFINDER_TERARANGER_EVO_I2C) + +#include "build/build_config.h" + +#include "common/crc.h" + +#include "drivers/time.h" +#include "drivers/bus_i2c.h" + +#include "drivers/rangefinder/rangefinder.h" +#include "drivers/rangefinder/rangefinder_teraranger_evo.h" + +#include "build/debug.h" + +#define TERARANGER_EVO_DETECTION_CONE_DECIDEGREES 900 +#define TERARANGER_EVO_DETECTION_CONE_EXTENDED_DECIDEGREES 900 + +#define TERARANGER_EVO_I2C_ADDRESS 0x31 +#define TERARANGER_EVO_I2C_REGISTRY_TRIGGER_READING 0x00 // Write this command to the TeraRanger Evo and after a wait of approximately 500us read the 3 byte distance response +#define TERARANGER_EVO_I2C_REGISTRY_WHO_AM_I 0x01 // Write this value to TeraRanger Evo via I2C and the device responds with 0xA +#define TERARANGER_EVO_I2C_REGISTRY_CHANGE_BASE_ADDR 0xA2 // This command assigns a base address that will be memorised by the TerRanger Evo ie. power cycling the Evo will not restore the default I2C address. + +#define TERARANGER_EVO_I2C_ANSWER_WHO_AM_I 0xA1 + +#define TERARANGER_EVO_VALUE_TOO_CLOSE 0x0000 +#define TERARANGER_EVO_VALUE_OUT_OF_RANGE 0xffff + +static int16_t minimumReadingIntervalMs = 50; + uint8_t triggerValue[0]; +volatile int32_t teraRangerMeasurementCm; +static uint32_t timeOfLastMeasurementMs; +static uint8_t dataBuff[3]; + +static void teraRangerInit(rangefinderDev_t *rangefinder){ + busWriteBuf(rangefinder->busDev, TERARANGER_EVO_I2C_REGISTRY_TRIGGER_READING, triggerValue, 1); +} + +void teraRangerUpdate(rangefinderDev_t *rangefinder){ + if (busReadBuf(rangefinder->busDev, TERARANGER_EVO_I2C_REGISTRY_TRIGGER_READING, dataBuff, 3)) { + teraRangerMeasurementCm = MILLIMETERS_TO_CENTIMETERS(((int32_t)dataBuff[0] << 8 | (int32_t)dataBuff[1])); + + if(dataBuff[2] == crc8_update(0, &dataBuff, 2)){ + if (teraRangerMeasurementCm == TERARANGER_EVO_VALUE_TOO_CLOSE || teraRangerMeasurementCm == TERARANGER_EVO_VALUE_OUT_OF_RANGE) { + teraRangerMeasurementCm = RANGEFINDER_OUT_OF_RANGE; + } + } + } else { + teraRangerMeasurementCm = RANGEFINDER_HARDWARE_FAILURE; + } + + const timeMs_t timeNowMs = millis(); + if (timeNowMs > timeOfLastMeasurementMs + minimumReadingIntervalMs) { + // measurement repeat interval should be greater than minimumReadingIntervalMs + // to avoid interference between connective measurements. + timeOfLastMeasurementMs = timeNowMs; + busWriteBuf(rangefinder->busDev, TERARANGER_EVO_I2C_ADDRESS, triggerValue, 1); + } +} + + +int32_t teraRangerGetDistance(rangefinderDev_t *rangefinder){ + UNUSED(rangefinder); + return teraRangerMeasurementCm; +} + +static bool deviceDetect(busDevice_t * busDev){ + for (int retry = 0; retry < 5; retry++) { + uint8_t whoIamResult; + + delay(150); + + bool ack = busRead(busDev, TERARANGER_EVO_I2C_REGISTRY_WHO_AM_I, &whoIamResult); + if (ack && whoIamResult == TERARANGER_EVO_I2C_ANSWER_WHO_AM_I) { + return true; + } + }; + + return false; +} + +bool teraRangerDetect(rangefinderDev_t *rangefinder){ + rangefinder->busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_TERARANGER_EVO_I2C, 0, OWNER_RANGEFINDER); + if (rangefinder->busDev == NULL) { + return false; + } + + if (!deviceDetect(rangefinder->busDev)) { + busDeviceDeInit(rangefinder->busDev); + return false; + } + + rangefinder->delayMs = RANGEFINDER_TERA_EVO_TASK_PERIOD_MS; + rangefinder->maxRangeCm = RANGEFINDER_TERA_EVO_MAX_RANGE_CM; + rangefinder->detectionConeDeciDegrees = TERARANGER_EVO_DETECTION_CONE_DECIDEGREES; + rangefinder->detectionConeExtendedDeciDegrees = TERARANGER_EVO_DETECTION_CONE_EXTENDED_DECIDEGREES; + + rangefinder->init = &teraRangerInit; + rangefinder->update = &teraRangerUpdate; + rangefinder->read = &teraRangerGetDistance; + + return true; +} + +#endif \ No newline at end of file diff --git a/src/main/drivers/rangefinder/rangefinder_teraranger_evo.h b/src/main/drivers/rangefinder/rangefinder_teraranger_evo.h new file mode 100644 index 00000000000..be7618eca95 --- /dev/null +++ b/src/main/drivers/rangefinder/rangefinder_teraranger_evo.h @@ -0,0 +1,29 @@ +/* + * This file is part of INAV. + * + * This Source Code Form is subject to the terms of the Mozilla Public + * License, v. 2.0. If a copy of the MPL was not distributed with this file, + * You can obtain one at http://mozilla.org/MPL/2.0/. + * + * Alternatively, the contents of this file may be used under the terms + * of the GNU General Public License Version 3, as described below: + * + * This file is free software: you may copy, redistribute and/or modify + * it under the terms of the GNU General Public License as published by the + * Free Software Foundation, either version 3 of the License, or (at your + * option) any later version. + * + * This file is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General + * Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see http://www.gnu.org/licenses/. + */ +#pragma once + +#define RANGEFINDER_TERA_EVO_TASK_PERIOD_MS 70 +#define RANGEFINDER_TERA_EVO_MAX_RANGE_CM 600 // max distance depends on model https://www.terabee.com/sensors-modules/lidar-tof-range-finders/#individual-distance-measurement-sensors + +bool teraRangerDetect(rangefinderDev_t *dev); diff --git a/src/main/drivers/serial_tcp.c b/src/main/drivers/serial_tcp.c index 48522508ce8..765f8308cd3 100644 --- a/src/main/drivers/serial_tcp.c +++ b/src/main/drivers/serial_tcp.c @@ -43,6 +43,7 @@ #include "drivers/serial.h" #include "drivers/serial_tcp.h" +#include "target/SITL/serial_proxy.h" static const struct serialPortVTable tcpVTable[]; static tcpPort_t tcpPorts[SERIAL_PORT_COUNT]; @@ -118,6 +119,23 @@ static tcpPort_t *tcpReConfigure(tcpPort_t *port, uint32_t id) return port; } +void tcpReceiveBytes( tcpPort_t *port, const uint8_t* buffer, ssize_t recvSize ) { + for (ssize_t i = 0; i < recvSize; i++) { + if (port->serialPort.rxCallback) { + port->serialPort.rxCallback((uint16_t)buffer[i], port->serialPort.rxCallbackData); + } else { + pthread_mutex_lock(&port->receiveMutex); + port->serialPort.rxBuffer[port->serialPort.rxBufferHead] = buffer[i]; + port->serialPort.rxBufferHead = (port->serialPort.rxBufferHead + 1) % port->serialPort.rxBufferSize; + pthread_mutex_unlock(&port->receiveMutex); + } + } +} + +void tcpReceiveBytesEx( int portIndex, const uint8_t* buffer, ssize_t recvSize ) { + tcpReceiveBytes( &tcpPorts[portIndex], buffer, recvSize ); +} + int tcpReceive(tcpPort_t *port) { char addrbuf[IPADDRESS_PRINT_BUFLEN]; @@ -162,22 +180,12 @@ int tcpReceive(tcpPort_t *port) return 0; } - for (ssize_t i = 0; i < recvSize; i++) { - - if (port->serialPort.rxCallback) { - port->serialPort.rxCallback((uint16_t)buffer[i], port->serialPort.rxCallbackData); - } else { - pthread_mutex_lock(&port->receiveMutex); - port->serialPort.rxBuffer[port->serialPort.rxBufferHead] = buffer[i]; - port->serialPort.rxBufferHead = (port->serialPort.rxBufferHead + 1) % port->serialPort.rxBufferSize; - pthread_mutex_unlock(&port->receiveMutex); - } - } - if (recvSize < 0) { recvSize = 0; } + tcpReceiveBytes( port, buffer, recvSize ); + return (int)recvSize; } @@ -240,9 +248,21 @@ void tcpWritBuf(serialPort_t *instance, const void *data, int count) send(port->clientSocketFd, data, count, 0); } +int getTcpPortIndex(const serialPort_t *instance) { + for (int i = 0; i < SERIAL_PORT_COUNT; i++) { + if ( &(tcpPorts[i].serialPort) == instance) return i; + } + return -1; +} + void tcpWrite(serialPort_t *instance, uint8_t ch) { tcpWritBuf(instance, (void*)&ch, 1); + + int index = getTcpPortIndex(instance); + if ( !serialFCProxy && serialProxyIsConnected() && (index == (serialUartIndex-1)) ) { + serialProxyWriteData( (unsigned char *)&ch, 1); + } } uint32_t tcpTotalRxBytesWaiting(const serialPort_t *instance) @@ -263,6 +283,10 @@ uint32_t tcpTotalRxBytesWaiting(const serialPort_t *instance) return count; } +uint32_t tcpRXBytesFree(int portIndex) { + return tcpPorts[portIndex].serialPort.rxBufferSize - tcpTotalRxBytesWaiting( &tcpPorts[portIndex].serialPort); +} + uint32_t tcpTotalTxBytesFree(const serialPort_t *instance) { UNUSED(instance); @@ -272,7 +296,6 @@ uint32_t tcpTotalTxBytesFree(const serialPort_t *instance) bool isTcpTransmitBufferEmpty(const serialPort_t *instance) { UNUSED(instance); - return true; } diff --git a/src/main/drivers/serial_tcp.h b/src/main/drivers/serial_tcp.h index d27610eb805..7f394b8ccd3 100644 --- a/src/main/drivers/serial_tcp.h +++ b/src/main/drivers/serial_tcp.h @@ -26,6 +26,8 @@ #include #include +#include "drivers/serial.h" + #define BASE_IP_ADDRESS 5760 #define TCP_BUFFER_SIZE 2048 #define TCP_MAX_PACKET_SIZE 65535 @@ -50,5 +52,7 @@ typedef struct serialPort_t *tcpOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback, void *rxCallbackData, uint32_t baudRate, portMode_t mode, portOptions_t options); -void tcpSend(tcpPort_t *port); -int tcpReceive(tcpPort_t *port); +extern void tcpSend(tcpPort_t *port); +extern int tcpReceive(tcpPort_t *port); +extern void tcpReceiveBytesEx( int portIndex, const uint8_t* buffer, ssize_t recvSize ); +extern uint32_t tcpRXBytesFree(int portIndex); \ No newline at end of file diff --git a/src/main/drivers/system.h b/src/main/drivers/system.h index 10c0a1e717d..539a4ea93fb 100644 --- a/src/main/drivers/system.h +++ b/src/main/drivers/system.h @@ -21,7 +21,6 @@ #include void systemInit(void); -void systemClockSetup(uint8_t cpuUnderclock); typedef enum { FAILURE_DEVELOPER = 0, diff --git a/src/main/drivers/system_at32f43x.c b/src/main/drivers/system_at32f43x.c index fadcfe239a4..340058e183b 100644 --- a/src/main/drivers/system_at32f43x.c +++ b/src/main/drivers/system_at32f43x.c @@ -114,12 +114,6 @@ uint32_t systemBootloaderAddress(void) //return system_isr_vector_table_base; } -void systemClockSetup(uint8_t cpuUnderclock) -{ - (void)cpuUnderclock; - // This is a stub -} - void systemInit(void) { //config system clock to 288mhz usb 48mhz diff --git a/src/main/drivers/system_stm32f4xx.c b/src/main/drivers/system_stm32f4xx.c index 5cb9ccfd206..9863fa3c8c6 100644 --- a/src/main/drivers/system_stm32f4xx.c +++ b/src/main/drivers/system_stm32f4xx.c @@ -143,12 +143,6 @@ uint32_t systemBootloaderAddress(void) return 0x1FFF0000; } -void systemClockSetup(uint8_t cpuUnderclock) -{ - (void)cpuUnderclock; - // This is a stub -} - void systemInit(void) { SetSysClock(); diff --git a/src/main/drivers/system_stm32f7xx.c b/src/main/drivers/system_stm32f7xx.c index 9c39be23e84..da58cf24b52 100644 --- a/src/main/drivers/system_stm32f7xx.c +++ b/src/main/drivers/system_stm32f7xx.c @@ -66,12 +66,6 @@ uint32_t systemBootloaderAddress(void) return 0x1FF00000; } -void systemClockSetup(uint8_t cpuUnderclock) -{ - (void)cpuUnderclock; - // This is a stub -} - void systemInit(void) { checkForBootLoaderRequest(); diff --git a/src/main/drivers/system_stm32h7xx.c b/src/main/drivers/system_stm32h7xx.c index a1de36f2c2d..af3ea72e2a2 100644 --- a/src/main/drivers/system_stm32h7xx.c +++ b/src/main/drivers/system_stm32h7xx.c @@ -60,12 +60,6 @@ uint32_t systemBootloaderAddress(void) #endif } -void systemClockSetup(uint8_t cpuUnderclock) -{ - (void)cpuUnderclock; - // This is a stub -} - void systemInit(void) { checkForBootLoaderRequest(); diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c index ea09c5776d6..97de1bd6ed1 100644 --- a/src/main/fc/cli.c +++ b/src/main/fc/cli.c @@ -1171,7 +1171,7 @@ static void cliRxRange(char *cmdline) ptr = cmdline; i = fastA2I(ptr); if (i >= 0 && i < NON_AUX_CHANNEL_COUNT) { - int rangeMin, rangeMax; + int rangeMin = 0, rangeMax = 0; ptr = nextArg(ptr); if (ptr) { @@ -3359,6 +3359,7 @@ static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask) cliPrintLinef("profile %d\r\n", getConfigProfile() + 1); dumpAllValues(PROFILE_VALUE, dumpMask); dumpAllValues(CONTROL_RATE_VALUE, dumpMask); + dumpAllValues(EZ_TUNE_VALUE, dumpMask); } static void cliBatteryProfile(char *cmdline) diff --git a/src/main/fc/config.c b/src/main/fc/config.c index 52cb06f81a6..c9a50c60a25 100755 --- a/src/main/fc/config.c +++ b/src/main/fc/config.c @@ -115,9 +115,6 @@ PG_RESET_TEMPLATE(systemConfig_t, systemConfig, #endif #ifdef USE_I2C .i2c_speed = SETTING_I2C_SPEED_DEFAULT, -#endif -#ifdef USE_UNDERCLOCK - .cpuUnderclock = SETTING_CPU_UNDERCLOCK_DEFAULT, #endif .throttle_tilt_compensation_strength = SETTING_THROTTLE_TILT_COMP_STR_DEFAULT, // 0-100, 0 - disabled .craftName = SETTING_NAME_DEFAULT, diff --git a/src/main/fc/config.h b/src/main/fc/config.h index bafa5c0cbe0..ddb6a826b83 100644 --- a/src/main/fc/config.h +++ b/src/main/fc/config.h @@ -76,9 +76,6 @@ typedef struct systemConfig_s { #endif #ifdef USE_I2C uint8_t i2c_speed; -#endif -#ifdef USE_UNDERCLOCK - uint8_t cpuUnderclock; #endif uint8_t throttle_tilt_compensation_strength; // the correction that will be applied at throttle_correction_angle. char craftName[MAX_NAME_LENGTH + 1]; diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c index 0d0863760de..4b231548b99 100644 --- a/src/main/fc/fc_core.c +++ b/src/main/fc/fc_core.c @@ -237,7 +237,7 @@ static void updateArmingStatus(void) /* CHECK: pitch / roll sticks centered when NAV_LAUNCH_MODE enabled */ if (isNavLaunchEnabled()) { - if (isRollPitchStickDeflected(rcControlsConfig()->control_deadband)) { + if (isRollPitchStickDeflected(CONTROL_DEADBAND)) { ENABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED); } else { DISABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED); @@ -307,14 +307,6 @@ static void updateArmingStatus(void) DISABLE_ARMING_FLAG(ARMING_DISABLED_BOXFAILSAFE); } - /* CHECK: BOXKILLSWITCH */ - if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) { - ENABLE_ARMING_FLAG(ARMING_DISABLED_BOXKILLSWITCH); - } - else { - DISABLE_ARMING_FLAG(ARMING_DISABLED_BOXKILLSWITCH); - } - /* CHECK: Do not allow arming if Servo AutoTrim is enabled */ if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM)) { ENABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM); @@ -350,6 +342,10 @@ static void updateArmingStatus(void) DISABLE_ARMING_FLAG(ARMING_DISABLED_NO_PREARM); } + if (ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED) && !IS_RC_MODE_ACTIVE(BOXARM)) { + DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED); + } + /* CHECK: Arming switch */ // If arming is disabled and the ARM switch is on // Note that this should be last check so all other blockers could be cleared correctly @@ -513,7 +509,7 @@ bool emergInflightRearmEnabled(void) timeMs_t currentTimeMs = millis(); emergRearmStabiliseTimeout = 0; - if ((lastDisarmReason != DISARM_SWITCH && lastDisarmReason != DISARM_KILLSWITCH) || + if ((lastDisarmReason != DISARM_SWITCH) || (currentTimeMs > US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS)) { return false; } @@ -1020,6 +1016,10 @@ float getFlightTime(void) return US2S(flightTime); } +void resetFlightTime(void) { + flightTime = 0; +} + float getArmTime(void) { return US2S(armTime); diff --git a/src/main/fc/fc_core.h b/src/main/fc/fc_core.h index c66a0050ba2..ee5764696d8 100644 --- a/src/main/fc/fc_core.h +++ b/src/main/fc/fc_core.h @@ -27,7 +27,6 @@ typedef enum disarmReason_e { DISARM_STICKS = 2, DISARM_SWITCH_3D = 3, DISARM_SWITCH = 4, - DISARM_KILLSWITCH = 5, DISARM_FAILSAFE = 6, DISARM_NAVIGATION = 7, DISARM_LANDING = 8, @@ -46,6 +45,7 @@ bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm); bool areSensorsCalibrating(void); float getFlightTime(void); +void resetFlightTime(void); float getArmTime(void); void fcReboot(bool bootLoader); \ No newline at end of file diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index 849cdc2b7c0..f2b368b8fcb 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -60,7 +60,6 @@ #include "drivers/pwm_esc_detect.h" #include "drivers/pwm_mapping.h" #include "drivers/pwm_output.h" -#include "drivers/pwm_output.h" #include "drivers/sensor.h" #include "drivers/serial.h" #include "drivers/serial_softserial.h" @@ -147,6 +146,10 @@ #include "telemetry/telemetry.h" +#if defined(SITL_BUILD) +#include "target/SITL/serial_proxy.h" +#endif + #ifdef USE_HARDWARE_REVISION_DETECTION #include "hardware_revision.h" #endif @@ -223,19 +226,16 @@ void init(void) flashDeviceInitialized = flashInit(); #endif +#if defined(SITL_BUILD) + serialProxyInit(); +#endif + initEEPROM(); ensureEEPROMContainsValidData(); suspendRxSignal(); readEEPROM(); resumeRxSignal(); -#ifdef USE_UNDERCLOCK - // Re-initialize system clock to their final values (if necessary) - systemClockSetup(systemConfig()->cpuUnderclock); -#else - systemClockSetup(false); -#endif - #ifdef USE_I2C i2cSetSpeed(systemConfig()->i2c_speed); #endif @@ -256,7 +256,7 @@ void init(void) EXTIInit(); #endif -#ifdef USE_SPEKTRUM_BIND +#if defined(USE_SPEKTRUM_BIND) && defined(USE_SERIALRX_SPEKTRUM) if (rxConfig()->receiverType == RX_TYPE_SERIAL) { switch (rxConfig()->serialrx_provider) { case SERIALRX_SPEKTRUM1024: diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 2c3f40dfe45..49f11e6d787 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -504,6 +504,14 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU32(dst, 0); //Input reversing is not required since it can be done on mixer level } break; + case MSP2_INAV_SERVO_CONFIG: + for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) { + sbufWriteU16(dst, servoParams(i)->min); + sbufWriteU16(dst, servoParams(i)->max); + sbufWriteU16(dst, servoParams(i)->middle); + sbufWriteU8(dst, servoParams(i)->rate); + } + break; case MSP_SERVO_MIX_RULES: for (int i = 0; i < MAX_SERVO_RULES; i++) { sbufWriteU8(dst, customServoMixers(i)->targetChannel); @@ -670,11 +678,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU16(dst, getRSSI()); break; - case MSP_ARMING_CONFIG: - sbufWriteU8(dst, 0); - sbufWriteU8(dst, armingConfig()->disarm_kill_switch); - break; - case MSP_LOOP_TIME: sbufWriteU16(dst, gyroConfig()->looptime); break; @@ -769,7 +772,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU16(dst, PWM_RANGE_MIDDLE); sbufWriteU16(dst, 0); // Was min_throttle - sbufWriteU16(dst, motorConfig()->maxthrottle); + sbufWriteU16(dst, getMaxThrottle()); sbufWriteU16(dst, motorConfig()->mincommand); sbufWriteU16(dst, currentBatteryProfile->failsafe_throttle); @@ -810,7 +813,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU16(dst, PWM_RANGE_MIDDLE); sbufWriteU16(dst, 0); //Was min_throttle - sbufWriteU16(dst, motorConfig()->maxthrottle); + sbufWriteU16(dst, getMaxThrottle()); sbufWriteU16(dst, motorConfig()->mincommand); sbufWriteU16(dst, currentBatteryProfile->failsafe_throttle); @@ -895,13 +898,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU8(dst, currentBatteryProfile->capacity.unit); break; - case MSP_MOTOR_PINS: - // FIXME This is hardcoded and should not be. - for (int i = 0; i < 8; i++) { - sbufWriteU8(dst, i + 1); - } - break; - #ifdef USE_GPS case MSP_RAW_GPS: sbufWriteU8(dst, gpsSol.fixType); @@ -1113,7 +1109,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF legacyLedConfig |= ledConfig->led_function << shiftCount; shiftCount += 4; legacyLedConfig |= (ledConfig->led_overlay & 0x3F) << (shiftCount); - shiftCount += 6; + shiftCount += 6; legacyLedConfig |= (ledConfig->led_color) << (shiftCount); shiftCount += 4; legacyLedConfig |= (ledConfig->led_direction) << (shiftCount); @@ -1272,7 +1268,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU16(dst, accelerometerConfig()->acc_notch_cutoff); sbufWriteU16(dst, 0); //Was gyroConfig()->gyro_stage2_lowpass_hz - break; + break; case MSP_PID_ADVANCED: sbufWriteU16(dst, 0); // pidProfile()->rollPitchItermIgnoreRate @@ -1282,7 +1278,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU8(dst, 0); //BF: pidProfile()->vbatPidCompensation sbufWriteU8(dst, 0); //BF: pidProfile()->setpointRelaxRatio sbufWriteU8(dst, 0); - sbufWriteU16(dst, pidProfile()->pidSumLimit); + sbufWriteU16(dst, 0); //Was pidsum limit sbufWriteU8(dst, 0); //BF: pidProfile()->itermThrottleGain /* @@ -1300,7 +1296,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU8(dst, pidProfile()->heading_hold_rate_limit); sbufWriteU8(dst, HEADING_HOLD_ERROR_LPF_FREQ); sbufWriteU16(dst, 0); - sbufWriteU8(dst, gyroConfig()->gyro_lpf); + sbufWriteU8(dst, GYRO_LPF_256HZ); sbufWriteU8(dst, accelerometerConfig()->acc_lpf_hz); sbufWriteU8(dst, 0); //reserved sbufWriteU8(dst, 0); //reserved @@ -1340,9 +1336,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF case MSP_NAV_POSHOLD: sbufWriteU8(dst, navConfig()->general.flags.user_control_mode); sbufWriteU16(dst, navConfig()->general.max_auto_speed); - sbufWriteU16(dst, navConfig()->mc.max_auto_climb_rate); + sbufWriteU16(dst, mixerConfig()->platformType == PLATFORM_AIRPLANE ? navConfig()->fw.max_auto_climb_rate : navConfig()->mc.max_auto_climb_rate); sbufWriteU16(dst, navConfig()->general.max_manual_speed); - sbufWriteU16(dst, mixerConfig()->platformType != PLATFORM_AIRPLANE ? navConfig()->mc.max_manual_climb_rate:navConfig()->fw.max_manual_climb_rate); + sbufWriteU16(dst, mixerConfig()->platformType == PLATFORM_AIRPLANE ? navConfig()->fw.max_manual_climb_rate : navConfig()->mc.max_manual_climb_rate); sbufWriteU8(dst, navConfig()->mc.max_bank_angle); sbufWriteU8(dst, navConfig()->mc.althold_throttle_type); sbufWriteU16(dst, currentBatteryProfile->nav.mc.hover_throttle); @@ -1420,7 +1416,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_p * 100); // 2 inav_w_xy_gps_p float as value * 100 sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_v * 100); // 2 inav_w_xy_gps_v float as value * 100 sbufWriteU8(dst, gpsConfigMutable()->gpsMinSats); // 1 - sbufWriteU8(dst, positionEstimationConfig()->use_gps_velned); // 1 inav_use_gps_velned ON/OFF + sbufWriteU8(dst, 1); // 1 inav_use_gps_velned ON/OFF break; @@ -1590,7 +1586,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU8(dst, timerHardware[i].usageFlags); } break; - + case MSP2_INAV_MC_BRAKING: #ifdef USE_MR_BRAKING_MODE sbufWriteU16(dst, navConfig()->mc.braking_speed_threshold); @@ -1656,6 +1652,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU8(dst, ezTune()->aggressiveness); sbufWriteU8(dst, ezTune()->rate); sbufWriteU8(dst, ezTune()->expo); + sbufWriteU8(dst, ezTune()->snappiness); } break; #endif @@ -1828,14 +1825,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) break; #endif - case MSP_SET_ARMING_CONFIG: - if (dataSize == 2) { - sbufReadU8(src); //Swallow the first byte, used to be auto_disarm_delay - armingConfigMutable()->disarm_kill_switch = !!sbufReadU8(src); - } else - return MSP_RESULT_ERROR; - break; - case MSP_SET_LOOP_TIME: if (sbufReadU16Safe(&tmp_u16, src)) gyroConfigMutable()->looptime = tmp_u16; @@ -1971,7 +1960,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) sbufReadU16(src); // midrc sbufReadU16(src); //Was min_throttle - motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX); + sbufReadU16(src); //Was maxThrottle motorConfigMutable()->mincommand = constrain(sbufReadU16(src), 0, PWM_RANGE_MAX); currentBatteryProfileMutable->failsafe_throttle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX); @@ -2019,7 +2008,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) sbufReadU16(src); // midrc sbufReadU16(src); // was min_throttle - motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX); + sbufReadU16(src); // was maxThrottle motorConfigMutable()->mincommand = constrain(sbufReadU16(src), 0, PWM_RANGE_MAX); currentBatteryProfileMutable->failsafe_throttle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX); @@ -2149,6 +2138,22 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) } break; + case MSP2_INAV_SET_SERVO_CONFIG: + if (dataSize != 8) { + return MSP_RESULT_ERROR; + } + tmp_u8 = sbufReadU8(src); + if (tmp_u8 >= MAX_SUPPORTED_SERVOS) { + return MSP_RESULT_ERROR; + } else { + servoParamsMutable(tmp_u8)->min = sbufReadU16(src); + servoParamsMutable(tmp_u8)->max = sbufReadU16(src); + servoParamsMutable(tmp_u8)->middle = sbufReadU16(src); + servoParamsMutable(tmp_u8)->rate = sbufReadU8(src); + servoComputeScalingFactors(tmp_u8); + } + break; + case MSP_SET_SERVO_MIX_RULE: sbufReadU8Safe(&tmp_u8, src); if ((dataSize == 9) && (tmp_u8 < MAX_SERVO_RULES)) { @@ -2327,7 +2332,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) sbufReadU8(src); //BF: pidProfileMutable()->vbatPidCompensation sbufReadU8(src); //BF: pidProfileMutable()->setpointRelaxRatio sbufReadU8(src); - pidProfileMutable()->pidSumLimit = sbufReadU16(src); + sbufReadU16(src); // Was pidsumLimit sbufReadU8(src); //BF: pidProfileMutable()->itermThrottleGain /* @@ -2348,7 +2353,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) pidProfileMutable()->heading_hold_rate_limit = sbufReadU8(src); sbufReadU8(src); //HEADING_HOLD_ERROR_LPF_FREQ sbufReadU16(src); //Legacy yaw_jump_prevention_limit - gyroConfigMutable()->gyro_lpf = sbufReadU8(src); + sbufReadU8(src); // was gyro lpf accelerometerConfigMutable()->acc_lpf_hz = sbufReadU8(src); sbufReadU8(src); //reserved sbufReadU8(src); //reserved @@ -2394,12 +2399,16 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) if (dataSize == 13) { navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src); navConfigMutable()->general.max_auto_speed = sbufReadU16(src); - navConfigMutable()->mc.max_auto_climb_rate = sbufReadU16(src); + if (mixerConfig()->platformType == PLATFORM_AIRPLANE) { + navConfigMutable()->fw.max_auto_climb_rate = sbufReadU16(src); + } else { + navConfigMutable()->mc.max_auto_climb_rate = sbufReadU16(src); + } navConfigMutable()->general.max_manual_speed = sbufReadU16(src); - if (mixerConfig()->platformType != PLATFORM_AIRPLANE) { - navConfigMutable()->mc.max_manual_climb_rate = sbufReadU16(src); - }else{ + if (mixerConfig()->platformType == PLATFORM_AIRPLANE) { navConfigMutable()->fw.max_manual_climb_rate = sbufReadU16(src); + } else { + navConfigMutable()->mc.max_manual_climb_rate = sbufReadU16(src); } navConfigMutable()->mc.max_bank_angle = sbufReadU8(src); navConfigMutable()->mc.althold_throttle_type = sbufReadU8(src); @@ -2489,7 +2498,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) positionEstimationConfigMutable()->w_xy_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f); positionEstimationConfigMutable()->w_xy_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f); gpsConfigMutable()->gpsMinSats = constrain(sbufReadU8(src), 5, 10); - positionEstimationConfigMutable()->use_gps_velned = constrain(sbufReadU8(src), 0, 1); + sbufReadU8(src); // was positionEstimationConfigMutable()->use_gps_velned } else return MSP_RESULT_ERROR; break; @@ -2729,7 +2738,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) case MSP_SET_WP: if (dataSize == 21) { - + const uint8_t msp_wp_no = sbufReadU8(src); // get the waypoint number navWaypoint_t msp_wp; msp_wp.action = sbufReadU8(src); // action @@ -2943,7 +2952,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) ledConfig->led_position = legacyConfig & 0xFF; ledConfig->led_function = (legacyConfig >> 8) & 0xF; ledConfig->led_overlay = (legacyConfig >> 12) & 0x3F; - ledConfig->led_color = (legacyConfig >> 18) & 0xF; + ledConfig->led_color = (legacyConfig >> 18) & 0xF; ledConfig->led_direction = (legacyConfig >> 22) & 0x3F; ledConfig->led_params = (legacyConfig >> 28) & 0xF; @@ -3233,7 +3242,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) fwAutolandApproachConfigMutable(i)->approachAlt = sbufReadU32(src); fwAutolandApproachConfigMutable(i)->landAlt = sbufReadU32(src); fwAutolandApproachConfigMutable(i)->approachDirection = sbufReadU8(src); - + int16_t head1 = 0, head2 = 0; if (sbufReadI16Safe(&head1, src)) { fwAutolandApproachConfigMutable(i)->landApproachHeading1 = head1; @@ -3252,21 +3261,25 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) case MSP2_INAV_EZ_TUNE_SET: { - if (dataSize == 10) { - ezTuneMutable()->enabled = sbufReadU8(src); - ezTuneMutable()->filterHz = sbufReadU16(src); - ezTuneMutable()->axisRatio = sbufReadU8(src); - ezTuneMutable()->response = sbufReadU8(src); - ezTuneMutable()->damping = sbufReadU8(src); - ezTuneMutable()->stability = sbufReadU8(src); - ezTuneMutable()->aggressiveness = sbufReadU8(src); - ezTuneMutable()->rate = sbufReadU8(src); - ezTuneMutable()->expo = sbufReadU8(src); - - ezTuneUpdate(); - } else { + + if (dataSize < 10 || dataSize > 11) { return MSP_RESULT_ERROR; } + + ezTuneMutable()->enabled = sbufReadU8(src); + ezTuneMutable()->filterHz = sbufReadU16(src); + ezTuneMutable()->axisRatio = sbufReadU8(src); + ezTuneMutable()->response = sbufReadU8(src); + ezTuneMutable()->damping = sbufReadU8(src); + ezTuneMutable()->stability = sbufReadU8(src); + ezTuneMutable()->aggressiveness = sbufReadU8(src); + ezTuneMutable()->rate = sbufReadU8(src); + ezTuneMutable()->expo = sbufReadU8(src); + + if (dataSize == 11) { + ezTuneMutable()->snappiness = sbufReadU8(src); + } + ezTuneUpdate(); } break; @@ -3283,12 +3296,12 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionEnd = sbufReadU8(src); ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightCenter = sbufReadU8(src); ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightEnd = sbufReadU8(src); - + } else { return MSP_RESULT_ERROR; } - break; + break; #endif #ifdef USE_PROGRAMMING_FRAMEWORK @@ -3582,7 +3595,7 @@ void mspWriteSimulatorOSD(sbuf_t *dst) static uint8_t osdPos_x = 0; //indicate new format hitl 1.4.0 - sbufWriteU8(dst, 255); + sbufWriteU8(dst, 255); if (isOSDTypeSupportedBySimulator()) { @@ -3788,7 +3801,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu #ifdef USE_SIMULATOR case MSP_SIMULATOR: tmp_u8 = sbufReadU8(src); // Get the Simulator MSP version - + // Check the MSP version of simulator if (tmp_u8 != SIMULATOR_MSP_VERSION) { break; @@ -3883,7 +3896,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu } else { sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT); } - + // Get the acceleration in 1G units acc.accADCf[X] = ((int16_t)sbufReadU16(src)) / 1000.0f; acc.accADCf[Y] = ((int16_t)sbufReadU16(src)) / 1000.0f; @@ -3891,7 +3904,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu acc.accVibeSq[X] = 0.0f; acc.accVibeSq[Y] = 0.0f; acc.accVibeSq[Z] = 0.0f; - + // Get the angular velocity in DPS gyro.gyroADCf[X] = ((int16_t)sbufReadU16(src)) / 16.0f; gyro.gyroADCf[Y] = ((int16_t)sbufReadU16(src)) / 16.0f; @@ -3922,7 +3935,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu simulatorData.airSpeed = sbufReadU16(src); } else { if (SIMULATOR_HAS_OPTION(HITL_EXTENDED_FLAGS)) { - sbufReadU16(src); + sbufReadU16(src); } } @@ -3997,8 +4010,8 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu *ret = MSP_RESULT_ERROR; } break; -#endif - +#endif + default: // Not handled return false; diff --git a/src/main/fc/fc_msp_box.c b/src/main/fc/fc_msp_box.c index c61c2aa19e9..2745f7e041b 100644 --- a/src/main/fc/fc_msp_box.c +++ b/src/main/fc/fc_msp_box.c @@ -76,7 +76,6 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = { { .boxId = BOXTURNASSIST, .boxName = "TURN ASSIST", .permanentId = 35 }, { .boxId = BOXNAVLAUNCH, .boxName = "NAV LAUNCH", .permanentId = 36 }, { .boxId = BOXAUTOTRIM, .boxName = "SERVO AUTOTRIM", .permanentId = 37 }, - { .boxId = BOXKILLSWITCH, .boxName = "KILLSWITCH", .permanentId = 38 }, { .boxId = BOXCAMERA1, .boxName = "CAMERA CONTROL 1", .permanentId = 39 }, { .boxId = BOXCAMERA2, .boxName = "CAMERA CONTROL 2", .permanentId = 40 }, { .boxId = BOXCAMERA3, .boxName = "CAMERA CONTROL 3", .permanentId = 41 }, @@ -214,15 +213,12 @@ void initActiveBoxIds(void) ADD_ACTIVE_BOX(BOXFPVANGLEMIX); } - bool navReadyAltControl = sensors(SENSOR_BARO); + bool navReadyAltControl = getHwBarometerStatus() != HW_SENSOR_NONE; #ifdef USE_GPS navReadyAltControl = navReadyAltControl || (feature(FEATURE_GPS) && (STATE(AIRPLANE) || positionEstimationConfig()->use_gps_no_baro)); const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning; bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS); - if (STATE(MULTIROTOR)) { - navReadyPosControl = navReadyPosControl && getHwCompassStatus() != HW_SENSOR_NONE; - } if (STATE(ALTITUDE_CONTROL) && navReadyAltControl && (navReadyPosControl || navFlowDeadReckoning)) { ADD_ACTIVE_BOX(BOXNAVPOSHOLD); @@ -320,7 +316,6 @@ void initActiveBoxIds(void) } #endif - ADD_ACTIVE_BOX(BOXKILLSWITCH); ADD_ACTIVE_BOX(BOXFAILSAFE); #if defined(USE_RCDEVICE) || defined(USE_MSP_DISPLAYPORT) @@ -405,7 +400,6 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags) CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_LAUNCH_MODE)), BOXNAVLAUNCH); CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(AUTO_TUNE)), BOXAUTOTUNE); CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAUTOTRIM)), BOXAUTOTRIM); - CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXKILLSWITCH)), BOXKILLSWITCH); CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)), BOXHOMERESET); CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA1)), BOXCAMERA1); CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA2)), BOXCAMERA2); diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c index 246d65c0a7e..406622af38f 100755 --- a/src/main/fc/fc_tasks.c +++ b/src/main/fc/fc_tasks.c @@ -93,6 +93,10 @@ #include "config/feature.h" +#if defined(SITL_BUILD) +#include "target/SITL/serial_proxy.h" +#endif + void taskHandleSerial(timeUs_t currentTimeUs) { UNUSED(currentTimeUs); @@ -421,6 +425,10 @@ void fcTasksInit(void) #if defined(USE_SMARTPORT_MASTER) setTaskEnabled(TASK_SMARTPORT_MASTER, true); #endif + +#if defined(SITL_BUILD) + serialProxyStart(); +#endif } cfTask_t cfTasks[TASK_COUNT] = { diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c index 9cce60a2a38..d03bd466a49 100644 --- a/src/main/fc/rc_controls.c +++ b/src/main/fc/rc_controls.c @@ -75,24 +75,23 @@ stickPositions_e rcStickPositions; FASTRAM int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW -PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 3); +PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 4); PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, .deadband = SETTING_DEADBAND_DEFAULT, .yaw_deadband = SETTING_YAW_DEADBAND_DEFAULT, .pos_hold_deadband = SETTING_POS_HOLD_DEADBAND_DEFAULT, - .control_deadband = SETTING_CONTROL_DEADBAND_DEFAULT, .alt_hold_deadband = SETTING_ALT_HOLD_DEADBAND_DEFAULT, .mid_throttle_deadband = SETTING_3D_DEADBAND_THROTTLE_DEFAULT, .airmodeHandlingType = SETTING_AIRMODE_TYPE_DEFAULT, .airmodeThrottleThreshold = SETTING_AIRMODE_THROTTLE_THRESHOLD_DEFAULT, ); -PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 2); +PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 3); PG_RESET_TEMPLATE(armingConfig_t, armingConfig, .fixed_wing_auto_arm = SETTING_FIXED_WING_AUTO_ARM_DEFAULT, - .disarm_kill_switch = SETTING_DISARM_KILL_SWITCH_DEFAULT, + .disarm_always = SETTING_DISARM_ALWAYS_DEFAULT, .switchDisarmDelayMs = SETTING_SWITCH_DISARM_DELAY_DEFAULT, .prearmTimeoutMs = SETTING_PREARM_TIMEOUT_DEFAULT, ); @@ -104,7 +103,7 @@ bool areSticksInApModePosition(uint16_t ap_mode) bool areSticksDeflected(void) { - return (ABS(rcCommand[ROLL]) > rcControlsConfig()->control_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->control_deadband) || (ABS(rcCommand[YAW]) > rcControlsConfig()->control_deadband); + return (ABS(rcCommand[ROLL]) > CONTROL_DEADBAND) || (ABS(rcCommand[PITCH]) > CONTROL_DEADBAND) || (ABS(rcCommand[YAW]) > CONTROL_DEADBAND); } bool isRollPitchStickDeflected(uint8_t deadband) @@ -232,7 +231,7 @@ void processRcStickPositions(bool isThrottleLow) if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) { const timeMs_t disarmDelay = currentTimeMs - rcDisarmTimeMs; if (disarmDelay > armingConfig()->switchDisarmDelayMs) { - if (armingConfig()->disarm_kill_switch || isThrottleLow) { + if (armingConfig()->disarm_always || isThrottleLow) { disarm(DISARM_SWITCH); } } @@ -241,11 +240,6 @@ void processRcStickPositions(bool isThrottleLow) rcDisarmTimeMs = currentTimeMs; } } - - // KILLSWITCH disarms instantly - if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) { - disarm(DISARM_KILLSWITCH); - } } if (rcDelayCommand != 20) { diff --git a/src/main/fc/rc_controls.h b/src/main/fc/rc_controls.h index ea23eae9075..8d5ee66bd73 100644 --- a/src/main/fc/rc_controls.h +++ b/src/main/fc/rc_controls.h @@ -19,7 +19,7 @@ #include "config/parameter_group.h" -#define AIRMODE_THROTTLE_THRESHOLD 1300 +#define CONTROL_DEADBAND 10 // Used to check if sticks are centered typedef enum rc_alias { ROLL = 0, @@ -85,7 +85,6 @@ typedef struct rcControlsConfig_s { uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero. uint8_t yaw_deadband; // introduce a deadband around the stick center for yaw axis. Must be greater than zero. uint8_t pos_hold_deadband; // Deadband for position hold - uint8_t control_deadband; // General deadband to check if sticks are deflected, us PWM. uint8_t alt_hold_deadband; // Defines the neutral zone of throttle stick during altitude hold uint16_t mid_throttle_deadband; // default throttle deadband from MIDRC uint8_t airmodeHandlingType; // Defaults to ANTI_WINDUP triggered at sticks centered @@ -96,7 +95,7 @@ PG_DECLARE(rcControlsConfig_t, rcControlsConfig); typedef struct armingConfig_s { bool fixed_wing_auto_arm; // Auto-arm fixed wing aircraft on throttle up and never disarm - bool disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value + bool disarm_always; // Disarm motors regardless of throttle value uint16_t switchDisarmDelayMs; // additional delay between ARM box going off and actual disarm uint16_t prearmTimeoutMs; // duration for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout. } armingConfig_t; diff --git a/src/main/fc/rc_curves.c b/src/main/fc/rc_curves.c index 47da45113bc..5453083d279 100644 --- a/src/main/fc/rc_curves.c +++ b/src/main/fc/rc_curves.c @@ -39,7 +39,7 @@ int16_t lookupThrottleRCMid; // THROTTLE curve mid point void generateThrottleCurve(const controlRateConfig_t *controlRateConfig) { const int minThrottle = getThrottleIdleValue(); - lookupThrottleRCMid = minThrottle + (int32_t)(motorConfig()->maxthrottle - minThrottle) * controlRateConfig->throttle.rcMid8 / 100; // [MINTHROTTLE;MAXTHROTTLE] + lookupThrottleRCMid = minThrottle + (int32_t)(getMaxThrottle() - minThrottle) * controlRateConfig->throttle.rcMid8 / 100; // [MINTHROTTLE;MAXTHROTTLE] for (int i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) { const int16_t tmp = 10 * i - controlRateConfig->throttle.rcMid8; @@ -49,7 +49,7 @@ void generateThrottleCurve(const controlRateConfig_t *controlRateConfig) if (tmp < 0) y = controlRateConfig->throttle.rcMid8; lookupThrottleRC[i] = 10 * controlRateConfig->throttle.rcMid8 + tmp * (100 - controlRateConfig->throttle.rcExpo8 + (int32_t) controlRateConfig->throttle.rcExpo8 * (tmp * tmp) / (y * y)) / 10; - lookupThrottleRC[i] = minThrottle + (int32_t) (motorConfig()->maxthrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE] + lookupThrottleRC[i] = minThrottle + (int32_t) (getMaxThrottle() - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE] } } @@ -62,7 +62,7 @@ int16_t rcLookup(int32_t stickDeflection, uint8_t expo) uint16_t rcLookupThrottle(uint16_t absoluteDeflection) { if (absoluteDeflection > 999) - return motorConfig()->maxthrottle; + return getMaxThrottle(); const uint8_t lookupStep = absoluteDeflection / 100; return lookupThrottleRC[lookupStep] + (absoluteDeflection - lookupStep * 100) * (lookupThrottleRC[lookupStep + 1] - lookupThrottleRC[lookupStep]) / 100; diff --git a/src/main/fc/rc_modes.h b/src/main/fc/rc_modes.h index fa1827a6ad0..04aea681bc9 100644 --- a/src/main/fc/rc_modes.h +++ b/src/main/fc/rc_modes.h @@ -49,7 +49,6 @@ typedef enum { BOXAIRMODE = 20, BOXHOMERESET = 21, BOXGCSNAV = 22, - BOXKILLSWITCH = 23, // old HEADING LOCK BOXSURFACE = 24, BOXFLAPERON = 25, BOXTURNASSIST = 26, diff --git a/src/main/fc/runtime_config.c b/src/main/fc/runtime_config.c index daeb9cbbcde..44118ef54b9 100644 --- a/src/main/fc/runtime_config.c +++ b/src/main/fc/runtime_config.c @@ -34,7 +34,7 @@ static EXTENDED_FASTRAM uint32_t enabledSensors = 0; #if !defined(CLI_MINIMAL_VERBOSITY) const char *armingDisableFlagNames[]= { "FS", "ANGLE", "CAL", "OVRLD", "NAV", "COMPASS", - "ACC", "ARMSW", "HWFAIL", "BOXFS", "KILLSW", "RX", + "ACC", "ARMSW", "HWFAIL", "BOXFS", "RX", "THR", "CLI", "CMS", "OSD", "ROLL/PITCH", "AUTOTRIM", "OOM", "SETTINGFAIL", "PWMOUT", "NOPREARM", "DSHOTBEEPER", "LANDED" }; @@ -50,7 +50,6 @@ const armingFlag_e armDisableReasonsChecklist[] = { ARMING_DISABLED_NAVIGATION_UNSAFE, ARMING_DISABLED_ARM_SWITCH, ARMING_DISABLED_BOXFAILSAFE, - ARMING_DISABLED_BOXKILLSWITCH, ARMING_DISABLED_THROTTLE, ARMING_DISABLED_CLI, ARMING_DISABLED_CMS_MENU, diff --git a/src/main/fc/runtime_config.h b/src/main/fc/runtime_config.h index 5b6c6241397..974f90f8c4d 100644 --- a/src/main/fc/runtime_config.h +++ b/src/main/fc/runtime_config.h @@ -34,7 +34,7 @@ typedef enum { ARMING_DISABLED_ARM_SWITCH = (1 << 14), ARMING_DISABLED_HARDWARE_FAILURE = (1 << 15), ARMING_DISABLED_BOXFAILSAFE = (1 << 16), - ARMING_DISABLED_BOXKILLSWITCH = (1 << 17), + ARMING_DISABLED_RC_LINK = (1 << 18), ARMING_DISABLED_THROTTLE = (1 << 19), ARMING_DISABLED_CLI = (1 << 20), @@ -53,7 +53,7 @@ typedef enum { ARMING_DISABLED_SYSTEM_OVERLOADED | ARMING_DISABLED_NAVIGATION_UNSAFE | ARMING_DISABLED_COMPASS_NOT_CALIBRATED | ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED | ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_HARDWARE_FAILURE | ARMING_DISABLED_BOXFAILSAFE | - ARMING_DISABLED_BOXKILLSWITCH | ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI | + ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI | ARMING_DISABLED_CMS_MENU | ARMING_DISABLED_OSD_MENU | ARMING_DISABLED_ROLLPITCH_NOT_CENTERED | ARMING_DISABLED_SERVO_AUTOTRIM | ARMING_DISABLED_OOM | ARMING_DISABLED_INVALID_SETTING | ARMING_DISABLED_PWM_OUTPUT_ERROR | ARMING_DISABLED_NO_PREARM | ARMING_DISABLED_DSHOT_BEEPER | @@ -105,6 +105,7 @@ typedef enum { TURTLE_MODE = (1 << 15), SOARING_MODE = (1 << 16), ANGLEHOLD_MODE = (1 << 17), + NAV_FW_AUTOLAND = (1 << 18), } flightModeFlags_e; extern uint32_t flightModeFlags; diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml index 0afd4c8baef..dfa7bb97d35 100644 --- a/src/main/fc/settings.yaml +++ b/src/main/fc/settings.yaml @@ -1,13 +1,11 @@ tables: - name: alignment values: ["DEFAULT", "CW0", "CW90", "CW180", "CW270", "CW0FLIP", "CW90FLIP", "CW180FLIP", "CW270FLIP"] - - name: gyro_lpf - values: ["256HZ", "188HZ", "98HZ", "42HZ", "20HZ", "10HZ"] - name: acc_hardware values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX", "FAKE"] enum: accelerationSensor_e - name: rangefinder_hardware - values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE"] + values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE", "TERARANGER_EVO", "USD1_V0", "NRA"] enum: rangefinderType_e - name: mag_hardware values: ["NONE", "AUTO", "HMC5883", "AK8975", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"] @@ -68,9 +66,6 @@ tables: - name: osd_stats_energy_unit values: ["MAH", "WH"] enum: osd_stats_energy_unit_e - - name: osd_stats_min_voltage_unit - values: ["BATTERY", "CELL"] - enum: osd_stats_min_voltage_unit_e - name: osd_video_system values: ["AUTO", "PAL", "NTSC", "HDZERO", "DJIWTF", "AVATAR", "BF43COMPAT", "BFHDCOMPAT"] enum: videoSystem_e @@ -182,7 +177,7 @@ tables: values: ["OFF", "ON", "FS"] enum: rthTrackbackMode_e - name: dynamic_gyro_notch_mode - values: ["2D", "3D_R", "3D_P", "3D_Y", "3D_RP", "3D_RY", "3D_PY", "3D"] + values: ["2D", "3D"] enum: dynamicGyroNotchMode_e - name: nav_fw_wp_turn_smoothing values: ["OFF", "ON", "ON-CUT"] @@ -220,32 +215,17 @@ groups: description: "This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). A very conservative value of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible." default_value: 1000 max: 9000 - - name: gyro_hardware_lpf - description: "Hardware lowpass filter for gyro. This value should never be changed without a very strong reason! If you have to set gyro lpf below 256HZ, it means the frame is vibrating too much, and that should be fixed first." - default_value: "256HZ" - field: gyro_lpf - table: gyro_lpf - name: gyro_anti_aliasing_lpf_hz description: "Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz" default_value: 250 field: gyro_anti_aliasing_lpf_hz max: 1000 - - name: gyro_anti_aliasing_lpf_type - description: "Specifies the type of the software LPF of the gyro signals." - default_value: "PT1" - field: gyro_anti_aliasing_lpf_type - table: filter_type - name: gyro_main_lpf_hz description: "Software based gyro main lowpass filter. Value is cutoff frequency (Hz)" default_value: 60 field: gyro_main_lpf_hz min: 0 max: 500 - - name: gyro_main_lpf_type - description: "Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation." - default_value: BIQUAD - field: gyro_main_lpf_type - table: filter_type - name: gyro_use_dyn_lpf description: "Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position." default_value: OFF @@ -303,6 +283,7 @@ groups: min: 1 max: 1000 - name: gyro_to_use + description: "On multi-gyro targets, allows to choose which gyro to use. 0 = first gyro, 1 = second gyro" condition: USE_DUAL_GYRO min: 0 max: 2 @@ -385,10 +366,12 @@ groups: headers: ["sensors/acceleration.h"] members: - name: acc_notch_hz + description: "Frequency of the software notch filter to remove mechanical vibrations from the accelerometer measurements. Value is center frequency (Hz)" min: 0 max: 255 default_value: 0 - name: acc_notch_cutoff + description: "Frequency of the software notch filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz)" min: 1 max: 255 default_value: 1 @@ -468,6 +451,7 @@ groups: default_value: NONE table: opflow_hardware - name: opflow_scale + description: "Optical flow module scale factor" min: 0 max: 10000 default_value: 10.5 @@ -591,10 +575,12 @@ groups: default_value: "NONE" table: pitot_hardware - name: pitot_lpf_milli_hz + description: "Pitot tube lowpass filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay" min: 0 max: 10000 default_value: 350 - name: pitot_scale + description: "Pitot tube scale factor" min: 0 max: 100 default_value: 1.0 @@ -644,6 +630,7 @@ groups: max: RSSI_VISIBLE_VALUE_MAX - name: sbus_sync_interval field: sbusSyncInterval + description: "SBUS sync interval in us. Default value is 3000us. Lower values may cause issues with some receivers." min: 500 max: 10000 default_value: 3000 @@ -745,12 +732,6 @@ groups: type: motorConfig_t headers: ["flight/mixer.h"] members: - - name: max_throttle - description: "This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK for everyone (legacy). For modern ESCs, higher values (c. 2000) may be more appropriate. If you have brushed motors, the value should be set to 2000." - default_value: 1850 - field: maxthrottle - min: PWM_RANGE_MIN - max: PWM_RANGE_MAX - name: min_command description: "This is the PWM value sent to ESCs when they are not armed. If ESCs beep slowly when powered up, try decreasing this value. It can also be used for calibrating all ESCs at once." default_value: 1000 @@ -1197,8 +1178,6 @@ groups: field: mixer_config.tailsitterOrientationOffset type: bool - - - name: PG_REVERSIBLE_MOTORS_CONFIG type: reversibleMotorsConfig_t members: @@ -1366,6 +1345,7 @@ groups: min: MANUAL_RATE_MIN max: MANUAL_RATE_MAX - name: fpv_mix_degrees + description: "The tilt angle of the FPV camera in degrees, used by the FPV ANGLE MIX mode" field: misc.fpvCamAngleDegrees min: 0 max: 50 @@ -1488,8 +1468,8 @@ groups: description: "Auto-arm fixed wing aircraft on throttle above min_check, and disarming with stick commands are disabled, so power cycle is required to disarm. Requires enabled motorstop and no arm switch configured." default_value: OFF type: bool - - name: disarm_kill_switch - description: "Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel." + - name: disarm_always + description: "Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low." default_value: ON type: bool - name: switch_disarm_delay @@ -1575,6 +1555,12 @@ groups: field: expo min: 0 max: 200 + - name: ez_snappiness + description: "EzTune snappiness" + default_value: 0 + field: snappiness + min: 0 + max: 100 - name: PG_RPM_FILTER_CONFIG headers: ["flight/rpm_filter.h"] @@ -1682,12 +1668,12 @@ groups: members: - name: deadband description: "These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle." - default_value: 5 + default_value: 2 min: 0 max: 32 - name: yaw_deadband description: "These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle." - default_value: 5 + default_value: 2 min: 0 max: 100 - name: pos_hold_deadband @@ -1695,11 +1681,6 @@ groups: default_value: 10 min: 2 max: 250 - - name: control_deadband - description: "Stick deadband in [r/c points], applied after r/c deadband and expo. Used to check if sticks are centered." - default_value: 10 - min: 2 - max: 250 - name: alt_hold_deadband description: "Defines the deadband of throttle during alt_hold [r/c points]" default_value: 50 @@ -1965,18 +1946,6 @@ groups: field: fixedWingYawItermBankFreeze min: 0 max: 90 - - name: pidsum_limit - description: "A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help" - default_value: 500 - field: pidSumLimit - min: PID_SUM_LIMIT_MIN - max: PID_SUM_LIMIT_MAX - - name: pidsum_limit_yaw - description: "A limitation to overall amount of correction Flight PID can request on each axis (Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help" - default_value: 350 - field: pidSumLimitYaw - min: PID_SUM_LIMIT_MIN - max: PID_SUM_LIMIT_MAX - name: iterm_windup description: "Used to prevent Iterm accumulation on during maneuvers. Iterm will be dampened when motors are reaching it's limit (when requested motor correction range is above percentage specified by this parameter)" default_value: 50 @@ -2053,6 +2022,7 @@ groups: max: 255 default_value: 100 - name: nav_mc_vel_xy_ff + description: "FF gain of Position-Rate (Velocity to Acceleration)" field: bank_mc.pid[PID_VEL_XY].FF min: 0 max: 255 @@ -2064,6 +2034,7 @@ groups: min: 0 max: 255 - name: nav_mc_vel_xy_dterm_lpf_hz + description: "D-term low pass filter cutoff frequency for horizontal velocity PID controller (Multirotor). It allows to smooth the PosHold CRUISE, WP and RTH when Multirotor is traveling at full speed. Dterm is not attenuated at low speeds, breaking and accelerating." field: navVelXyDTermLpfHz min: 0 max: 100 @@ -2104,6 +2075,12 @@ groups: field: bank_fw.pid[PID_POS_Z].D min: 0 max: 255 + - name: nav_fw_alt_control_response + description: "Adjusts the deceleration response of fixed wing altitude control as the target altitude is approached. Decrease value to help avoid overshooting the target altitude." + default_value: 20 + field: fwAltControlResponseFactor + min: 5 + max: 100 - name: nav_fw_pos_xy_p description: "P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH" default_value: 75 @@ -2153,33 +2130,39 @@ groups: min: PID_SUM_LIMIT_MIN max: PID_SUM_LIMIT_MAX - name: mc_iterm_relax + description: "Iterm relax type. When enabled, Iterm will be relaxed when stick is centered. This will help to reduce bounceback and followthrough on multirotors. It is recommended to enable this feature on all multirotors." field: iterm_relax table: iterm_relax default_value: RP - name: mc_iterm_relax_cutoff + description: "Iterm relax cutoff frequency." field: iterm_relax_cutoff min: 1 max: 100 default_value: 15 - name: d_boost_min + description: "D-term multiplier when pilot provides rapid stick input. Lower values give sharper response to stick input, higher values give smoother response." field: dBoostMin condition: USE_D_BOOST min: 0 max: 1 default_value: 0.5 - name: d_boost_max + description: "D-term multiplier when rapid external conditions are detected. Lower values give sharper response to stick input, higher values give smoother response by scaling D-gains up." field: dBoostMax condition: USE_D_BOOST min: 1 max: 3 default_value: 1.25 - name: d_boost_max_at_acceleration + description: "Acceleration threshold for D-term multiplier. When acceleration is above this value, D-term multiplier is set to `d_boost_max`" field: dBoostMaxAtAlleceleration condition: USE_D_BOOST min: 1000 max: 16000 default_value: 7500 - name: d_boost_gyro_delta_lpf_hz + description: "Cutoff frequency for the low pass filter applied to the gyro delta signal used for D-term boost. Lower value will produce a smoother D-term boost signal, but it will be more delayed." field: dBoostGyroDeltaLpfHz condition: USE_D_BOOST min: 10 @@ -2193,7 +2176,7 @@ groups: min: 1 max: 20 - name: antigravity_accelerator - description: "" + description: "Multiplier for Antigravity gain. The bigger is the difference between actual and filtered throttle input, the bigger Antigravity gain" default_value: 1 field: antigravityAccelerator condition: USE_ANTIGRAVITY @@ -2288,15 +2271,11 @@ groups: field: gravity_calibration_tolerance min: 0 max: 255 - - name: inav_use_gps_velned - description: "Defined if INAV should use velocity data provided by GPS module for doing position and speed estimation. If set to OFF INAV will fallback to calculating velocity from GPS coordinates. Using native velocity data may improve performance on some GPS modules. Some GPS modules introduce significant delay and using native velocity may actually result in much worse performance." - default_value: ON - field: use_gps_velned - type: bool - name: inav_use_gps_no_baro + description: "Defines if INAV should use only use GPS data for altitude estimation when barometer is not available. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed." field: use_gps_no_baro type: bool - default_value: OFF + default_value: ON - name: inav_allow_dead_reckoning description: "Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation" default_value: OFF @@ -2325,21 +2304,25 @@ groups: min: 0 max: 1000 - name: inav_w_z_surface_p + description: "Weight of rangefinder measurements in estimated altitude. Setting is used on both airplanes and multirotors when rangefinder is present and Surface mode enabled" field: w_z_surface_p min: 0 max: 100 - default_value: 3.5 + default_value: 3.5 - name: inav_w_z_surface_v + description: "Weight of rangefinder measurements in estimated climb rate. Setting is used on both airplanes and multirotors when rangefinder is present and Surface mode enabled" field: w_z_surface_v min: 0 max: 100 default_value: 6.1 - name: inav_w_xy_flow_p + description: "Weight of optical flow measurements in estimated UAV position." field: w_xy_flow_p min: 0 max: 100 default_value: 1.0 - name: inav_w_xy_flow_v + description: "Weight of optical flow measurements in estimated UAV speed." field: w_xy_flow_v min: 0 max: 100 @@ -2505,7 +2488,7 @@ groups: min: 10 max: 2000 - name: nav_min_ground_speed - description: "Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s." + description: "Minimum ground speed for navigation flight modes [m/s]. Currently, this only affects fixed wing. Default 7 m/s." default_value: 7 field: general.min_ground_speed min: 6 @@ -2795,6 +2778,12 @@ groups: field: fw.max_bank_angle min: 5 max: 80 + - name: nav_fw_auto_climb_rate + description: "Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]" + default_value: 500 + field: fw.max_auto_climb_rate + min: 10 + max: 2000 - name: nav_fw_manual_climb_rate description: "Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]" default_value: 300 @@ -2867,10 +2856,10 @@ groups: min: 100 max: 10000 - name: nav_fw_launch_accel - description: "Forward acceleration threshold for bungee launch of throw launch [cm/s/s], 1G = 981 cm/s/s" + description: "Forward acceleration threshold for bungee launch or throw launch [cm/s/s], 1G = 981 cm/s/s" default_value: 1863 field: fw.launch_accel_thresh - min: 1000 + min: 1500 max: 20000 - name: nav_fw_launch_max_angle description: "Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]" @@ -2890,6 +2879,13 @@ groups: field: fw.launch_idle_motor_timer min: 0 max: 60000 + - name: nav_fw_launch_wiggle_to_wake_idle + description: "Trigger the idle throttle by wiggling the plane. 0 = disabled. 1 and 2 signify 1 or 2 yaw wiggles to activate. 1 wiggle has a higher detection point, for airplanes without a tail. 2 wiggles has a lower detection point, but requires the repeated action. This is intended for larger models and airplanes with tails." + field: fw.launch_wiggle_wake_idle + type: uint8_t + default_value: 0 + min: 0 + max: 2 - name: nav_fw_launch_motor_delay description: "Delay between detected launch and launch sequence start and throttling up (ms)" default_value: 500 @@ -3068,35 +3064,41 @@ groups: max: INT16_MAX - name: mavlink_ext_status_rate field: mavlink.extended_status_rate + description: "Rate of the extended status message for MAVLink telemetry" type: uint8_t min: 0 max: 255 default_value: 2 - name: mavlink_rc_chan_rate + description: "Rate of the RC channels message for MAVLink telemetry" field: mavlink.rc_channels_rate type: uint8_t min: 0 max: 255 default_value: 5 - name: mavlink_pos_rate + description: "Rate of the position message for MAVLink telemetry" field: mavlink.position_rate type: uint8_t min: 0 max: 255 default_value: 2 - name: mavlink_extra1_rate + description: "Rate of the extra1 message for MAVLink telemetry" field: mavlink.extra1_rate type: uint8_t min: 0 max: 255 default_value: 10 - name: mavlink_extra2_rate + description: "Rate of the extra2 message for MAVLink telemetry" field: mavlink.extra2_rate type: uint8_t min: 0 max: 255 default_value: 2 - name: mavlink_extra3_rate + description: "Rate of the extra3 message for MAVLink telemetry" field: mavlink.extra3_rate type: uint8_t min: 0 @@ -3110,16 +3112,6 @@ groups: max: 2 default_value: 2 - - name: PG_LED_STRIP_CONFIG - type: ledStripConfig_t - headers: ["common/color.h", "io/ledstrip.h"] - condition: USE_LED_STRIP - members: - - name: ledstrip_visual_beeper - description: "" - default_value: OFF - type: bool - - name: PG_OSD_CONFIG type: osdConfig_t headers: ["io/osd.h", "drivers/osd.h"] @@ -3162,18 +3154,17 @@ groups: field: stats_energy_unit table: osd_stats_energy_unit type: uint8_t - - name: osd_stats_min_voltage_unit - description: "Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats." - default_value: "BATTERY" - field: stats_min_voltage_unit - table: osd_stats_min_voltage_unit - type: uint8_t - name: osd_stats_page_auto_swap_time description: "Auto swap display time interval between disarm stats pages (seconds). Reverts to manual control when Roll stick used to change pages. Disabled when set to 0." default_value: 3 field: stats_page_auto_swap_time min: 0 max: 10 + - name: osd_stats_show_metric_efficiency + description: "Enabling this option will show metric efficiency statistics on the post flight stats screen. In addition to the efficiency statistics in your chosen units." + default_value: OFF + type: bool + field: stats_show_metric_efficiency - name: osd_rssi_alarm description: "Value below which to make the OSD RSSI indicator blink" default_value: 20 @@ -3434,16 +3425,19 @@ groups: min: 0 max: 3 - name: osd_left_sidebar_scroll + description: "Scroll type for the left sidebar" field: left_sidebar_scroll table: osd_sidebar_scroll type: uint8_t default_value: NONE - name: osd_right_sidebar_scroll + description: "Scroll type for the right sidebar" field: right_sidebar_scroll table: osd_sidebar_scroll type: uint8_t default_value: NONE - name: osd_sidebar_scroll_arrows + description: "Show arrows for scrolling the sidebars" field: sidebar_scroll_arrows type: bool default_value: OFF @@ -3454,6 +3448,7 @@ groups: min: 1 max: 2 - name: osd_coordinate_digits + description: "Number of digits for the coordinates displayed in the OSD [8-11]." field: coordinate_digits min: 8 max: 11 @@ -3490,6 +3485,12 @@ groups: condition: USE_WIND_ESTIMATOR field: estimations_wind_compensation type: bool + - name: osd_estimations_wind_mps + description: "Wind speed estimation in m/s" + default_value: OFF + condition: USE_WIND_ESTIMATOR + field: estimations_wind_mps + type: bool - name: osd_failsafe_switch_layout description: "If enabled the OSD automatically switches to the first layout during failsafe" @@ -3735,12 +3736,6 @@ groups: default_value: "400KHZ" condition: USE_I2C table: i2c_speed - - name: cpu_underclock - description: "This option is only available on certain architectures (F3 CPUs at the moment). It makes CPU clock lower to reduce interference to long-range RC systems working at 433MHz" - default_value: OFF - field: cpuUnderclock - condition: USE_UNDERCLOCK - type: bool - name: debug_mode description: "Defines debug values exposed in debug variables (developer / debugging setting)" default_value: "NONE" @@ -3892,6 +3887,7 @@ groups: table: vtx_low_power_disarm type: uint8_t - name: vtx_pit_mode_chan + description: "Pit mode channel." field: pitModeChan min: VTX_SETTINGS_MIN_CHANNEL max: VTX_SETTINGS_MAX_CHANNEL @@ -3996,12 +3992,6 @@ groups: headers: ["io/osd_dji_hd.h"] condition: USE_DJI_HD_OSD members: - - name: dji_workarounds - description: "Enables workarounds for different versions of MSP protocol used" - field: proto_workarounds - min: 0 - max: UINT8_MAX - default_value: 1 - name: dji_use_name_for_messages description: "Re-purpose the craft name field for messages." default_value: ON @@ -4137,7 +4127,7 @@ groups: type: navFwAutolandConfig_t headers: ["navigation/navigation.h"] condition: USE_FW_AUTOLAND - members: + members: - name: nav_fw_land_approach_length description: "Length of the final approach" default_value: 35000 diff --git a/src/main/flight/dynamic_lpf.c b/src/main/flight/dynamic_lpf.c index 5751c84e85e..0e5b4f6ef28 100644 --- a/src/main/flight/dynamic_lpf.c +++ b/src/main/flight/dynamic_lpf.c @@ -41,8 +41,8 @@ void dynamicLpfGyroTask(void) { return; } - const float throttleConstrained = (float) constrain(rcCommand[THROTTLE], getThrottleIdleValue(), motorConfig()->maxthrottle); - const float throttle = scaleRangef(throttleConstrained, getThrottleIdleValue(), motorConfig()->maxthrottle, 0.0f, 1.0f); + const float throttleConstrained = (float) constrain(rcCommand[THROTTLE], getThrottleIdleValue(), getMaxThrottle()); + const float throttle = scaleRangef(throttleConstrained, getThrottleIdleValue(), getMaxThrottle(), 0.0f, 1.0f); const float cutoffFreq = dynLpfCutoffFreq(throttle, gyroConfig()->gyroDynamicLpfMinHz, gyroConfig()->gyroDynamicLpfMaxHz, gyroConfig()->gyroDynamicLpfCurveExpo); DEBUG_SET(DEBUG_DYNAMIC_GYRO_LPF, 0, cutoffFreq); diff --git a/src/main/flight/ez_tune.c b/src/main/flight/ez_tune.c index c6c57afbfe5..4bde5b645e8 100644 --- a/src/main/flight/ez_tune.c +++ b/src/main/flight/ez_tune.c @@ -34,7 +34,9 @@ #include "sensors/gyro.h" #include "fc/controlrate_profile.h" -PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(ezTuneSettings_t, ezTune, PG_EZ_TUNE, 0); +#include "rx/rx.h" + +PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(ezTuneSettings_t, ezTune, PG_EZ_TUNE, 1); PG_RESET_TEMPLATE(ezTuneSettings_t, ezTune, .enabled = SETTING_EZ_ENABLED_DEFAULT, @@ -46,6 +48,7 @@ PG_RESET_TEMPLATE(ezTuneSettings_t, ezTune, .aggressiveness = SETTING_EZ_AGGRESSIVENESS_DEFAULT, .rate = SETTING_EZ_RATE_DEFAULT, .expo = SETTING_EZ_EXPO_DEFAULT, + .snappiness = SETTING_EZ_SNAPPINESS_DEFAULT, ); #define EZ_TUNE_PID_RP_DEFAULT { 40, 75, 23, 100 } @@ -70,6 +73,9 @@ static float getYawPidScale(float input) { void ezTuneUpdate(void) { if (ezTune()->enabled) { + //Enforce RC auto smoothing + rxConfigMutable()->autoSmooth = 1; + // Setup filtering //Set Dterm LPF pidProfileMutable()->dterm_lpf_hz = MAX(ezTune()->filterHz - 5, 50); @@ -77,11 +83,9 @@ void ezTuneUpdate(void) { //Set main gyro filter gyroConfigMutable()->gyro_main_lpf_hz = ezTune()->filterHz; - gyroConfigMutable()->gyro_main_lpf_type = FILTER_PT1; //Set anti-aliasing filter gyroConfigMutable()->gyro_anti_aliasing_lpf_hz = SETTING_GYRO_ANTI_ALIASING_LPF_HZ_DEFAULT; - gyroConfigMutable()->gyro_anti_aliasing_lpf_type = FILTER_PT1; //Enable Smith predictor pidProfileMutable()->smithPredictorDelay = computePt1FilterDelayMs(ezTune()->filterHz); @@ -139,5 +143,8 @@ void ezTuneUpdate(void) { ((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcExpo8 = scaleRange(ezTune()->rate, 0, 200, 40, 100); ((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcYawExpo8 = scaleRange(ezTune()->rate, 0, 200, 40, 100); + //D-Boost snappiness + pidProfileMutable()->dBoostMin = scaleRangef(ezTune()->snappiness, 0, 100, 1.0f, 0.0f); + } } \ No newline at end of file diff --git a/src/main/flight/ez_tune.h b/src/main/flight/ez_tune.h index 5fcc1ef6f7f..d923dca2199 100644 --- a/src/main/flight/ez_tune.h +++ b/src/main/flight/ez_tune.h @@ -36,6 +36,7 @@ typedef struct ezTuneSettings_s { uint8_t aggressiveness; uint8_t rate; uint8_t expo; + uint8_t snappiness; } ezTuneSettings_t; PG_DECLARE_PROFILE(ezTuneSettings_t, ezTune); diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c index 780de21b0a6..2a32dbbd12c 100644 --- a/src/main/flight/failsafe.c +++ b/src/main/flight/failsafe.c @@ -242,6 +242,10 @@ static void failsafeActivate(failsafePhase_e newPhase) ENABLE_FLIGHT_MODE(FAILSAFE_MODE); failsafeState.landingShouldBeFinishedAt = millis() + failsafeConfig()->failsafe_off_delay * MILLIS_PER_TENTH_SECOND; +#ifdef USE_FW_AUTOLAND + posControl.fwLandState.landAborted = false; +#endif + failsafeState.events++; } diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c index 834841e6580..716b48d7aa4 100644 --- a/src/main/flight/mixer.c +++ b/src/main/flight/mixer.c @@ -57,6 +57,9 @@ #include "sensors/battery.h" +#define MAX_THROTTLE 2000 +#define MAX_THROTTLE_ROVER 1850 + FASTRAM int16_t motor[MAX_SUPPORTED_MOTORS]; FASTRAM int16_t motor_disarmed[MAX_SUPPORTED_MOTORS]; static float motorMixRange; @@ -83,12 +86,11 @@ PG_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig, .neutral = SETTING_3D_NEUTRAL_DEFAULT ); -PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 10); +PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 11); PG_RESET_TEMPLATE(motorConfig_t, motorConfig, .motorPwmProtocol = SETTING_MOTOR_PWM_PROTOCOL_DEFAULT, .motorPwmRate = SETTING_MOTOR_PWM_RATE_DEFAULT, - .maxthrottle = SETTING_MAX_THROTTLE_DEFAULT, .mincommand = SETTING_MIN_COMMAND_DEFAULT, .motorPoleCount = SETTING_MOTOR_POLES_DEFAULT, // Most brushless motors that we use are 14 poles ); @@ -106,7 +108,7 @@ void pgResetFn_timerOverrides(timerOverride_t *instance) int getThrottleIdleValue(void) { if (!throttleIdleValue) { - throttleIdleValue = motorConfig()->mincommand + (((motorConfig()->maxthrottle - motorConfig()->mincommand) / 100.0f) * currentBatteryProfile->motor.throttleIdle); + throttleIdleValue = motorConfig()->mincommand + (((getMaxThrottle() - motorConfig()->mincommand) / 100.0f) * currentBatteryProfile->motor.throttleIdle); } return throttleIdleValue; @@ -242,11 +244,11 @@ void mixerResetDisarmedMotors(void) if (feature(FEATURE_REVERSIBLE_MOTORS)) { motorZeroCommand = reversibleMotorsConfig()->neutral; throttleRangeMin = throttleDeadbandHigh; - throttleRangeMax = motorConfig()->maxthrottle; + throttleRangeMax = getMaxThrottle(); } else { motorZeroCommand = motorConfig()->mincommand; throttleRangeMin = throttleIdleValue; - throttleRangeMax = motorConfig()->maxthrottle; + throttleRangeMax = getMaxThrottle(); } reversibleMotorsThrottleState = MOTOR_DIRECTION_FORWARD; @@ -357,7 +359,7 @@ static void applyTurtleModeToMotors(void) { motorOutputNormalised = MIN(1.0f, flipPower * motorOutputNormalised); - motor[i] = (int16_t)scaleRangef(motorOutputNormalised, 0, 1, motorConfig()->mincommand, motorConfig()->maxthrottle); + motor[i] = (int16_t)scaleRangef(motorOutputNormalised, 0, 1, motorConfig()->mincommand, getMaxThrottle()); } } else { // Disarmed mode @@ -407,7 +409,7 @@ void FAST_CODE writeMotors(void) throttleIdleValue, DSHOT_DISARM_COMMAND, motorConfig()->mincommand, - motorConfig()->maxthrottle, + getMaxThrottle(), DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE, true @@ -424,7 +426,7 @@ void FAST_CODE writeMotors(void) throttleRangeMin, throttleRangeMax, reversibleMotorsConfig()->deadband_high, - motorConfig()->maxthrottle, + getMaxThrottle(), true ); } else { @@ -551,7 +553,7 @@ void FAST_CODE mixTable(void) #ifdef USE_PROGRAMMING_FRAMEWORK if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_THROTTLE)) { throttleRangeMin = throttleIdleValue; - throttleRangeMax = motorConfig()->maxthrottle; + throttleRangeMax = getMaxThrottle(); mixerThrottleCommand = constrain(logicConditionValuesByType[LOGIC_CONDITION_OVERRIDE_THROTTLE], throttleRangeMin, throttleRangeMax); } else #endif @@ -562,7 +564,7 @@ void FAST_CODE mixTable(void) * Throttle is above deadband, FORWARD direction */ reversibleMotorsThrottleState = MOTOR_DIRECTION_FORWARD; - throttleRangeMax = motorConfig()->maxthrottle; + throttleRangeMax = getMaxThrottle(); throttleRangeMin = throttleDeadbandHigh; DISABLE_STATE(SET_REVERSIBLE_MOTORS_FORWARD); } else if (rcCommand[THROTTLE] <= throttleDeadbandLow) { @@ -591,7 +593,7 @@ void FAST_CODE mixTable(void) } else { mixerThrottleCommand = rcCommand[THROTTLE]; throttleRangeMin = throttleIdleValue; - throttleRangeMax = motorConfig()->maxthrottle; + throttleRangeMax = getMaxThrottle(); // Throttle scaling to limit max throttle when battery is full #ifdef USE_PROGRAMMING_FRAMEWORK @@ -630,7 +632,7 @@ void FAST_CODE mixTable(void) motor[i] = rpyMix[i] + constrain(mixerThrottleCommand * currentMixer[i].throttle, throttleMin, throttleMax); if (failsafeIsActive()) { - motor[i] = constrain(motor[i], motorConfig()->mincommand, motorConfig()->maxthrottle); + motor[i] = constrain(motor[i], motorConfig()->mincommand, getMaxThrottle()); } else { motor[i] = constrain(motor[i], throttleRangeMin, throttleRangeMax); } @@ -652,7 +654,7 @@ int16_t getThrottlePercent(bool useScaled) int16_t thr = constrain(mixerThrottleCommand, PWM_RANGE_MIN, PWM_RANGE_MAX); if (useScaled) { - thr = (thr - throttleIdleValue) * 100 / (motorConfig()->maxthrottle - throttleIdleValue); + thr = (thr - throttleIdleValue) * 100 / (getMaxThrottle() - throttleIdleValue); } else { thr = (rxGetChannelValue(THROTTLE) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN); } @@ -667,7 +669,7 @@ uint16_t setDesiredThrottle(uint16_t throttle, bool allowMotorStop) ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE); return throttle; } - return constrain(throttle, throttleIdleValue, motorConfig()->maxthrottle); + return constrain(throttle, throttleIdleValue, getMaxThrottle()); } motorStatus_e getMotorStatus(void) @@ -725,3 +727,18 @@ bool areMotorsRunning(void) return false; } + +uint16_t getMaxThrottle(void) { + + static uint16_t throttle = 0; + + if (throttle == 0) { + if (STATE(ROVER) || STATE(BOAT)) { + throttle = MAX_THROTTLE_ROVER; + } else { + throttle = MAX_THROTTLE; + } + } + + return throttle; +} \ No newline at end of file diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h index 9ee6a20654e..0d40fdc11ec 100644 --- a/src/main/flight/mixer.h +++ b/src/main/flight/mixer.h @@ -81,7 +81,6 @@ PG_DECLARE(reversibleMotorsConfig_t, reversibleMotorsConfig); typedef struct motorConfig_s { // PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms) - uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000 uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz) uint8_t motorPwmProtocol; @@ -130,4 +129,6 @@ void stopMotorsNoDelay(void); void stopPwmAllMotors(void); void loadPrimaryMotorMixer(void); -bool areMotorsRunning(void); \ No newline at end of file +bool areMotorsRunning(void); + +uint16_t getMaxThrottle(void); \ No newline at end of file diff --git a/src/main/flight/mixer_profile.c b/src/main/flight/mixer_profile.c index 7b2590ff70b..5769b56fbdb 100644 --- a/src/main/flight/mixer_profile.c +++ b/src/main/flight/mixer_profile.c @@ -79,7 +79,7 @@ void pgResetFn_mixerProfiles(mixerProfile_t *instance) } } -void activateMixerConfig(){ +void activateMixerConfig(void){ currentMixerProfileIndex = getConfigMixerProfile(); currentMixerConfig = *mixerConfig(); nextMixerProfileIndex = (currentMixerProfileIndex + 1) % MAX_MIXER_PROFILE_COUNT; diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index d913802d559..9142e28f92b 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -99,7 +99,6 @@ typedef struct { biquadFilter_t dBoostGyroLpf; float dBoostTargetAcceleration; #endif - uint16_t pidSumLimit; filterApply4FnPtr ptermFilterApplyFn; bool itermLimitActive; bool itermFreezeActive; @@ -155,7 +154,7 @@ static EXTENDED_FASTRAM float iTermAntigravityGain; #endif static EXTENDED_FASTRAM uint8_t usedPidControllerType; -typedef void (*pidControllerFnPtr)(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv); +typedef void (*pidControllerFnPtr)(pidState_t *pidState, float dT, float dT_inv); static EXTENDED_FASTRAM pidControllerFnPtr pidControllerApplyFn; static EXTENDED_FASTRAM filterApplyFnPtr dTermLpfFilterApplyFn; static EXTENDED_FASTRAM bool levelingEnabled = false; @@ -170,7 +169,7 @@ static EXTENDED_FASTRAM bool angleHoldIsLevel = false; static EXTENDED_FASTRAM float fixedWingLevelTrim; static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController; -PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 6); +PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 8); PG_RESET_TEMPLATE(pidProfile_t, pidProfile, .bank_mc = { @@ -231,9 +230,9 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile, }, [PID_HEADING] = { SETTING_NAV_FW_HEADING_P_DEFAULT, 0, 0, 0 }, [PID_POS_Z] = { - .P = SETTING_NAV_FW_POS_Z_P_DEFAULT, // FW_POS_Z_P * 10 - .I = SETTING_NAV_FW_POS_Z_I_DEFAULT, // FW_POS_Z_I * 10 - .D = SETTING_NAV_FW_POS_Z_D_DEFAULT, // FW_POS_Z_D * 10 + .P = SETTING_NAV_FW_POS_Z_P_DEFAULT, // FW_POS_Z_P * 100 + .I = SETTING_NAV_FW_POS_Z_I_DEFAULT, // FW_POS_Z_I * 100 + .D = SETTING_NAV_FW_POS_Z_D_DEFAULT, // FW_POS_Z_D * 100 .FF = 0, }, [PID_POS_XY] = { @@ -264,8 +263,6 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile, .max_angle_inclination[FD_ROLL] = SETTING_MAX_ANGLE_INCLINATION_RLL_DEFAULT, .max_angle_inclination[FD_PITCH] = SETTING_MAX_ANGLE_INCLINATION_PIT_DEFAULT, - .pidSumLimit = SETTING_PIDSUM_LIMIT_DEFAULT, - .pidSumLimitYaw = SETTING_PIDSUM_LIMIT_YAW_DEFAULT, .pidItermLimitPercent = SETTING_PID_ITERM_LIMIT_PERCENT_DEFAULT, .fixedWingReferenceAirspeed = SETTING_FW_REFERENCE_AIRSPEED_DEFAULT, @@ -301,6 +298,7 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile, .fixedWingLevelTrim = SETTING_FW_LEVEL_PITCH_TRIM_DEFAULT, .fixedWingLevelTrimGain = SETTING_FW_LEVEL_PITCH_GAIN_DEFAULT, + .fwAltControlResponseFactor = SETTING_NAV_FW_ALT_CONTROL_RESPONSE_DEFAULT, #ifdef USE_SMITH_PREDICTOR .smithPredictorStrength = SETTING_SMITH_PREDICTOR_STRENGTH_DEFAULT, .smithPredictorDelay = SETTING_SMITH_PREDICTOR_DELAY_DEFAULT, @@ -466,8 +464,8 @@ static float calculateMultirotorTPAFactor(void) // TPA should be updated only when TPA is actually set if (currentControlRateProfile->throttle.dynPID == 0 || rcCommand[THROTTLE] < currentControlRateProfile->throttle.pa_breakpoint) { tpaFactor = 1.0f; - } else if (rcCommand[THROTTLE] < motorConfig()->maxthrottle) { - tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (rcCommand[THROTTLE] - currentControlRateProfile->throttle.pa_breakpoint) / (float)(motorConfig()->maxthrottle - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f; + } else if (rcCommand[THROTTLE] < getMaxThrottle()) { + tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (rcCommand[THROTTLE] - currentControlRateProfile->throttle.pa_breakpoint) / (float)(getMaxThrottle() - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f; } else { tpaFactor = (100 - currentControlRateProfile->throttle.dynPID) / 100.0f; } @@ -594,7 +592,7 @@ static float computePidLevelTarget(flight_dynamics_index_t axis) { // Automatically pitch down if the throttle is manually controlled and reduced bellow cruise throttle #ifdef USE_FW_AUTOLAND - if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle() && !isFwLandInProgess()) { + if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle() && !FLIGHT_MODE(NAV_FW_AUTOLAND)) { #else if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle()) { #endif @@ -747,16 +745,15 @@ static void applyItermLimiting(pidState_t *pidState) { } } -static void nullRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv) { +static void nullRateController(pidState_t *pidState, float dT, float dT_inv) { UNUSED(pidState); - UNUSED(axis); UNUSED(dT); UNUSED(dT_inv); } -static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv) +static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, float dT, float dT_inv) { - const float rateTarget = getFlightAxisRateOverride(axis, pidState->rateTarget); + const float rateTarget = getFlightAxisRateOverride(pidState->axis, pidState->rateTarget); const float rateError = rateTarget - pidState->gyroRate; const float newPTerm = pTermProcess(pidState, rateError, dT); @@ -772,14 +769,16 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh applyItermLimiting(pidState); + const uint16_t limit = getPidSumLimit(pidState->axis); + if (pidProfile()->pidItermLimitPercent != 0){ - float itermLimit = pidState->pidSumLimit * pidProfile()->pidItermLimitPercent * 0.01f; + float itermLimit = limit * pidProfile()->pidItermLimitPercent * 0.01f; pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -itermLimit, +itermLimit); } - axisPID[axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf + newDTerm, -pidState->pidSumLimit, +pidState->pidSumLimit); + axisPID[pidState->axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf + newDTerm, -limit, +limit); - if (FLIGHT_MODE(SOARING_MODE) && axis == FD_PITCH && calculateRollPitchCenterStatus() == CENTERED) { + if (FLIGHT_MODE(SOARING_MODE) && pidState->axis == FD_PITCH && calculateRollPitchCenterStatus() == CENTERED) { if (!angleFreefloatDeadband(DEGREES_TO_DECIDEGREES(navConfig()->fw.soaring_pitch_deadband), FD_PITCH)) { axisPID[FD_PITCH] = 0; // center pitch servo if pitch attitude within soaring mode deadband } @@ -787,16 +786,16 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh #ifdef USE_AUTOTUNE_FIXED_WING if (FLIGHT_MODE(AUTO_TUNE) && !FLIGHT_MODE(MANUAL_MODE)) { - autotuneFixedWingUpdate(axis, rateTarget, pidState->gyroRate, constrainf(newPTerm + newFFTerm, -pidState->pidSumLimit, +pidState->pidSumLimit)); + autotuneFixedWingUpdate(pidState->axis, rateTarget, pidState->gyroRate, constrainf(newPTerm + newFFTerm, -limit, +limit)); } #endif #ifdef USE_BLACKBOX - axisPID_P[axis] = newPTerm; - axisPID_I[axis] = pidState->errorGyroIf; - axisPID_D[axis] = newDTerm; - axisPID_F[axis] = newFFTerm; - axisPID_Setpoint[axis] = rateTarget; + axisPID_P[pidState->axis] = newPTerm; + axisPID_I[pidState->axis] = pidState->errorGyroIf; + axisPID_D[pidState->axis] = newDTerm; + axisPID_F[pidState->axis] = newFFTerm; + axisPID_Setpoint[pidState->axis] = rateTarget; #endif pidState->previousRateGyro = pidState->gyroRate; @@ -819,10 +818,10 @@ static float FAST_CODE applyItermRelax(const int axis, float currentPidSetpoint, return itermErrorRate; } -static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv) +static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pidState, float dT, float dT_inv) { - const float rateTarget = getFlightAxisRateOverride(axis, pidState->rateTarget); + const float rateTarget = getFlightAxisRateOverride(pidState->axis, pidState->rateTarget); const float rateError = rateTarget - pidState->gyroRate; const float newPTerm = pTermProcess(pidState, rateError, dT); @@ -836,11 +835,13 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid */ const float newCDTerm = rateTargetDeltaFiltered * pidState->kCD; + const uint16_t limit = getPidSumLimit(pidState->axis); + // TODO: Get feedback from mixer on available correction range for each axis const float newOutput = newPTerm + newDTerm + pidState->errorGyroIf + newCDTerm; - const float newOutputLimited = constrainf(newOutput, -pidState->pidSumLimit, +pidState->pidSumLimit); + const float newOutputLimited = constrainf(newOutput, -limit, +limit); - float itermErrorRate = applyItermRelax(axis, rateTarget, rateError); + float itermErrorRate = applyItermRelax(pidState->axis, rateTarget, rateError); #ifdef USE_ANTIGRAVITY itermErrorRate *= iTermAntigravityGain; @@ -850,7 +851,7 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid + ((newOutputLimited - newOutput) * pidState->kT * antiWindupScaler * dT); if (pidProfile()->pidItermLimitPercent != 0){ - float itermLimit = pidState->pidSumLimit * pidProfile()->pidItermLimitPercent * 0.01f; + float itermLimit = limit * pidProfile()->pidItermLimitPercent * 0.01f; pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -itermLimit, +itermLimit); } @@ -858,14 +859,14 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid // Don't grow I-term if motors are at their limit applyItermLimiting(pidState); - axisPID[axis] = newOutputLimited; + axisPID[pidState->axis] = newOutputLimited; #ifdef USE_BLACKBOX - axisPID_P[axis] = newPTerm; - axisPID_I[axis] = pidState->errorGyroIf; - axisPID_D[axis] = newDTerm; - axisPID_F[axis] = newCDTerm; - axisPID_Setpoint[axis] = rateTarget; + axisPID_P[pidState->axis] = newPTerm; + axisPID_I[pidState->axis] = pidState->errorGyroIf; + axisPID_D[pidState->axis] = newDTerm; + axisPID_F[pidState->axis] = newCDTerm; + axisPID_Setpoint[pidState->axis] = rateTarget; #endif pidState->previousRateTarget = rateTarget; @@ -1229,7 +1230,7 @@ void FAST_CODE pidController(float dT) checkItermLimitingActive(&pidState[axis]); checkItermFreezingActive(&pidState[axis], axis); - pidControllerApplyFn(&pidState[axis], axis, dT, dT_inv); + pidControllerApplyFn(&pidState[axis], dT, dT_inv); } } @@ -1284,14 +1285,12 @@ void pidInit(void) pidState[axis].axis = axis; if (axis == FD_YAW) { - pidState[axis].pidSumLimit = pidProfile()->pidSumLimitYaw; if (yawLpfHz) { pidState[axis].ptermFilterApplyFn = (filterApply4FnPtr) pt1FilterApply4; } else { pidState[axis].ptermFilterApplyFn = (filterApply4FnPtr) nullFilterApply4; } } else { - pidState[axis].pidSumLimit = pidProfile()->pidSumLimit; pidState[axis].ptermFilterApplyFn = (filterApply4FnPtr) nullFilterApply4; } } @@ -1408,3 +1407,11 @@ float getFixedWingLevelTrim(void) { return STATE(AIRPLANE) ? fixedWingLevelTrim : 0; } + +uint16_t getPidSumLimit(const flight_dynamics_index_t axis) { + if (axis == FD_YAW) { + return STATE(MULTIROTOR) ? 400 : 500; + } else { + return 500; + } +} \ No newline at end of file diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h index e0a8b9d310b..b42465a9dd7 100644 --- a/src/main/flight/pid.h +++ b/src/main/flight/pid.h @@ -115,8 +115,6 @@ typedef struct pidProfile_s { int16_t max_angle_inclination[ANGLE_INDEX_COUNT]; // Max possible inclination (roll and pitch axis separately - uint16_t pidSumLimit; - uint16_t pidSumLimitYaw; uint16_t pidItermLimitPercent; // Airplane-specific parameters @@ -151,6 +149,8 @@ typedef struct pidProfile_s { float fixedWingLevelTrim; float fixedWingLevelTrimGain; + + uint8_t fwAltControlResponseFactor; #ifdef USE_SMITH_PREDICTOR float smithPredictorStrength; float smithPredictorDelay; @@ -221,3 +221,4 @@ bool isFixedWingLevelTrimActive(void); void updateFixedWingLevelTrim(timeUs_t currentTimeUs); float getFixedWingLevelTrim(void); bool isAngleHoldLevel(void); +uint16_t getPidSumLimit(const flight_dynamics_index_t axis); \ No newline at end of file diff --git a/src/main/flight/pid_autotune.c b/src/main/flight/pid_autotune.c index 140c4ab61d9..af6896f4233 100755 --- a/src/main/flight/pid_autotune.c +++ b/src/main/flight/pid_autotune.c @@ -171,7 +171,7 @@ void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRa float gainFF = tuneCurrent[axis].gainFF; float maxDesiredRate = maxRateSetting; - const float pidSumLimit = (axis == FD_YAW) ? pidProfile()->pidSumLimitYaw : pidProfile()->pidSumLimit; + const float pidSumLimit = getPidSumLimit(axis); const float absDesiredRate = fabsf(desiredRate); const float absReachedRate = fabsf(reachedRate); const float absPidOutput = fabsf(pidOutput); diff --git a/src/main/flight/secondary_dynamic_gyro_notch.c b/src/main/flight/secondary_dynamic_gyro_notch.c index e3cfdced374..75d28bfc0f4 100644 --- a/src/main/flight/secondary_dynamic_gyro_notch.c +++ b/src/main/flight/secondary_dynamic_gyro_notch.c @@ -44,46 +44,25 @@ void secondaryDynamicGyroNotchFiltersInit(secondaryDynamicGyroNotchState_t *stat state->enabled = gyroConfig()->dynamicGyroNotchMode != DYNAMIC_NOTCH_MODE_2D; state->looptime = getLooptime(); - if ( - gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_R || - gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RP || - gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RY || - gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D - ) { + if (gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D) { /* * Enable ROLL filter */ biquadFilterInit(&state->filters[FD_ROLL], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH); state->filtersApplyFn[FD_ROLL] = (filterApplyFnPtr)biquadFilterApplyDF1; - } - - if ( - gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_P || - gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RP || - gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_PY || - gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D - ) { + /* * Enable PITCH filter */ biquadFilterInit(&state->filters[FD_PITCH], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH); state->filtersApplyFn[FD_PITCH] = (filterApplyFnPtr)biquadFilterApplyDF1; - } - - if ( - gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_Y || - gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_PY || - gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_RY || - gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D - ) { + /* * Enable YAW filter */ biquadFilterInit(&state->filters[FD_YAW], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH); state->filtersApplyFn[FD_YAW] = (filterApplyFnPtr)biquadFilterApplyDF1; } - - } void secondaryDynamicGyroNotchFiltersUpdate(secondaryDynamicGyroNotchState_t *state, int axis, float frequency[]) { diff --git a/src/main/io/displayport_msp_bf_compat.c b/src/main/io/displayport_msp_bf_compat.c index dd120a2295d..4219d2b2db8 100644 --- a/src/main/io/displayport_msp_bf_compat.c +++ b/src/main/io/displayport_msp_bf_compat.c @@ -27,7 +27,7 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page) { - uint16_t ech = ch | (page << 8); + uint16_t ech = ch | ((page & 0x3)<< 8) ; if (ech >= 0x20 && ech <= 0x5F) { // ASCII range return ch; @@ -293,13 +293,12 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page) case SYM_THR: return BF_SYM_THR; -/* case SYM_TEMP_F: - return BF_SYM_TEMP_F; + return BF_SYM_F; case SYM_TEMP_C: - return BF_SYM_TEMP_C; -*/ + return BF_SYM_C; + case SYM_BLANK: return BF_SYM_BLANK; /* diff --git a/src/main/io/displayport_msp_osd.c b/src/main/io/displayport_msp_osd.c index e1e6cb29676..d587104e9b9 100644 --- a/src/main/io/displayport_msp_osd.c +++ b/src/main/io/displayport_msp_osd.c @@ -59,7 +59,7 @@ typedef enum { // defines are from hdzero code SD_3016, HD_5018, HD_3016, // Special HDZERO mode that just sends the centre 30x16 of the 50x18 canvas to the VRX - HD_6022, // added to support DJI wtfos 60x22 grid + HD_6022, // added to support DJI wtfos 60x22 grid HD_5320 // added to support Avatar and BetaflightHD } resolutionType_e; @@ -97,12 +97,11 @@ static timeMs_t sendSubFrameMs = 0; // set screen size #define SCREENSIZE (ROWS*COLS) -static uint8_t currentOsdMode; // HDZero screen mode can change across layouts +static uint8_t currentOsdMode; // HDZero screen mode can change across layouts static uint8_t screen[SCREENSIZE]; -static BITARRAY_DECLARE(fontPage, SCREENSIZE); // font page for each character on the screen -static BITARRAY_DECLARE(dirty, SCREENSIZE); // change status for each character on the screen -static BITARRAY_DECLARE(blinkChar, SCREENSIZE); // Does the character blink? +static uint8_t attrs[SCREENSIZE]; // font page, blink and other attributes +static BITARRAY_DECLARE(dirty, SCREENSIZE); // change status for each character on the screen static bool screenCleared; static uint8_t screenRows, screenCols; static videoSystem_e osdVideoSystem; @@ -158,6 +157,22 @@ static uint8_t determineHDZeroOsdMode(void) return HD_3016; } + +uint8_t setAttrPage(uint8_t origAttr, uint8_t page) +{ + return (origAttr & ~DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK) | (page & DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK); +} + +uint8_t setAttrBlink(uint8_t origAttr, uint8_t blink) +{ + return (origAttr & ~DISPLAYPORT_MSP_ATTR_BLINK_MASK) | ((blink << DISPLAYPORT_MSP_ATTR_BLINK) & DISPLAYPORT_MSP_ATTR_BLINK_MASK); +} + +uint8_t setAttrVersion(uint8_t origAttr, uint8_t version) +{ + return (origAttr & ~DISPLAYPORT_MSP_ATTR_VERSION_MASK) | ((version << DISPLAYPORT_MSP_ATTR_VERSION) & DISPLAYPORT_MSP_ATTR_VERSION_MASK); +} + static int setDisplayMode(displayPort_t *displayPort) { if (osdVideoSystem == VIDEO_SYSTEM_HDZERO) { @@ -171,9 +186,8 @@ static int setDisplayMode(displayPort_t *displayPort) static void init(void) { memset(screen, SYM_BLANK, sizeof(screen)); - BITARRAY_CLR_ALL(fontPage); + memset(attrs, 0, sizeof(attrs)); BITARRAY_CLR_ALL(dirty); - BITARRAY_CLR_ALL(blinkChar); } static int clearScreen(displayPort_t *displayPort) @@ -204,9 +218,8 @@ static bool readChar(displayPort_t *displayPort, uint8_t col, uint8_t row, uint1 } *c = screen[pos]; - if (bitArrayGet(fontPage, pos)) { - *c |= 0x100; - } + uint8_t page = getAttrPage(attrs[pos]); + *c |= page << 8; if (attr) { *attr = TEXT_ATTRIBUTES_NONE; @@ -219,11 +232,12 @@ static int setChar(const uint16_t pos, const uint16_t c, textAttributes_t attr) { if (pos < SCREENSIZE) { uint8_t ch = c & 0xFF; - bool page = (c >> 8); - if (screen[pos] != ch || bitArrayGet(fontPage, pos) != page) { + uint8_t page = (c >> 8) & DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK; + if (screen[pos] != ch || getAttrPage(attrs[pos]) != page) { screen[pos] = ch; - (page) ? bitArraySet(fontPage, pos) : bitArrayClr(fontPage, pos); - (TEXT_ATTRIBUTES_HAVE_BLINK(attr)) ? bitArraySet(blinkChar, pos) : bitArrayClr(blinkChar, pos); + attrs[pos] = setAttrPage(attrs[pos], page); + uint8_t blink = (TEXT_ATTRIBUTES_HAVE_BLINK(attr)) ? 1 : 0; + attrs[pos] = setAttrBlink(attrs[pos], blink); bitArraySet(dirty, pos); } } @@ -287,8 +301,8 @@ static int drawScreen(displayPort_t *displayPort) // 250Hz uint8_t col = pos % COLS; uint8_t attributes = 0; int endOfLine = row * COLS + screenCols; - bool page = bitArrayGet(fontPage, pos); - bool blink = bitArrayGet(blinkChar, pos); + uint8_t page = getAttrPage(attrs[pos]); + uint8_t blink = getAttrBlink(attrs[pos]); uint8_t len = 4; do { @@ -299,7 +313,7 @@ static int drawScreen(displayPort_t *displayPort) // 250Hz if (bitArrayGet(dirty, pos)) { next = pos; } - } while (next == pos && next < endOfLine && bitArrayGet(fontPage, next) == page && bitArrayGet(blinkChar, next) == blink); + } while (next == pos && next < endOfLine && getAttrPage(attrs[next]) == page && getAttrBlink(attrs[next]) == blink); if (!isBfCompatibleVideoSystem(osdConfig())) { attributes |= (page << DISPLAYPORT_MSP_ATTR_FONTPAGE); @@ -525,7 +539,7 @@ void mspOsdSerialProcess(mspProcessCommandFnPtr mspProcessCommandFn) } } -mspPort_t *getMspOsdPort() +mspPort_t *getMspOsdPort(void) { if (mspPort.port) { return &mspPort; diff --git a/src/main/io/displayport_msp_osd.h b/src/main/io/displayport_msp_osd.h index 0a2f64c48a2..affd5b39be5 100644 --- a/src/main/io/displayport_msp_osd.h +++ b/src/main/io/displayport_msp_osd.h @@ -27,13 +27,25 @@ #include "drivers/osd.h" #include "msp/msp_serial.h" +// MSP displayport V2 attribute byte bit functions +#define DISPLAYPORT_MSP_ATTR_FONTPAGE 0 // Select bank of 256 characters as per displayPortSeverity_e +#define DISPLAYPORT_MSP_ATTR_BLINK 6 // Device local blink +#define DISPLAYPORT_MSP_ATTR_VERSION 7 // Format indicator; must be zero for V2 (and V1) + +#define DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK 0x3 +#define DISPLAYPORT_MSP_ATTR_BLINK_MASK (1 << DISPLAYPORT_MSP_ATTR_BLINK) +#define DISPLAYPORT_MSP_ATTR_VERSION_MASK (1 << DISPLAYPORT_MSP_ATTR_VERSION) + typedef struct displayPort_s displayPort_t; displayPort_t *mspOsdDisplayPortInit(const videoSystem_e videoSystem); void mspOsdSerialProcess(mspProcessCommandFnPtr mspProcessCommandFn); mspPort_t *getMspOsdPort(void); -// MSP displayport V2 attribute byte bit functions -#define DISPLAYPORT_MSP_ATTR_FONTPAGE 0 // Select bank of 256 characters as per displayPortSeverity_e -#define DISPLAYPORT_MSP_ATTR_BLINK 6 // Device local blink -#define DISPLAYPORT_MSP_ATTR_VERSION 7 // Format indicator; must be zero for V2 (and V1) \ No newline at end of file +#define getAttrPage(attr) (attr & DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK) +#define getAttrBlink(attr) ((attr & DISPLAYPORT_MSP_ATTR_BLINK_MASK) >> DISPLAYPORT_MSP_ATTR_BLINK) +#define getAttrVersion(attr) ((attr & DISPLAYPORT_MSP_ATTR_VERSION_MASK) >> DISPLAYPORT_MSP_ATTR_VERSION) + +uint8_t setAttrPage(uint8_t origAttr, uint8_t page); +uint8_t setAttrBlink(uint8_t origAttr, uint8_t page); +uint8_t setAttrVersion(uint8_t origAttr, uint8_t page); \ No newline at end of file diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c index 71c537b4c70..62c41683f02 100644 --- a/src/main/io/ledstrip.c +++ b/src/main/io/ledstrip.c @@ -73,7 +73,7 @@ #include "telemetry/telemetry.h" -PG_REGISTER_WITH_RESET_FN(ledStripConfig_t, ledStripConfig, PG_LED_STRIP_CONFIG, 1); +PG_REGISTER_WITH_RESET_FN(ledStripConfig_t, ledStripConfig, PG_LED_STRIP_CONFIG, 2); static bool ledStripInitialised = false; static bool ledStripEnabled = true; diff --git a/src/main/io/ledstrip.h b/src/main/io/ledstrip.h index 644409b9e0a..204a4661d17 100644 --- a/src/main/io/ledstrip.h +++ b/src/main/io/ledstrip.h @@ -153,7 +153,6 @@ typedef struct ledStripConfig_s { hsvColor_t colors[LED_CONFIGURABLE_COLOR_COUNT]; modeColorIndexes_t modeColors[LED_MODE_COUNT]; specialColorIndexes_t specialColors; - uint8_t ledstrip_visual_beeper; // suppress LEDLOW mode if beeper is on } ledStripConfig_t; PG_DECLARE(ledStripConfig_t, ledStripConfig); diff --git a/src/main/io/osd.c b/src/main/io/osd.c index e792d87b6d0..56245ea04af 100644 --- a/src/main/io/osd.c +++ b/src/main/io/osd.c @@ -28,6 +28,7 @@ #include #include #include +#include #include "platform.h" @@ -114,6 +115,10 @@ #include "programming/logic_condition.h" #include "programming/global_variables.h" +#ifdef USE_BLACKBOX +#include "blackbox/blackbox_io.h" +#endif + #ifdef USE_HARDWARE_REVISION_DETECTION #include "hardware_revision.h" #endif @@ -180,6 +185,12 @@ typedef struct statistic_s { int16_t min_rssi_dbm; // for CRSF int32_t max_altitude; uint32_t max_distance; + uint8_t min_sats; + uint8_t max_sats; + int16_t max_esc_temp; + int16_t min_esc_temp; + int32_t flightStartMAh; + int32_t flightStartMWh; } statistic_t; static statistic_t stats; @@ -212,7 +223,7 @@ static bool osdDisplayHasCanvas; #define AH_MAX_PITCH_DEFAULT 20 // Specify default maximum AHI pitch value displayed (degrees) -PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 9); +PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 10); PG_REGISTER_WITH_RESET_FN(osdLayoutsConfig_t, osdLayoutsConfig, PG_OSD_LAYOUTS_CONFIG, 1); void osdStartedSaveProcess(void) { @@ -224,8 +235,6 @@ void osdShowEEPROMSavedNotification(void) { notify_settings_saved = millis() + 5000; } - - bool osdDisplayIsPAL(void) { return displayScreenSize(osdDisplayPort) == VIDEO_BUFFER_CHARS_PAL; @@ -240,11 +249,14 @@ bool osdDisplayIsHD(void) return false; } - +bool osdIsNotMetric(void) { + return !(osdConfig()->units == OSD_UNIT_METRIC || osdConfig()->units == OSD_UNIT_METRIC_MPH); +} /* * Aligns text to the left side. Adds spaces at the end to keep string length unchanged. */ +/* -- Currently unused -- static void osdLeftAlignString(char *buff) { uint8_t sp = 0, ch = 0; @@ -252,7 +264,7 @@ static void osdLeftAlignString(char *buff) while (buff[sp] == ' ') sp++; for (ch = 0; ch < (len - sp); ch++) buff[ch] = buff[ch + sp]; for (sp = ch; sp < len; sp++) buff[sp] = ' '; -} +}*/ /* * This is a simplified distance conversion code that does not use any scaling @@ -487,8 +499,16 @@ static void osdFormatWindSpeedStr(char *buff, int32_t ws, bool isValid) break; default: case OSD_UNIT_METRIC: - centivalue = CMSEC_TO_CENTIKPH(ws); - suffix = SYM_KMH; + if (osdConfig()->estimations_wind_mps) + { + centivalue = ws; + suffix = SYM_MS; + } + else + { + centivalue = CMSEC_TO_CENTIKPH(ws); + suffix = SYM_KMH; + } break; } @@ -827,7 +847,7 @@ void osdFormatPilotName(char *buff) static const char * osdArmingDisabledReasonMessage(void) { const char *message = NULL; - char messageBuf[MAX(SETTING_MAX_NAME_LENGTH, OSD_MESSAGE_LENGTH+1)]; + static char messageBuf[OSD_MESSAGE_LENGTH+1]; switch (isArmingDisabledReason()) { case ARMING_DISABLED_FAILSAFE_SYSTEM: @@ -901,8 +921,6 @@ static const char * osdArmingDisabledReasonMessage(void) return OSD_MESSAGE_STR(OSD_MSG_HW_FAIL); case ARMING_DISABLED_BOXFAILSAFE: return OSD_MESSAGE_STR(OSD_MSG_FS_EN); - case ARMING_DISABLED_BOXKILLSWITCH: - return OSD_MESSAGE_STR(OSD_MSG_KILL_SW_EN); case ARMING_DISABLED_RC_LINK: return OSD_MESSAGE_STR(OSD_MSG_NO_RC_LINK); case ARMING_DISABLED_THROTTLE: @@ -986,7 +1004,7 @@ static const char * osdFailsafePhaseMessage(void) static const char * osdFailsafeInfoMessage(void) { - if (failsafeIsReceivingRxData()) { + if (failsafeIsReceivingRxData() && !FLIGHT_MODE(NAV_FW_AUTOLAND)) { // User must move sticks to exit FS mode return OSD_MESSAGE_STR(OSD_MSG_MOVE_EXIT_FS); } @@ -1004,7 +1022,7 @@ static const char * divertingToSafehomeMessage(void) return OSD_MESSAGE_STR(OSD_MSG_DIVERT_SAFEHOME); } #endif - return NULL; + return NULL; } @@ -1029,7 +1047,7 @@ static const char * navigationStateMessage(void) linearDescentMessageMs = millis() + 5000; // Show message for 5 seconds. return OSD_MESSAGE_STR(OSD_MSG_RTH_LINEAR_DESCENT); - } else + } else return OSD_MESSAGE_STR(OSD_MSG_HEADING_HOME); } case MW_NAV_STATE_HOLD_INFINIT: @@ -1070,7 +1088,7 @@ static const char * navigationStateMessage(void) // If there is a FS landing delay occurring. That is handled by the calling function. if (posControl.landingDelay > 0) break; - + return OSD_MESSAGE_STR(OSD_MSG_PREPARING_LAND); } case MW_NAV_STATE_LAND_START_DESCENT: @@ -1991,6 +2009,27 @@ static bool osdDrawSingleElement(uint8_t item) osdFormatDistanceSymbol(buff + 1, getTotalTravelDistance(), 0); break; + case OSD_BLACKBOX: + { +#ifdef USE_BLACKBOX + if (IS_RC_MODE_ACTIVE(BOXBLACKBOX)) { + if (!isBlackboxDeviceWorking()) { + tfp_sprintf(buff, "%c%c", SYM_BLACKBOX, SYM_ALERT); + } else if (isBlackboxDeviceFull()) { + tfp_sprintf(buff, "%cFULL", SYM_BLACKBOX); + } else { + int32_t logNumber = blackboxGetLogNumber(); + if (logNumber >= 0) { + tfp_sprintf(buff, "%c%05" PRId32, SYM_BLACKBOX, logNumber); + } else { + tfp_sprintf(buff, "%c", SYM_BLACKBOX); + } + } + } +#endif // USE_BLACKBOX + } + break; + case OSD_ODOMETER: { displayWriteChar(osdDisplayPort, elemPosX, elemPosY, SYM_ODOMETER); @@ -2362,7 +2401,7 @@ static bool osdDrawSingleElement(uint8_t item) { char *p = "ACRO"; #ifdef USE_FW_AUTOLAND - if (isFwLandInProgess()) + if (FLIGHT_MODE(NAV_FW_AUTOLAND)) p = "LAND"; else #endif @@ -2726,7 +2765,7 @@ static bool osdDrawSingleElement(uint8_t item) // mAh/foot if (efficiencyValid) { osdFormatCentiNumber(buff, (value * METERS_PER_FOOT), 1, 2, 2, 3, false); - tfp_sprintf(buff, "%s%c%c", buff, SYM_AH_V_FT_0, SYM_AH_V_FT_1); + tfp_sprintf(buff + strlen(buff), "%c%c", SYM_AH_V_FT_0, SYM_AH_V_FT_1); } else { buff[0] = buff[1] = buff[2] = '-'; buff[3] = SYM_AH_V_FT_0; @@ -2740,7 +2779,7 @@ static bool osdDrawSingleElement(uint8_t item) // mAh/metre if (efficiencyValid) { osdFormatCentiNumber(buff, value, 1, 2, 2, 3, false); - tfp_sprintf(buff, "%s%c%c", buff, SYM_AH_V_M_0, SYM_AH_V_M_1); + tfp_sprintf(buff + strlen(buff), "%c%c", SYM_AH_V_M_0, SYM_AH_V_M_1); } else { buff[0] = buff[1] = buff[2] = '-'; buff[3] = SYM_AH_V_M_0; @@ -3203,9 +3242,9 @@ static bool osdDrawSingleElement(uint8_t item) case OSD_UNIT_IMPERIAL: moreThanAh = osdFormatCentiNumber(buff, value * METERS_PER_MILE / 10, 1000, 0, 2, digits, false); if (!moreThanAh) { - tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_MI_0, SYM_MAH_MI_1); + tfp_sprintf(buff + strlen(buff), "%c%c", SYM_MAH_MI_0, SYM_MAH_MI_1); } else { - tfp_sprintf(buff, "%s%c", buff, SYM_AH_MI); + tfp_sprintf(buff + strlen(buff), "%c", SYM_AH_MI); } if (!efficiencyValid) { buff[0] = buff[1] = buff[2] = buff[3] = '-'; @@ -3217,9 +3256,9 @@ static bool osdDrawSingleElement(uint8_t item) case OSD_UNIT_GA: moreThanAh = osdFormatCentiNumber(buff, value * METERS_PER_NAUTICALMILE / 10, 1000, 0, 2, digits, false); if (!moreThanAh) { - tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_NM_0, SYM_MAH_NM_1); + tfp_sprintf(buff + strlen(buff), "%c%c", SYM_MAH_NM_0, SYM_MAH_NM_1); } else { - tfp_sprintf(buff, "%s%c", buff, SYM_AH_NM); + tfp_sprintf(buff + strlen(buff), "%c", SYM_AH_NM); } if (!efficiencyValid) { buff[0] = buff[1] = buff[2] = buff[3] = '-'; @@ -3233,9 +3272,9 @@ static bool osdDrawSingleElement(uint8_t item) case OSD_UNIT_METRIC: moreThanAh = osdFormatCentiNumber(buff, value * 100, 1000, 0, 2, digits, false); if (!moreThanAh) { - tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_KM_0, SYM_MAH_KM_1); + tfp_sprintf(buff + strlen(buff), "%c%c", SYM_MAH_KM_0, SYM_MAH_KM_1); } else { - tfp_sprintf(buff, "%s%c", buff, SYM_AH_KM); + tfp_sprintf(buff + strlen(buff), "%c", SYM_AH_KM); } if (!efficiencyValid) { buff[0] = buff[1] = buff[2] = buff[3] = '-'; @@ -3954,8 +3993,8 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig, .force_grid = SETTING_OSD_FORCE_GRID_DEFAULT, .stats_energy_unit = SETTING_OSD_STATS_ENERGY_UNIT_DEFAULT, - .stats_min_voltage_unit = SETTING_OSD_STATS_MIN_VOLTAGE_UNIT_DEFAULT, - .stats_page_auto_swap_time = SETTING_OSD_STATS_PAGE_AUTO_SWAP_TIME_DEFAULT + .stats_page_auto_swap_time = SETTING_OSD_STATS_PAGE_AUTO_SWAP_TIME_DEFAULT, + .stats_show_metric_efficiency = SETTING_OSD_STATS_SHOW_METRIC_EFFICIENCY_DEFAULT ); void pgResetFn_osdLayoutsConfig(osdLayoutsConfig_t *osdLayoutsConfig) @@ -4121,6 +4160,10 @@ void pgResetFn_osdLayoutsConfig(osdLayoutsConfig_t *osdLayoutsConfig) osdLayoutsConfig->item_pos[0][OSD_PLIMIT_ACTIVE_POWER_LIMIT] = OSD_POS(3, 6); #endif +#ifdef USE_BLACKBOX + osdLayoutsConfig->item_pos[0][OSD_BLACKBOX] = OSD_POS(2, 10); +#endif + // Under OSD_FLYMODE. TODO: Might not be visible on NTSC? osdLayoutsConfig->item_pos[0][OSD_MESSAGES] = OSD_POS(1, 13) | OSD_VISIBLE_FLAG; @@ -4195,83 +4238,154 @@ uint8_t drawLogos(bool singular, uint8_t row) { return logoRow; } -uint8_t drawStats(uint8_t row) { #ifdef USE_STATS - char string_buffer[30]; - uint8_t statNameX = (osdDisplayPort->cols - 22) / 2; - uint8_t statValueX = statNameX + 21; +uint8_t drawStat_Stats(uint8_t statNameX, uint8_t row, uint8_t statValueX, bool isBootStats) +{ + uint8_t buffLen = 0; + char string_buffer[osdDisplayPort->cols - statValueX]; if (statsConfig()->stats_enabled) { - displayWrite(osdDisplayPort, statNameX, row, "ODOMETER:"); + if (isBootStats) + displayWrite(osdDisplayPort, statNameX, row, "ODOMETER:"); + else + displayWrite(osdDisplayPort, statNameX, row, "ODOMETER"); + switch (osdConfig()->units) { case OSD_UNIT_UK: FALLTHROUGH; case OSD_UNIT_IMPERIAL: - tfp_sprintf(string_buffer, "%5d", (int)(statsConfig()->stats_total_dist / METERS_PER_MILE)); - string_buffer[5] = SYM_MI; + if (isBootStats) { + tfp_sprintf(string_buffer, "%5d", (uint16_t)(statsConfig()->stats_total_dist / METERS_PER_MILE)); + buffLen = 5; + } else { + uint16_t statTotalDist = (uint16_t)(statsConfig()->stats_total_dist / METERS_PER_MILE); + tfp_sprintf(string_buffer, ": %d", statTotalDist); + buffLen = 3 + sizeof(statTotalDist); + } + + string_buffer[buffLen++] = SYM_MI; break; default: case OSD_UNIT_GA: - tfp_sprintf(string_buffer, "%5d", (int)(statsConfig()->stats_total_dist / METERS_PER_NAUTICALMILE)); - string_buffer[5] = SYM_NM; + if (isBootStats) { + tfp_sprintf(string_buffer, "%5d", (uint16_t)(statsConfig()->stats_total_dist / METERS_PER_NAUTICALMILE)); + buffLen = 5; + } else { + uint16_t statTotalDist = (uint16_t)(statsConfig()->stats_total_dist / METERS_PER_NAUTICALMILE); + tfp_sprintf(string_buffer, ": %d", statTotalDist); + buffLen = 3 + sizeof(statTotalDist); + } + + string_buffer[buffLen++] = SYM_NM; break; case OSD_UNIT_METRIC_MPH: FALLTHROUGH; case OSD_UNIT_METRIC: - tfp_sprintf(string_buffer, "%5d", (int)(statsConfig()->stats_total_dist / METERS_PER_KILOMETER)); - string_buffer[5] = SYM_KM; + if (isBootStats) { + tfp_sprintf(string_buffer, "%5d", (uint16_t)(statsConfig()->stats_total_dist / METERS_PER_KILOMETER)); + buffLen = 5; + } else { + uint16_t statTotalDist = (uint16_t)(statsConfig()->stats_total_dist / METERS_PER_KILOMETER); + tfp_sprintf(string_buffer, ": %d", statTotalDist); + buffLen = 3 + sizeof(statTotalDist); + } + + string_buffer[buffLen++] = SYM_KM; break; } - string_buffer[6] = '\0'; - displayWrite(osdDisplayPort, statValueX-5, row, string_buffer); + string_buffer[buffLen] = '\0'; + displayWrite(osdDisplayPort, statValueX-(isBootStats ? 5 : 0), row, string_buffer); - displayWrite(osdDisplayPort, statNameX, ++row, "TOTAL TIME:"); + if (isBootStats) + displayWrite(osdDisplayPort, statNameX, ++row, "TOTAL TIME:"); + else + displayWrite(osdDisplayPort, statNameX, ++row, "TOTAL TIME"); + uint32_t tot_mins = statsConfig()->stats_total_time / 60; - tfp_sprintf(string_buffer, "%2d:%02dH:M", (int)(tot_mins / 60), (int)(tot_mins % 60)); - displayWrite(osdDisplayPort, statValueX-7, row, string_buffer); + if (isBootStats) + tfp_sprintf(string_buffer, "%d:%02dH:M%c", (int)(tot_mins / 60), (int)(tot_mins % 60), '\0'); + else + tfp_sprintf(string_buffer, ": %d:%02d H:M%c", (int)(tot_mins / 60), (int)(tot_mins % 60), '\0'); + + displayWrite(osdDisplayPort, statValueX-(isBootStats ? 7 : 0), row, string_buffer); #ifdef USE_ADC - if (feature(FEATURE_VBAT) && feature(FEATURE_CURRENT_METER)) { - displayWrite(osdDisplayPort, statNameX, ++row, "TOTAL ENERGY:"); - osdFormatCentiNumber(string_buffer, statsConfig()->stats_total_energy / 10, 0, 2, 0, 4, false); - displayWrite(osdDisplayPort, statValueX-4, row, string_buffer); - displayWriteChar(osdDisplayPort, statValueX, row, SYM_WH); + if (feature(FEATURE_VBAT) && feature(FEATURE_CURRENT_METER) && statsConfig()->stats_total_energy) { + uint8_t buffOffset = 0; + if (isBootStats) + displayWrite(osdDisplayPort, statNameX, ++row, "TOTAL ENERGY:"); + else { + displayWrite(osdDisplayPort, statNameX, ++row, "TOTAL ENERGY"); + string_buffer[0] = ':'; + buffOffset = 2; + } + + osdFormatCentiNumber(string_buffer + buffOffset, statsConfig()->stats_total_energy / 10, 0, 2, 0, 6, true); + displayWrite(osdDisplayPort, statValueX - (isBootStats ? 6 : 0), row, string_buffer); + displayWriteChar(osdDisplayPort, statValueX + (isBootStats ? 0 : 8), row, SYM_WH); + + char avgEffBuff[osdDisplayPort->cols - statValueX]; + + for (uint8_t i = 0; i < osdDisplayPort->cols - statValueX; i++) { + avgEffBuff[i] = '\0'; + string_buffer[i] = '\0'; + } - displayWrite(osdDisplayPort, statNameX, ++row, "AVG EFFICIENCY:"); if (statsConfig()->stats_total_dist) { - uint32_t avg_efficiency = statsConfig()->stats_total_energy / (statsConfig()->stats_total_dist / METERS_PER_KILOMETER); // mWh/km + if (isBootStats) + displayWrite(osdDisplayPort, statNameX, ++row, "AVG EFFICIENCY:"); + else { + displayWrite(osdDisplayPort, statNameX, ++row, "AVG EFFICIENCY"); + strcat(avgEffBuff, ": "); + } + + float_t avg_efficiency = MWH_TO_WH(statsConfig()->stats_total_energy) / METERS_TO_KILOMETERS(statsConfig()->stats_total_dist); // Wh/km switch (osdConfig()->units) { case OSD_UNIT_UK: FALLTHROUGH; case OSD_UNIT_IMPERIAL: - osdFormatCentiNumber(string_buffer, avg_efficiency / 10, 0, 2, 0, 3, false); - string_buffer[3] = SYM_WH_MI; + osdFormatCentiNumber(string_buffer, (int32_t)(avg_efficiency * METERS_PER_MILE / 10), 0, 2, 2, 4, false); + string_buffer[4] = SYM_WH_MI; break; case OSD_UNIT_GA: - osdFormatCentiNumber(string_buffer, avg_efficiency / 10, 0, 2, 0, 3, false); - string_buffer[3] = SYM_WH_NM; + osdFormatCentiNumber(string_buffer, (int32_t)(avg_efficiency * METERS_PER_NAUTICALMILE / 10), 0, 2, 2, 4, false); + string_buffer[4] = SYM_WH_NM; break; default: case OSD_UNIT_METRIC_MPH: FALLTHROUGH; case OSD_UNIT_METRIC: - osdFormatCentiNumber(string_buffer, avg_efficiency / 10000 * METERS_PER_MILE, 0, 2, 0, 3, false); - string_buffer[3] = SYM_WH_KM; + osdFormatCentiNumber(string_buffer, (int32_t)(avg_efficiency * 100), 0, 2, 2, 4, false); + string_buffer[4] = SYM_WH_KM; break; } + + if (isBootStats) + strcat(avgEffBuff, string_buffer); + else + strcat(avgEffBuff, osdFormatTrimWhiteSpace(string_buffer)); } else { - string_buffer[0] = string_buffer[1] = string_buffer[2] = '-'; + strcat(avgEffBuff, "----"); } - string_buffer[4] = '\0'; - displayWrite(osdDisplayPort, statValueX-3, row++, string_buffer); + + displayWrite(osdDisplayPort, statValueX-(isBootStats ? 4 : 0), row++, avgEffBuff); } #endif // USE_ADC } -#endif // USE_STATS return row; } -static void osdSetNextRefreshIn(uint32_t timeMs) { +uint8_t drawStats(uint8_t row) +{ + uint8_t statNameX = (osdDisplayPort->cols - 22) / 2; + uint8_t statValueX = statNameX + 21; + + return drawStat_Stats(statNameX, row, statValueX, true); +} +#endif // USE STATS + +static void osdSetNextRefreshIn(uint32_t timeMs) +{ resumeRefreshAt = micros() + timeMs * 1000; refreshWaitForResumeCmdRelease = true; } @@ -4358,16 +4472,29 @@ void osdInit(displayPort_t *osdDisplayPortToUse) static void osdResetStats(void) { + // Reset internal OSD stats + stats.max_distance = 0; stats.max_current = 0; stats.max_power = 0; stats.max_speed = 0; stats.max_3D_speed = 0; stats.max_air_speed = 0; - stats.min_voltage = 5000; + stats.min_voltage = 12000; stats.min_rssi = 99; stats.min_lq = 300; stats.min_rssi_dbm = 0; stats.max_altitude = 0; + stats.min_sats = 255; + stats.max_sats = 0; + stats.min_esc_temp = 300; + stats.max_esc_temp = 0; + stats.flightStartMAh = getMAhDrawn(); + stats.flightStartMWh = getMWhDrawn(); + + // Reset external stats + posControl.totalTripDistance = 0.0f; + resetFlightTime(); + resetGForceStats(); } static void osdUpdateStats(void) @@ -4389,7 +4516,27 @@ static void osdUpdateStats(void) if (stats.max_distance < GPS_distanceToHome) stats.max_distance = GPS_distanceToHome; + + if (stats.min_sats > gpsSol.numSat) + stats.min_sats = gpsSol.numSat; + + if (stats.max_sats < gpsSol.numSat) + stats.max_sats = gpsSol.numSat; } +#if defined(USE_ESC_SENSOR) + if (STATE(ESC_SENSOR_ENABLED)) { + escSensorData_t * escSensor = escSensorGetData(); + bool escTemperatureValid = escSensor && escSensor->dataAge <= ESC_DATA_MAX_AGE; + + if (escTemperatureValid) { + if (stats.min_esc_temp > escSensor->temperature) + stats.min_esc_temp = escSensor->temperature; + + if (stats.max_esc_temp < escSensor->temperature) + stats.max_esc_temp = escSensor->temperature; + } + } +#endif value = getBatteryVoltage(); if (stats.min_voltage > value) @@ -4421,264 +4568,545 @@ static void osdUpdateStats(void) stats.max_altitude = MAX(stats.max_altitude, osdGetAltitude()); } -static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page) +uint8_t drawStat_FlightTime(uint8_t col, uint8_t row, uint8_t statValX) { - const char * disarmReasonStr[DISARM_REASON_COUNT] = { "UNKNOWN", "TIMEOUT", "STICKS", "SWITCH", "SWITCH", "KILLSW", "FAILSAFE", "NAV SYS", "LANDING"}; - uint8_t top = 1; // Start one line down leaving space at the top of the screen. - size_t multiValueLengthOffset = 0; + char buff[12]; + displayWrite(osdDisplayPort, col, row, "FLIGHT TIME"); + uint16_t flySeconds = getFlightTime(); + uint16_t flyMinutes = flySeconds / 60; + flySeconds %= 60; + uint16_t flyHours = flyMinutes / 60; + flyMinutes %= 60; + tfp_sprintf(buff, ": %02u:%02u:%02u", flyHours, flyMinutes, flySeconds); + displayWrite(osdDisplayPort, statValX, row++, buff); - const uint8_t statNameX = osdDisplayIsHD() ? 11 : 1; - const uint8_t statValuesX = osdDisplayIsHD() ? 30 : 20; - char buff[10]; + return row; +} - if (page > 1) - page = 0; +uint8_t drawStat_FlightDistance(uint8_t col, uint8_t row, uint8_t statValX) +{ + char buff[12]; - displayBeginTransaction(osdDisplayPort, DISPLAY_TRANSACTION_OPT_RESET_DRAWING); - displayClearScreen(osdDisplayPort); + displayWrite(osdDisplayPort, col, row, "FLIGHT DISTANCE"); + tfp_sprintf(buff, ": "); + osdFormatDistanceStr(buff + 2, getTotalTravelDistance()); + displayWrite(osdDisplayPort, statValX, row++, buff); - if (isSinglePageStatsCompatible) { - displayWrite(osdDisplayPort, statNameX, top++, "--- STATS ---"); - } else if (page == 0) { - displayWrite(osdDisplayPort, statNameX, top++, "--- STATS --- 1/2 ->"); - } else if (page == 1) { - displayWrite(osdDisplayPort, statNameX, top++, "--- STATS --- <- 2/2"); - } - - if (isSinglePageStatsCompatible || page == 0) { - if (feature(FEATURE_GPS)) { - if (isSinglePageStatsCompatible) { - displayWrite(osdDisplayPort, statNameX, top, "MAX/AVG SPEED :"); - osdFormatVelocityStr(buff, stats.max_3D_speed, true, false); - osdLeftAlignString(buff); - strcat(osdFormatTrimWhiteSpace(buff),"/"); - multiValueLengthOffset = strlen(buff); - displayWrite(osdDisplayPort, statValuesX, top, buff); - osdGenerateAverageVelocityStr(buff); - osdLeftAlignString(buff); - displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff); - } else { - displayWrite(osdDisplayPort, statNameX, top, "MAX SPEED :"); - osdFormatVelocityStr(buff, stats.max_3D_speed, true, false); - osdLeftAlignString(buff); - displayWrite(osdDisplayPort, statValuesX, top++, buff); - - displayWrite(osdDisplayPort, statNameX, top, "AVG SPEED :"); - osdGenerateAverageVelocityStr(buff); - osdLeftAlignString(buff); - displayWrite(osdDisplayPort, statValuesX, top++, buff); - } + return row; +} - displayWrite(osdDisplayPort, statNameX, top, "MAX DISTANCE :"); - osdFormatDistanceStr(buff, stats.max_distance*100); - displayWrite(osdDisplayPort, statValuesX, top++, buff); - - displayWrite(osdDisplayPort, statNameX, top, "TRAVELED DISTANCE:"); - osdFormatDistanceStr(buff, getTotalTravelDistance()); - displayWrite(osdDisplayPort, statValuesX, top++, buff); - } - - displayWrite(osdDisplayPort, statNameX, top, "MAX ALTITUDE :"); - osdFormatAltitudeStr(buff, stats.max_altitude); - displayWrite(osdDisplayPort, statValuesX, top++, buff); - - switch (rxConfig()->serialrx_provider) { - case SERIALRX_CRSF: - if (isSinglePageStatsCompatible) { - displayWrite(osdDisplayPort, statNameX, top, "MIN RSSI %/DBM :"); - itoa(stats.min_rssi, buff, 10); - osdLeftAlignString(buff); - strcat(osdFormatTrimWhiteSpace(buff), "%/"); - multiValueLengthOffset = strlen(buff); - displayWrite(osdDisplayPort, statValuesX, top, buff); - itoa(stats.min_rssi_dbm, buff, 10); - tfp_sprintf(buff, "%s%c", buff, SYM_DBM); - osdLeftAlignString(buff); - displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff); - } else { - displayWrite(osdDisplayPort, statNameX, top, "MIN RSSI % :"); - itoa(stats.min_rssi, buff, 10); - strcat(buff, "%"); - displayWrite(osdDisplayPort, statValuesX, top++, buff); - - displayWrite(osdDisplayPort, statNameX, top, "MIN RSSI DBM :"); - itoa(stats.min_rssi_dbm, buff, 10); - tfp_sprintf(buff, "%s%c", buff, SYM_DBM); - displayWrite(osdDisplayPort, statValuesX, top++, buff); - } - - displayWrite(osdDisplayPort, statNameX, top, "MIN LQ :"); - itoa(stats.min_lq, buff, 10); - strcat(buff, "%"); - displayWrite(osdDisplayPort, statValuesX, top++, buff); - break; - default: - displayWrite(osdDisplayPort, statNameX, top, "MIN RSSI :"); - itoa(stats.min_rssi, buff, 10); - strcat(buff, "%"); - displayWrite(osdDisplayPort, statValuesX, top++, buff); - } +uint8_t drawStat_MaxDistanceFromHome(uint8_t col, uint8_t row, uint8_t statValX) +{ + char buff[12]; + uint8_t valueXOffset = 0; + if (!osdDisplayIsHD()) { + displayWrite(osdDisplayPort, col, row, "DISTANCE FROM "); + valueXOffset = 14; + } else { + displayWrite(osdDisplayPort, col, row, "MAX DISTANCE FROM "); + valueXOffset = 18; + } + displayWriteChar(osdDisplayPort, col + valueXOffset, row, SYM_HOME); + tfp_sprintf(buff, ": "); + osdFormatDistanceStr(buff + 2, stats.max_distance * 100); + displayWrite(osdDisplayPort, statValX, row++, buff); - displayWrite(osdDisplayPort, statNameX, top, "FLY TIME :"); - uint16_t flySeconds = getFlightTime(); - uint16_t flyMinutes = flySeconds / 60; - flySeconds %= 60; - uint16_t flyHours = flyMinutes / 60; - flyMinutes %= 60; - tfp_sprintf(buff, "%02u:%02u:%02u", flyHours, flyMinutes, flySeconds); - displayWrite(osdDisplayPort, statValuesX, top++, buff); + return row; +} - displayWrite(osdDisplayPort, statNameX, top, "DISARMED BY :"); - displayWrite(osdDisplayPort, statValuesX, top++, disarmReasonStr[getDisarmReason()]); - } +uint8_t drawStat_Speed(uint8_t col, uint8_t row, uint8_t statValX) +{ + char buff[12]; + char buff2[12]; + uint8_t multiValueXOffset = 0; - if (isSinglePageStatsCompatible || page == 1) { - if (osdConfig()->stats_min_voltage_unit == OSD_STATS_MIN_VOLTAGE_UNIT_BATTERY) { - displayWrite(osdDisplayPort, statNameX, top, "MIN BATTERY VOLT :"); - osdFormatCentiNumber(buff, stats.min_voltage, 0, osdConfig()->main_voltage_decimals, 0, osdConfig()->main_voltage_decimals + 2, false); - } else { - displayWrite(osdDisplayPort, statNameX, top, "MIN CELL VOLTAGE :"); - osdFormatCentiNumber(buff, stats.min_voltage/getBatteryCellCount(), 0, 2, 0, 3, false); - } - tfp_sprintf(buff, "%s%c", buff, SYM_VOLT); - displayWrite(osdDisplayPort, statValuesX, top++, buff); + displayWrite(osdDisplayPort, col, row, "MAX/AVG SPEED"); + + osdFormatVelocityStr(buff2, stats.max_3D_speed, true, false); + tfp_sprintf(buff, ": %s/", osdFormatTrimWhiteSpace(buff2)); + multiValueXOffset = strlen(buff); + displayWrite(osdDisplayPort, statValX, row, buff); - if (feature(FEATURE_CURRENT_METER)) { - displayWrite(osdDisplayPort, statNameX, top, "MAX CURRENT :"); - osdFormatCentiNumber(buff, stats.max_current, 0, 2, 0, 3, false); - tfp_sprintf(buff, "%s%c", buff, SYM_AMP); - displayWrite(osdDisplayPort, statValuesX, top++, buff); + osdGenerateAverageVelocityStr(buff2); + displayWrite(osdDisplayPort, statValX + multiValueXOffset, row++, osdFormatTrimWhiteSpace(buff2)); - displayWrite(osdDisplayPort, statNameX, top, "MAX POWER :"); - bool kiloWatt = osdFormatCentiNumber(buff, stats.max_power, 1000, 2, 2, 3, false); - buff[3] = kiloWatt ? SYM_KILOWATT : SYM_WATT; - buff[4] = '\0'; - displayWrite(osdDisplayPort, statValuesX, top++, buff); + return row; +} - displayWrite(osdDisplayPort, statNameX, top, "USED CAPACITY :"); - if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) { - tfp_sprintf(buff, "%d%c", (int)getMAhDrawn(), SYM_MAH); - } else { - osdFormatCentiNumber(buff, getMWhDrawn() / 10, 0, 2, 0, 3, false); - tfp_sprintf(buff, "%s%c", buff, SYM_WH); - } - displayWrite(osdDisplayPort, statValuesX, top++, buff); +uint8_t drawStat_MaximumAltitude(uint8_t col, uint8_t row, uint8_t statValX) +{ + char buff[12]; + displayWrite(osdDisplayPort, col, row, "MAX ALTITUDE"); + tfp_sprintf(buff, ": "); + osdFormatAltitudeStr(buff + 2, stats.max_altitude); + displayWrite(osdDisplayPort, statValX, row++, buff); - int32_t totalDistance = getTotalTravelDistance(); - bool moreThanAh = false; - bool efficiencyValid = totalDistance >= 10000; - if (feature(FEATURE_GPS)) { - displayWrite(osdDisplayPort, statNameX, top, "AVG EFFICIENCY :"); - uint8_t digits = 3U; // Total number of digits (including decimal point) - #ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it and change the values - if (isBfCompatibleVideoSystem(osdConfig())) { - // Add one digit so no switch to scaled decimal occurs above 99 - digits = 4U; - } - #endif - switch (osdConfig()->units) { - case OSD_UNIT_UK: - FALLTHROUGH; - case OSD_UNIT_IMPERIAL: - if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) { - moreThanAh = osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000.0f * METERS_PER_MILE / totalDistance), 1000, 0, 2, digits, false); - if (!moreThanAh) { - tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_MI_0, SYM_MAH_MI_1); - } else { - tfp_sprintf(buff, "%s%c", buff, SYM_AH_MI); - } - if (!efficiencyValid) { - buff[0] = buff[1] = buff[2] = '-'; - buff[3] = SYM_MAH_MI_0; - buff[4] = SYM_MAH_MI_1; - buff[5] = '\0'; - } - } else { - osdFormatCentiNumber(buff, (int32_t)(getMWhDrawn() * 10.0f * METERS_PER_MILE / totalDistance), 0, 2, 0, digits, false); - tfp_sprintf(buff, "%s%c", buff, SYM_WH_MI); - if (!efficiencyValid) { - buff[0] = buff[1] = buff[2] = '-'; - } + return row; +} + +uint8_t drawStat_BatteryVoltage(uint8_t col, uint8_t row, uint8_t statValX) +{ + char buff[12]; + uint8_t multiValueXOffset = 0; + if (!osdDisplayIsHD()) + displayWrite(osdDisplayPort, col, row, "MIN VOLTS P/C"); + else + displayWrite(osdDisplayPort, col, row, "MIN VOLTS PACK/CELL"); + + // Pack voltage + tfp_sprintf(buff, ": "); + osdFormatCentiNumber(buff + 2, stats.min_voltage, 0, osdConfig()->main_voltage_decimals, 0, osdConfig()->main_voltage_decimals + 2, false); + strcat(osdFormatTrimWhiteSpace(buff), "/"); + multiValueXOffset = strlen(buff); + // AverageCell + osdFormatCentiNumber(buff + multiValueXOffset, stats.min_voltage / getBatteryCellCount(), 0, 2, 0, 3, false); + tfp_sprintf(buff + strlen(buff), "%c", SYM_VOLT); + + displayWrite(osdDisplayPort, statValX, row++, buff); + + return row; +} + +uint8_t drawStat_MaximumPowerAndCurrent(uint8_t col, uint8_t row, uint8_t statValX) +{ + char buff[12]; + char outBuff[12]; + tfp_sprintf(outBuff, ": "); + osdFormatCentiNumber(buff, stats.max_current, 0, 2, 0, 3, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + strcat(outBuff, "/"); + bool kiloWatt = osdFormatCentiNumber(buff, stats.max_power, 1000, 2, 2, 3, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + displayWrite(osdDisplayPort, statValX, row, outBuff); + + if (kiloWatt) + displayWrite(osdDisplayPort, col, row, "MAX AMPS/K WATTS"); + else + displayWrite(osdDisplayPort, col, row, "MAX AMPS/WATTS"); + + return ++row; +} + +uint8_t drawStat_UsedEnergy(uint8_t col, uint8_t row, uint8_t statValX) +{ + char buff[12]; + + if (osdDisplayIsHD()) + displayWrite(osdDisplayPort, col, row, "USED ENERGY FLT/TOT"); + else + displayWrite(osdDisplayPort, col, row, "USED ENERGY F/T"); + tfp_sprintf(buff, ": "); + if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) { + tfp_sprintf(buff + 2, "%d/%d%c", (int)(getMAhDrawn() - stats.flightStartMAh), (int)getMAhDrawn(), SYM_MAH); + } else { + char preBuff[12]; + osdFormatCentiNumber(preBuff, (getMWhDrawn() - stats.flightStartMWh) / 10, 0, 2, 0, 3, false); + strcat(buff, osdFormatTrimWhiteSpace(preBuff)); + strcat(buff, "/"); + osdFormatCentiNumber(preBuff, getMWhDrawn() / 10, 0, 2, 0, 3, false); + strcat(buff, osdFormatTrimWhiteSpace(preBuff)); + tfp_sprintf(buff + strlen(buff), "%s%c", buff, SYM_WH); + } + displayWrite(osdDisplayPort, statValX, row++, buff); + + return row; +} + +uint8_t drawStat_AverageEfficiency(uint8_t col, uint8_t row, uint8_t statValX, bool forceMetric) +{ + char buff[15]; + char outBuff[15]; + int32_t totalDistance = getTotalTravelDistance(); + bool moreThanAh = false; + bool efficiencyValid = totalDistance >= 10000; + + if (osdDisplayIsHD()) + displayWrite(osdDisplayPort, col, row, "AVG EFFICIENCY FLT/TOT"); + else + displayWrite(osdDisplayPort, col, row, "AV EFFICIENCY F/T"); + + tfp_sprintf(outBuff, ": "); + uint8_t digits = 3U; // Total number of digits (including decimal point) +#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it and change the values + if (isBfCompatibleVideoSystem(osdConfig())) { + // Add one digit so no switch to scaled decimal occurs above 99 + digits = 4U; + } +#endif + if (!forceMetric) { + switch (osdConfig()->units) { + case OSD_UNIT_UK: + FALLTHROUGH; + case OSD_UNIT_IMPERIAL: + if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) { + if (efficiencyValid) { + moreThanAh = osdFormatCentiNumber(buff, (int32_t)((getMAhDrawn() - stats.flightStartMAh) * 10000.0f * METERS_PER_MILE / totalDistance), 1000, 0, 2, digits, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + if (osdDisplayIsHD()) { + if (!moreThanAh) + tfp_sprintf(outBuff + strlen(outBuff), "%c%c", SYM_MAH_MI_0, SYM_MAH_MI_1); + else + tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_AH_MI); + + moreThanAh = false; } - break; - case OSD_UNIT_GA: - if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) { - moreThanAh = osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000.0f * METERS_PER_NAUTICALMILE / totalDistance), 1000, 0, 2, digits, false); - if (!moreThanAh) { - tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_NM_0, SYM_MAH_NM_1); - } else { - tfp_sprintf(buff, "%s%c", buff, SYM_AH_NM); - } - if (!efficiencyValid) { - buff[0] = buff[1] = buff[2] = '-'; - buff[3] = SYM_MAH_NM_0; - buff[4] = SYM_MAH_NM_1; - buff[5] = '\0'; - } - } else { - osdFormatCentiNumber(buff, (int32_t)(getMWhDrawn() * 10.0f * METERS_PER_NAUTICALMILE / totalDistance), 0, 2, 0, digits, false); - tfp_sprintf(buff, "%s%c", buff, SYM_WH_NM); - if (!efficiencyValid) { - buff[0] = buff[1] = buff[2] = '-'; - } + + strcat(outBuff, "/"); + moreThanAh = moreThanAh || osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000.0f * METERS_PER_MILE / totalDistance), 1000, 0, 2, digits, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + + if (!moreThanAh) + tfp_sprintf(outBuff + strlen(outBuff), "%c%c", SYM_MAH_MI_0, SYM_MAH_MI_1); + else + tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_AH_MI); + } else { + tfp_sprintf(outBuff + strlen(outBuff), "---/---%c%c", SYM_MAH_MI_0, SYM_MAH_MI_1); + } + } else { + if (efficiencyValid) { + osdFormatCentiNumber(buff, (int32_t)((getMWhDrawn() - stats.flightStartMWh) * 10.0f * METERS_PER_MILE / totalDistance), 0, 2, 0, digits, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + strcat(outBuff, "/"); + osdFormatCentiNumber(buff + strlen(buff), (int32_t)(getMWhDrawn() * 10.0f * METERS_PER_MILE / totalDistance), 0, 2, 0, digits, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + } else { + strcat(outBuff, "---/---"); + } + tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_WH_MI); + } + break; + case OSD_UNIT_GA: + if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) { + if (efficiencyValid) { + moreThanAh = osdFormatCentiNumber(buff, (int32_t)((getMAhDrawn()-stats.flightStartMAh) * 10000.0f * METERS_PER_NAUTICALMILE / totalDistance), 1000, 0, 2, digits, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + if (osdDisplayIsHD()) { + if (!moreThanAh) + tfp_sprintf(outBuff + strlen(outBuff), "%c%c", SYM_MAH_NM_0, SYM_MAH_NM_1); + else + tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_AH_NM); + + moreThanAh = false; } - break; - case OSD_UNIT_METRIC_MPH: - FALLTHROUGH; - case OSD_UNIT_METRIC: - if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) { - moreThanAh = osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000000.0f / totalDistance), 1000, 0, 2, digits, false); - if (!moreThanAh) { - tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_KM_0, SYM_MAH_KM_1); - } else { - tfp_sprintf(buff, "%s%c", buff, SYM_AH_KM); - } - if (!efficiencyValid) { - buff[0] = buff[1] = buff[2] = '-'; - buff[3] = SYM_MAH_KM_0; - buff[4] = SYM_MAH_KM_1; - buff[5] = '\0'; - } + + strcat(outBuff, "/"); + moreThanAh = moreThanAh || osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000.0f * METERS_PER_NAUTICALMILE / totalDistance), 1000, 0, 2, digits, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + if (!moreThanAh) { + tfp_sprintf(outBuff + strlen(outBuff), "%c%c", SYM_MAH_NM_0, SYM_MAH_NM_1); } else { - osdFormatCentiNumber(buff, (int32_t)(getMWhDrawn() * 10000.0f / totalDistance), 0, 2, 0, digits, false); - tfp_sprintf(buff, "%s%c", buff, SYM_WH_KM); - if (!efficiencyValid) { - buff[0] = buff[1] = buff[2] = '-'; - } + tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_AH_NM); } - break; + } else { + tfp_sprintf(outBuff + strlen(outBuff), "---/---%c%c", SYM_MAH_NM_0, SYM_MAH_NM_1); + } + } else { + if (efficiencyValid) { + osdFormatCentiNumber(buff, (int32_t)((getMWhDrawn()-stats.flightStartMWh) * 10.0f * METERS_PER_NAUTICALMILE / totalDistance), 0, 2, 0, digits, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + strcat(outBuff, "/"); + osdFormatCentiNumber(buff, (int32_t)(getMWhDrawn() * 10.0f * METERS_PER_NAUTICALMILE / totalDistance), 0, 2, 0, digits, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + } else { + strcat(outBuff, "---/---"); + } + tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_WH_NM); + } + break; + case OSD_UNIT_METRIC_MPH: + case OSD_UNIT_METRIC: + forceMetric = true; + break; + } + } + + if (forceMetric) { + if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) { + if (efficiencyValid) { + moreThanAh = osdFormatCentiNumber(buff, (int32_t)((getMAhDrawn() - stats.flightStartMAh) * 10000000.0f / totalDistance), 1000, 0, 2, digits, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + if (osdDisplayIsHD()) { + if (!moreThanAh) + tfp_sprintf(outBuff + strlen(outBuff), "%c%c", SYM_MAH_KM_0, SYM_MAH_KM_1); + else + tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_AH_KM); + + moreThanAh = false; + } + + strcat(outBuff, "/"); + moreThanAh = moreThanAh || osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000000.0f / totalDistance), 1000, 0, 2, digits, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + if (!moreThanAh) { + tfp_sprintf(outBuff + strlen(outBuff), "%c%c", SYM_MAH_KM_0, SYM_MAH_KM_1); + } else { + tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_AH_KM); } - osdLeftAlignString(buff); - displayWrite(osdDisplayPort, statValuesX, top++, buff); + } else { + tfp_sprintf(outBuff + strlen(outBuff), "---/---%c%c", SYM_MAH_KM_0, SYM_MAH_KM_1); + } + } else { + if (efficiencyValid) { + osdFormatCentiNumber(buff, (int32_t)((getMWhDrawn() - stats.flightStartMWh) * 10000.0f / totalDistance), 0, 2, 0, digits, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + strcat(outBuff, "/"); + osdFormatCentiNumber(buff, (int32_t)(getMWhDrawn() * 10000.0f / totalDistance), 0, 2, 0, digits, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + } else { + strcat(outBuff, "---/---"); } + tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_WH_KM); + } + } + + tfp_sprintf(outBuff + strlen(outBuff), "%c", '\0'); + displayWrite(osdDisplayPort, statValX, row++, outBuff); + + return row; +} + +uint8_t drawStat_RXStats(uint8_t col, uint8_t row, uint8_t statValX) +{ + char buff[20]; + uint8_t multiValueXOffset = 0; + + tfp_sprintf(buff, "MIN RSSI"); + if (rxConfig()->serialrx_provider == SERIALRX_CRSF) { + strcat(buff, "/LQ"); + + if (osdDisplayIsHD()) + strcat(buff, "/DBM"); + } + displayWrite(osdDisplayPort, col, row, buff); + + memset(buff, '\0', strlen(buff)); + tfp_sprintf(buff, ": "); + itoa(stats.min_rssi, buff + 2, 10); + strcat(osdFormatTrimWhiteSpace(buff), "%"); + + if (rxConfig()->serialrx_provider == SERIALRX_CRSF) { + strcat(osdFormatTrimWhiteSpace(buff), "/"); + multiValueXOffset = strlen(buff); + itoa(stats.min_lq, buff + multiValueXOffset, 10); + strcat(osdFormatTrimWhiteSpace(buff), "%"); + + if (osdDisplayIsHD()) { + strcat(osdFormatTrimWhiteSpace(buff), "/"); + itoa(stats.min_rssi_dbm, buff + 2, 10); + tfp_sprintf(buff + strlen(buff), "%c", SYM_DBM); + displayWrite(osdDisplayPort, statValX, row++, buff); + } + } + + displayWrite(osdDisplayPort, statValX, row++, buff); + + if (!osdDisplayIsHD() && rxConfig()->serialrx_provider == SERIALRX_CRSF) { + displayWrite(osdDisplayPort, col, row, "MIN RX DBM"); + memset(buff, '\0', strlen(buff)); + tfp_sprintf(buff, ": "); + itoa(stats.min_rssi_dbm, buff + 2, 10); + tfp_sprintf(buff + strlen(buff), "%c", SYM_DBM); + displayWrite(osdDisplayPort, statValX, row++, buff); + } + + return row; +} + +uint8_t drawStat_GPS(uint8_t col, uint8_t row, uint8_t statValX) +{ + char buff[12]; + displayWrite(osdDisplayPort, col, row, "MIN/MAX GPS SATS"); + tfp_sprintf(buff, ": %u/%u", stats.min_sats, stats.max_sats); + displayWrite(osdDisplayPort, statValX, row++, buff); + + return row; +} + +uint8_t drawStat_ESCTemperature(uint8_t col, uint8_t row, uint8_t statValX) +{ + char buff[12]; + displayWrite(osdDisplayPort, col, row, "MIN/MAX ESC TEMP"); + tfp_sprintf(buff, ": %3d/%3d%c", + ((osdConfig()->units == OSD_UNIT_IMPERIAL) ? (int16_t)(stats.min_esc_temp * 9 / 5.0f + 320) : stats.min_esc_temp), + ((osdConfig()->units == OSD_UNIT_IMPERIAL) ? (int16_t)(stats.max_esc_temp * 9 / 5.0f + 320) : stats.max_esc_temp), + ((osdConfig()->units == OSD_UNIT_IMPERIAL) ? SYM_TEMP_F : SYM_TEMP_C)); + displayWrite(osdDisplayPort, statValX, row++, buff); + + return row; +} + +uint8_t drawStat_GForce(uint8_t col, uint8_t row, uint8_t statValX) +{ + char buff[12]; + char outBuff[12]; + + const float max_gforce = accGetMeasuredMaxG(); + const acc_extremes_t *acc_extremes = accGetMeasuredExtremes(); + const float acc_extremes_min = acc_extremes[Z].min; + const float acc_extremes_max = acc_extremes[Z].max; + + if (!osdDisplayIsHD()) + displayWrite(osdDisplayPort, col, row, "MAX G-FORCE"); + else + displayWrite(osdDisplayPort, col, row, "MAX/MIN Z/MAX Z G-FORCE"); + + tfp_sprintf(outBuff, ": "); + osdFormatCentiNumber(buff, max_gforce * 100, 0, 2, 0, 3, false); + + if (!osdDisplayIsHD()) { + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + displayWrite(osdDisplayPort, statValX, row++, outBuff); + + displayWrite(osdDisplayPort, col, row, "MIN/MAX Z G-FORCE"); + memset(outBuff, '\0', strlen(outBuff)); + tfp_sprintf(outBuff, ": "); + } else { + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + strcat(outBuff, "/"); + } + osdFormatCentiNumber(buff, acc_extremes_min * 100, 0, 2, 0, 4, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + strcat(outBuff, "/"); + + osdFormatCentiNumber(buff, acc_extremes_max * 100, 0, 2, 0, 3, false); + strcat(outBuff, osdFormatTrimWhiteSpace(buff)); + displayWrite(osdDisplayPort, statValX, row++, outBuff); + + return row; +} + +uint8_t drawStat_DisarmMethod(uint8_t col, uint8_t row, uint8_t statValX) +{ + // We keep "" for backward compatibility with the Blackbox explorer and other potential usages + const char * disarmReasonStr[DISARM_REASON_COUNT] = { "UNKNOWN", "TIMEOUT", "STICKS", "SWITCH", "SWITCH", "", "FAILSAFE", "NAV SYS", "LANDING"}; + + displayWrite(osdDisplayPort, col, row, "DISARMED BY"); + displayWrite(osdDisplayPort, statValX, row, ": "); + displayWrite(osdDisplayPort, statValX + 2, row++, disarmReasonStr[getDisarmReason()]); + + return row; +} + +static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page) +{ + const char * statsHeader[2] = {"*** STATS 1/2 -> ***", "*** STATS <- 2/2 ***"}; + uint8_t row = 1; // Start one line down leaving space at the top of the screen. + + const uint8_t statNameX = (osdDisplayPort->cols - (osdDisplayIsHD() ? 41 : 28)) / 2; + const uint8_t statValuesX = osdDisplayPort->cols - statNameX - (osdDisplayIsHD() ? 15 : 11); + + if (page > 1) + page = 0; + + displayBeginTransaction(osdDisplayPort, DISPLAY_TRANSACTION_OPT_RESET_DRAWING); + displayClearScreen(osdDisplayPort); + + if (isSinglePageStatsCompatible) { + char buff[25]; + tfp_sprintf(buff, "*** STATS "); +#ifdef USE_BLACKBOX +#ifdef USE_SDCARD + if (feature(FEATURE_BLACKBOX)) { + int32_t logNumber = blackboxGetLogNumber(); + if (logNumber >= 0) + tfp_sprintf(buff + strlen(buff), " %c%05" PRId32 " ", SYM_BLACKBOX, logNumber); + else + tfp_sprintf(buff + strlen(buff), " %c ", SYM_BLACKBOX); } +#endif +#endif + strcat(buff, "***"); + + displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(buff)) / 2, row++, buff); + } else + displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(statsHeader[page + 1])) / 2, row++, statsHeader[page]); - const float max_gforce = accGetMeasuredMaxG(); - displayWrite(osdDisplayPort, statNameX, top, "MAX G-FORCE :"); - osdFormatCentiNumber(buff, max_gforce * 100, 0, 2, 0, 3, false); - displayWrite(osdDisplayPort, statValuesX, top++, buff); + if (isSinglePageStatsCompatible) { + // Top 15 rows for most important stats. Max 19 rows (WTF) + row = drawStat_FlightTime(statNameX, row, statValuesX); // 1 row + row = drawStat_FlightDistance(statNameX, row, statValuesX); // 1 row + if (feature(FEATURE_GPS)) row = drawStat_MaxDistanceFromHome(statNameX, row, statValuesX); // 1 row + if (feature(FEATURE_GPS)) row = drawStat_Speed(statNameX, row, statValuesX); // 1 row + row = drawStat_MaximumAltitude(statNameX, row, statValuesX); // 1 row + row = drawStat_BatteryVoltage(statNameX, row, statValuesX); // 1 row + if (feature(FEATURE_CURRENT_METER)) row = drawStat_MaximumPowerAndCurrent(statNameX, row, statValuesX); // 1 row + if (feature(FEATURE_CURRENT_METER)) row = drawStat_UsedEnergy(statNameX, row, statValuesX); // 1 row + if (feature(FEATURE_CURRENT_METER) && feature(FEATURE_GPS)) row = drawStat_AverageEfficiency(statNameX, row, statValuesX, false); // 1 row + if (osdConfig()->stats_show_metric_efficiency && osdIsNotMetric() && feature(FEATURE_CURRENT_METER) && feature(FEATURE_GPS)) row = drawStat_AverageEfficiency(statNameX, row, statValuesX, true); // 1 row + row = drawStat_RXStats(statNameX, row, statValuesX); // 1 row if non-CRSF else 2 rows + if (feature(FEATURE_GPS)) row = drawStat_GPS(statNameX, row, statValuesX); // 1 row + if (STATE(ESC_SENSOR_ENABLED)) row = drawStat_ESCTemperature(statNameX, row, statValuesX); // 1 row + + // Draw these if there is space space + if (row < (osdDisplayPort->cols-3)) row = drawStat_GForce(statNameX, row, statValuesX); // 1 row HD or 2 rows SD +#ifdef USE_STATS + if (row < (osdDisplayPort->cols-7) && statsConfig()->stats_enabled) row = drawStat_Stats(statNameX, row, statValuesX, false); // 4 rows +#endif + } else { + switch (page) { + case 0: + // Max 10 rows + row = drawStat_FlightTime(statNameX, row, statValuesX); // 1 row + row = drawStat_FlightDistance(statNameX, row, statValuesX); // 1 row + if (feature(FEATURE_GPS)) row = drawStat_MaxDistanceFromHome(statNameX, row, statValuesX); // 1 row + if (feature(FEATURE_GPS)) row = drawStat_Speed(statNameX, row, statValuesX); // 1 row + row = drawStat_MaximumAltitude(statNameX, row, statValuesX); // 1 row + row = drawStat_BatteryVoltage(statNameX, row, statValuesX); // 1 row + if (feature(FEATURE_CURRENT_METER)) row = drawStat_MaximumPowerAndCurrent(statNameX, row, statValuesX); // 1 row + if (feature(FEATURE_CURRENT_METER))row = drawStat_UsedEnergy(statNameX, row, statValuesX); // 1 row + if (feature(FEATURE_CURRENT_METER) && feature(FEATURE_GPS)) row = drawStat_AverageEfficiency(statNameX, row, statValuesX, false); // 1 row + if (feature(FEATURE_GPS))row = drawStat_GPS(statNameX, row, statValuesX); // 1 row + break; + case 1: + // Max 10 rows + row = drawStat_RXStats(statNameX, row, statValuesX); // 1 row if non-CRSF else 2 rows + if (STATE(ESC_SENSOR_ENABLED)) row = drawStat_ESCTemperature(statNameX, row, statValuesX); // 1 row + row = drawStat_GForce(statNameX, row, statValuesX); // 1 row HD or 2 rows SD + if (osdConfig()->stats_show_metric_efficiency && osdIsNotMetric() && feature(FEATURE_CURRENT_METER) && feature(FEATURE_GPS)) row = drawStat_AverageEfficiency(statNameX, row, statValuesX, true); // 1 row +#ifdef USE_BLACKBOX +#ifdef USE_SDCARD + if (feature(FEATURE_BLACKBOX)) { + char buff[12]; + displayWrite(osdDisplayPort, statNameX, row, "BLACKBOX FILE"); + + tfp_sprintf(buff, ": %u/%u", stats.min_sats, stats.max_sats); + + int32_t logNumber = blackboxGetLogNumber(); + if (logNumber >= 0) + tfp_sprintf(buff, ": %05ld ", logNumber); + else + strcat(buff, ": INVALID"); + + displayWrite(osdDisplayPort, statValuesX, row++, buff); // 1 row + } +#endif +#endif +#ifdef USE_STATS + if (row < (osdDisplayPort->cols-7) && statsConfig()->stats_enabled) row = drawStat_Stats(statNameX, row, statValuesX, false); // 4 rows +#endif - const acc_extremes_t *acc_extremes = accGetMeasuredExtremes(); - const float acc_extremes_min = acc_extremes[Z].min; - const float acc_extremes_max = acc_extremes[Z].max; - displayWrite(osdDisplayPort, statNameX, top, "MIN/MAX Z G-FORCE:"); - osdFormatCentiNumber(buff, acc_extremes_min * 100, 0, 2, 0, 4, false); - osdLeftAlignString(buff); - strcat(osdFormatTrimWhiteSpace(buff),"/"); - multiValueLengthOffset = strlen(buff); - displayWrite(osdDisplayPort, statValuesX, top, buff); - osdFormatCentiNumber(buff, acc_extremes_max * 100, 0, 2, 0, 3, false); - osdLeftAlignString(buff); - displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff); + break; + } } + + row = drawStat_DisarmMethod(statNameX, row, statValuesX); + + // The following has been commented out as it will be added in #9688 + // uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0; if (savingSettings == true) { - displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS)); + displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS))) / 2, row++, OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS)); + /*} else if (rearmMs > 0) { // Show rearming time if settings not actively being saved. Ignore the settings saved message if rearm available. + char emReArmMsg[23]; + tfp_sprintf(emReArmMsg, "** REARM PERIOD: "); + tfp_sprintf(emReArmMsg + strlen(emReArmMsg), "%02d", (uint8_t)MS2S(rearmMs)); + strcat(emReArmMsg, " **\0"); + displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(emReArmMsg));*/ } else if (notify_settings_saved > 0) { if (millis() > notify_settings_saved) { notify_settings_saved = 0; } else { - displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(OSD_MSG_SETTINGS_SAVED)); + displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(OSD_MESSAGE_STR(OSD_MSG_SETTINGS_SAVED))) / 2, row++, OSD_MESSAGE_STR(OSD_MSG_SETTINGS_SAVED)); } } @@ -4976,22 +5404,23 @@ static void osdRefresh(timeUs_t currentTimeUs) static uint8_t statsCurrentPage = 0; static bool statsDisplayed = false; static bool statsAutoPagingEnabled = true; + static bool isThrottleHigh = false; // Detect arm/disarm if (armState != ARMING_FLAG(ARMED)) { if (ARMING_FLAG(ARMED)) { // Display the "Arming" screen statsDisplayed = false; - osdResetStats(); + if (!STATE(IN_FLIGHT_EMERG_REARM)) + osdResetStats(); + osdShowArmed(); uint16_t delay = osdConfig()->arm_screen_display_time; - if (STATE(IN_FLIGHT_EMERG_REARM)) { + if (STATE(IN_FLIGHT_EMERG_REARM)) delay = 500; - } #if defined(USE_SAFE_HOME) - else if (posControl.safehomeState.distance) { + else if (posControl.safehomeState.distance) delay += 3000; - } #endif osdSetNextRefreshIn(delay); } else { @@ -5001,6 +5430,7 @@ static void osdRefresh(timeUs_t currentTimeUs) statsAutoPagingEnabled = osdConfig()->stats_page_auto_swap_time > 0 ? true : false; osdShowStats(statsSinglePageCompatible, statsCurrentPage); osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME); + isThrottleHigh = checkStickPosition(THR_HI); } armState = ARMING_FLAG(ARMED); @@ -5057,16 +5487,16 @@ static void osdRefresh(timeUs_t currentTimeUs) // Process manual page change events for multi-page stats. if (manualPageUpRequested) { osdShowStats(statsSinglePageCompatible, 1); - statsCurrentPage = 1; + statsCurrentPage = 1; } else if (manualPageDownRequested) { osdShowStats(statsSinglePageCompatible, 0); statsCurrentPage = 0; + } } } - } // Handle events when either "Splash", "Armed" or "Stats" screens are displayed. - if ((currentTimeUs > resumeRefreshAt) || OSD_RESUME_UPDATES_STICK_COMMAND) { + if (currentTimeUs > resumeRefreshAt || (OSD_RESUME_UPDATES_STICK_COMMAND && !isThrottleHigh)) { // Time elapsed or canceled by stick commands. // Exit to normal OSD operation. displayClearScreen(osdDisplayPort); @@ -5075,6 +5505,7 @@ static void osdRefresh(timeUs_t currentTimeUs) } else { // Continue "Splash", "Armed" or "Stats" screens. displayHeartbeat(osdDisplayPort); + isThrottleHigh = checkStickPosition(THR_HI); } return; @@ -5160,7 +5591,7 @@ void osdUpdate(timeUs_t currentTimeUs) #define STATS_FREQ_DENOM 50 counter++; - if ((counter % STATS_FREQ_DENOM) == 0) { + if ((counter % STATS_FREQ_DENOM) == 0 && ARMING_FLAG(ARMED)) { osdUpdateStats(); } @@ -5245,7 +5676,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter if (buff != NULL) { const char *message = NULL; - char messageBuf[MAX(SETTING_MAX_NAME_LENGTH, OSD_MESSAGE_LENGTH+1)]; + char messageBuf[MAX(SETTING_MAX_NAME_LENGTH, OSD_MESSAGE_LENGTH+1)]; //warning: shared buffer. Make sure it is used by single message in code below! // We might have up to 5 messages to show. const char *messages[5]; unsigned messageCount = 0; @@ -5254,7 +5685,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter if (ARMING_FLAG(ARMED)) { #ifdef USE_FW_AUTOLAND - if (FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding() || isFwLandInProgess()) { + if (FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding() || FLIGHT_MODE(NAV_FW_AUTOLAND)) { if (isWaypointMissionRTHActive() && !posControl.fwLandState.landWp) { #else if (FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) { @@ -5289,13 +5720,13 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter tfp_sprintf(messageBuf, "LANDING DELAY: %3u SECONDS", remainingHoldSec); messages[messageCount++] = messageBuf; - } + } else { #ifdef USE_FW_AUTOLAND - if (canFwLandCanceld()) { + if (canFwLandingBeCancelled()) { messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MOVE_STICKS); - } else if (!isFwLandInProgess()) { + } else if (!FLIGHT_MODE(NAV_FW_AUTOLAND)) { #endif const char *navStateMessage = navigationStateMessage(); if (navStateMessage) { @@ -5419,8 +5850,17 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter /* Messages that are shown regardless of Arming state */ + // The following has been commented out as it will be added in #9688 + // uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0; + if (savingSettings == true) { messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS); + /*} else if (rearmMs > 0) { // Show rearming time if settings not actively being saved. Ignore the settings saved message if rearm available. + char emReArmMsg[23]; + tfp_sprintf(emReArmMsg, "** REARM PERIOD: "); + tfp_sprintf(emReArmMsg + strlen(emReArmMsg), "%02d", (uint8_t)MS2S(rearmMs)); + strcat(emReArmMsg, " **\0"); + messages[messageCount++] = OSD_MESSAGE_STR(emReArmMsg);*/ } else if (notify_settings_saved > 0) { if (millis() > notify_settings_saved) { notify_settings_saved = 0; diff --git a/src/main/io/osd.h b/src/main/io/osd.h index 503f7dd0e09..ca5dca66137 100644 --- a/src/main/io/osd.h +++ b/src/main/io/osd.h @@ -75,7 +75,6 @@ #define OSD_MSG_PITOT_FAIL "PITOT METER FAILURE" #define OSD_MSG_HW_FAIL "HARDWARE FAILURE" #define OSD_MSG_FS_EN "FAILSAFE MODE ENABLED" -#define OSD_MSG_KILL_SW_EN "KILLSWITCH MODE ENABLED" #define OSD_MSG_NO_RC_LINK "NO RC LINK" #define OSD_MSG_THROTTLE_NOT_LOW "THROTTLE IS NOT LOW" #define OSD_MSG_ROLLPITCH_OFFCENTER "ROLLPITCH NOT CENTERED" @@ -286,6 +285,7 @@ typedef enum { OSD_CUSTOM_ELEMENT_3, OSD_ADSB_WARNING, OSD_ADSB_INFO, + OSD_BLACKBOX, OSD_ITEM_COUNT // MUST BE LAST } osd_items_e; @@ -304,11 +304,6 @@ typedef enum { OSD_STATS_ENERGY_UNIT_WH, } osd_stats_energy_unit_e; -typedef enum { - OSD_STATS_MIN_VOLTAGE_UNIT_BATTERY, - OSD_STATS_MIN_VOLTAGE_UNIT_CELL, -} osd_stats_min_voltage_unit_e; - typedef enum { OSD_CROSSHAIRS_STYLE_DEFAULT, OSD_CROSSHAIRS_STYLE_AIRCRAFT, @@ -418,11 +413,12 @@ typedef struct osdConfig_s { uint8_t units; // from osd_unit_e uint8_t stats_energy_unit; // from osd_stats_energy_unit_e - uint8_t stats_min_voltage_unit; // from osd_stats_min_voltage_unit_e uint8_t stats_page_auto_swap_time; // stats page auto swap interval time (seconds) + bool stats_show_metric_efficiency; // If true, show metric efficiency as well as for the selected units #ifdef USE_WIND_ESTIMATOR bool estimations_wind_compensation; // use wind compensation for estimated remaining flight/distance + bool estimations_wind_mps; // wind speed estimation in m/s #endif uint8_t coordinate_digits; bool osd_failsafe_switch_layout; diff --git a/src/main/io/osd_dji_hd.c b/src/main/io/osd_dji_hd.c index 38db724c8e1..b018d8f9068 100644 --- a/src/main/io/osd_dji_hd.c +++ b/src/main/io/osd_dji_hd.c @@ -122,11 +122,10 @@ * but reuse the packet decoder to minimize code duplication */ -PG_REGISTER_WITH_RESET_TEMPLATE(djiOsdConfig_t, djiOsdConfig, PG_DJI_OSD_CONFIG, 2); +PG_REGISTER_WITH_RESET_TEMPLATE(djiOsdConfig_t, djiOsdConfig, PG_DJI_OSD_CONFIG, 3); PG_RESET_TEMPLATE(djiOsdConfig_t, djiOsdConfig, .use_name_for_messages = SETTING_DJI_USE_NAME_FOR_MESSAGES_DEFAULT, .esc_temperature_source = SETTING_DJI_ESC_TEMP_SOURCE_DEFAULT, - .proto_workarounds = SETTING_DJI_WORKAROUNDS_DEFAULT, .messageSpeedSource = SETTING_DJI_MESSAGE_SPEED_SOURCE_DEFAULT, .rssi_source = SETTING_DJI_RSSI_SOURCE_DEFAULT, .useAdjustments = SETTING_DJI_USE_ADJUSTMENTS_DEFAULT, @@ -505,8 +504,6 @@ static char * osdArmingDisabledReasonMessage(void) // return OSD_MESSAGE_STR("HARDWARE FAILURE"); case ARMING_DISABLED_BOXFAILSAFE: return OSD_MESSAGE_STR("FAILSAFE ENABLED"); - case ARMING_DISABLED_BOXKILLSWITCH: - return OSD_MESSAGE_STR("KILLSWITCH ENABLED"); case ARMING_DISABLED_RC_LINK: return OSD_MESSAGE_STR("NO RC LINK"); case ARMING_DISABLED_THROTTLE: @@ -1063,6 +1060,10 @@ static bool djiFormatMessages(char *buff) if (FLIGHT_MODE(MANUAL_MODE)) { messages[messageCount++] = "(MANUAL)"; } + + if (FLIGHT_MODE(NAV_FW_AUTOLAND)) { + messages[messageCount++] = "(LAND)"; + } } } // Pick one of the available messages. Each message lasts @@ -1345,12 +1346,11 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms break; case DJI_MSP_ESC_SENSOR_DATA: - if (djiOsdConfig()->proto_workarounds & DJI_OSD_USE_NON_STANDARD_MSP_ESC_SENSOR_DATA) { - // Version 1.00.06 of DJI firmware is not using the standard MSP_ESC_SENSOR_DATA + { uint16_t protoRpm = 0; int16_t protoTemp = 0; -#if defined(USE_ESC_SENSOR) + #if defined(USE_ESC_SENSOR) if (STATE(ESC_SENSOR_ENABLED) && getMotorCount() > 0) { uint32_t motorRpmAcc = 0; int32_t motorTempAcc = 0; @@ -1364,7 +1364,7 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms protoRpm = motorRpmAcc / getMotorCount(); protoTemp = motorTempAcc / getMotorCount(); } -#endif + #endif switch (djiOsdConfig()->esc_temperature_source) { // This is ESC temperature (as intended) @@ -1389,47 +1389,6 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms sbufWriteU8(dst, protoTemp); sbufWriteU16(dst, protoRpm); } - else { - // Use standard MSP_ESC_SENSOR_DATA message - sbufWriteU8(dst, getMotorCount()); - for (int i = 0; i < getMotorCount(); i++) { - uint16_t motorRpm = 0; - int16_t motorTemp = 0; - - // If ESC_SENSOR is enabled, pull the telemetry data and get motor RPM -#if defined(USE_ESC_SENSOR) - if (STATE(ESC_SENSOR_ENABLED)) { - const escSensorData_t * escSensor = getEscTelemetry(i); - motorRpm = escSensor->rpm; - motorTemp = escSensor->temperature; - } -#endif - - // Now populate temperature field (which we may override for different purposes) - switch (djiOsdConfig()->esc_temperature_source) { - // This is ESC temperature (as intended) - case DJI_OSD_TEMP_ESC: - // No-op, temperature is already set to ESC - break; - - // Re-purpose the field for core temperature - case DJI_OSD_TEMP_CORE: - getIMUTemperature(&motorTemp); - motorTemp = motorTemp / 10; - break; - - // Re-purpose the field for baro temperature - case DJI_OSD_TEMP_BARO: - getBaroTemperature(&motorTemp); - motorTemp = motorTemp / 10; - break; - } - - // Add data for this motor to the packet - sbufWriteU8(dst, motorTemp); - sbufWriteU16(dst, motorRpm); - } - } break; case DJI_MSP_OSD_CONFIG: @@ -1452,7 +1411,7 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms sbufWriteU16(dst, 0); // BF: gyroConfig()->gyro_soft_notch_hz_2 sbufWriteU16(dst, 1); // BF: gyroConfig()->gyro_soft_notch_cutoff_2 sbufWriteU8(dst, 0); // BF: currentPidProfile->dterm_filter_type - sbufWriteU8(dst, gyroConfig()->gyro_lpf); // BF: gyroConfig()->gyro_hardware_lpf); + sbufWriteU8(dst, GYRO_LPF_256HZ); // BF: gyroConfig()->gyro_hardware_lpf); sbufWriteU8(dst, 0); // BF: DEPRECATED: gyro_32khz_hardware_lpf sbufWriteU16(dst, gyroConfig()->gyro_main_lpf_hz); // BF: gyroConfig()->gyro_lowpass_hz); sbufWriteU16(dst, 0); // BF: gyroConfig()->gyro_lowpass2_hz); diff --git a/src/main/io/osd_dji_hd.h b/src/main/io/osd_dji_hd.h index 4b3e0a14796..f109f84fb1b 100644 --- a/src/main/io/osd_dji_hd.h +++ b/src/main/io/osd_dji_hd.h @@ -84,7 +84,6 @@ enum djiOsdProtoWorkarounds_e { typedef struct djiOsdConfig_s { uint8_t use_name_for_messages; uint8_t esc_temperature_source; - uint8_t proto_workarounds; uint8_t messageSpeedSource; uint8_t rssi_source; uint8_t useAdjustments; diff --git a/src/main/io/osd_hud.c b/src/main/io/osd_hud.c index 47cc96f834b..07bc181d1c1 100644 --- a/src/main/io/osd_hud.c +++ b/src/main/io/osd_hud.c @@ -122,8 +122,8 @@ int8_t radarGetNearestPOI(void) */ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitude, uint8_t poiType, uint16_t poiSymbol, int16_t poiP1, int16_t poiP2) { - int poi_x; - int poi_y; + int poi_x = -1; + int poi_y = -1; uint8_t center_x; uint8_t center_y; bool poi_is_oos = 0; diff --git a/src/main/io/rangefinder.h b/src/main/io/rangefinder.h index 6768c7d75d8..fd51aeb44aa 100644 --- a/src/main/io/rangefinder.h +++ b/src/main/io/rangefinder.h @@ -31,6 +31,8 @@ extern virtualRangefinderVTable_t rangefinderMSPVtable; extern virtualRangefinderVTable_t rangefinderBenewakeVtable; +extern virtualRangefinderVTable_t rangefinderUSD1Vtable; +extern virtualRangefinderVTable_t rangefinderNanoradarVtable; //NRA15/NRA24 extern virtualRangefinderVTable_t rangefinderFakeVtable; void mspRangefinderReceiveNewData(uint8_t * bufferPtr); diff --git a/src/main/io/rangefinder_nanoradar.c b/src/main/io/rangefinder_nanoradar.c new file mode 100644 index 00000000000..f6978448ea4 --- /dev/null +++ b/src/main/io/rangefinder_nanoradar.c @@ -0,0 +1,167 @@ +/* + * This file is part of INAV Project. + * + * This Source Code Form is subject to the terms of the Mozilla Public + * License, v. 2.0. If a copy of the MPL was not distributed with this file, + * You can obtain one at http://mozilla.org/MPL/2.0/. + * + * Alternatively, the contents of this file may be used under the terms + * of the GNU General Public License Version 3, as described below: + * + * This file is free software: you may copy, redistribute and/or modify + * it under the terms of the GNU General Public License as published by the + * Free Software Foundation, either version 3 of the License, or (at your + * option) any later version. + * + * This file is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General + * Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see http://www.gnu.org/licenses/. + */ + +#include +#include + +#include "platform.h" +#include "io/serial.h" +#include "drivers/time.h" + +#if defined(USE_RANGEFINDER_NANORADAR) +#include "drivers/rangefinder/rangefinder_virtual.h" + +#define NANORADAR_HDR 0xAA // Header Byte +#define NANORADAR_END 0x55 + +#define NANORADAR_COMMAND_TARGET_INFO 0x70C + +typedef struct __attribute__((packed)) { + uint8_t header0; + uint8_t header1; + uint8_t commandH; + uint8_t commandL; + uint8_t index; // Target ID + uint8_t rcs; // The section of radar reflection + uint8_t rangeH; // Target distance high 8 bi + uint8_t rangeL; // Target distance low 8 bit + uint8_t rsvd1; + uint8_t info; // VrelH Rsvd1 RollCount + uint8_t vrelL; + uint8_t SNR; // Signal-Noise Ratio + uint8_t end0; + uint8_t end1; +} nanoradarPacket_t; + +#define NANORADAR_PACKET_SIZE sizeof(nanoradarPacket_t) +#define NANORADAR_TIMEOUT_MS 2000 // 2s + +static bool hasNewData = false; +static bool hasEverData = false; +static serialPort_t * serialPort = NULL; +static serialPortConfig_t * portConfig; +static uint8_t buffer[NANORADAR_PACKET_SIZE]; +static unsigned bufferPtr; + +static int32_t sensorData = RANGEFINDER_NO_NEW_DATA; +static timeMs_t lastProtocolActivityMs; + +static bool nanoradarRangefinderDetect(void) +{ + portConfig = findSerialPortConfig(FUNCTION_RANGEFINDER); + if (!portConfig) { + return false; + } + + return true; +} + +static void nanoradarRangefinderInit(void) +{ + if (!portConfig) { + return; + } + + serialPort = openSerialPort(portConfig->identifier, FUNCTION_RANGEFINDER, NULL, NULL, 115200, MODE_RXTX, SERIAL_NOT_INVERTED); + if (!serialPort) { + return; + } + + lastProtocolActivityMs = 0; +} + +static void nanoradarRangefinderUpdate(void) +{ + + nanoradarPacket_t *nanoradarPacket = (nanoradarPacket_t *)buffer; + while (serialRxBytesWaiting(serialPort) > 0) { + uint8_t c = serialRead(serialPort); + + if (bufferPtr < NANORADAR_PACKET_SIZE) { + buffer[bufferPtr++] = c; + } + + if ((bufferPtr == 1) && (nanoradarPacket->header0 != NANORADAR_HDR)) { + bufferPtr = 0; + continue; + } + + if ((bufferPtr == 2) && (nanoradarPacket->header1 != NANORADAR_HDR)) { + bufferPtr = 0; + continue; + } + + //only target info packet we are interested + if (bufferPtr == 4) { + uint16_t command = nanoradarPacket->commandH + (nanoradarPacket->commandL * 0x100); + + if (command != NANORADAR_COMMAND_TARGET_INFO) { + bufferPtr = 0; + continue; + } + } + + // Check for complete packet + if (bufferPtr == NANORADAR_PACKET_SIZE) { + if (nanoradarPacket->end0 == NANORADAR_END && nanoradarPacket->end1 == NANORADAR_END) { + // Valid packet + hasNewData = true; + hasEverData = true; + lastProtocolActivityMs = millis(); + + sensorData = ((nanoradarPacket->rangeH * 0x100) + nanoradarPacket->rangeL); + } + + // Prepare for new packet + bufferPtr = 0; + } + } +} + +static int32_t nanoradarRangefinderGetDistance(void) +{ + int32_t altitude = (sensorData > 0) ? (sensorData) : RANGEFINDER_OUT_OF_RANGE; + + if (hasNewData) { + hasNewData = false; + return altitude; + } + else { + //keep last value for timeout, because radar sends data only if change + if ((millis() - lastProtocolActivityMs) < NANORADAR_TIMEOUT_MS) { + return altitude; + } + + return hasEverData ? RANGEFINDER_OUT_OF_RANGE : RANGEFINDER_NO_NEW_DATA; + } +} + +virtualRangefinderVTable_t rangefinderNanoradarVtable = { + .detect = nanoradarRangefinderDetect, + .init = nanoradarRangefinderInit, + .update = nanoradarRangefinderUpdate, + .read = nanoradarRangefinderGetDistance +}; + +#endif diff --git a/src/main/io/rangefinder_usd1_v0.c b/src/main/io/rangefinder_usd1_v0.c new file mode 100644 index 00000000000..a509d4096c2 --- /dev/null +++ b/src/main/io/rangefinder_usd1_v0.c @@ -0,0 +1,136 @@ +/* + * This file is part of INAV Project. + * + * This Source Code Form is subject to the terms of the Mozilla Public + * License, v. 2.0. If a copy of the MPL was not distributed with this file, + * You can obtain one at http://mozilla.org/MPL/2.0/. + * + * Alternatively, the contents of this file may be used under the terms + * of the GNU General Public License Version 3, as described below: + * + * This file is free software: you may copy, redistribute and/or modify + * it under the terms of the GNU General Public License as published by the + * Free Software Foundation, either version 3 of the License, or (at your + * option) any later version. + * + * This file is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General + * Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see http://www.gnu.org/licenses/. + */ + +#include +#include + + +#include "platform.h" +#include "io/serial.h" +#include "drivers/time.h" + +#if defined(USE_RANGEFINDER_USD1_V0) +#include "drivers/rangefinder/rangefinder_virtual.h" + +#define USD1_HDR_V0 72 // Header Byte for beta V0 of USD1_Serial (0x48) + +#define USD1_PACKET_SIZE 3 +#define USD1_KEEP_DATA_TIMEOUT 2000 // 2s + + +static serialPort_t * serialPort = NULL; +static serialPortConfig_t * portConfig; + +static bool hasNewData = false; +static bool hasEverData = false; +static uint8_t lineBuf[USD1_PACKET_SIZE]; +static int32_t sensorData = RANGEFINDER_NO_NEW_DATA; +static timeMs_t lastProtocolActivityMs; + +static bool usd1RangefinderDetect(void) +{ + portConfig = findSerialPortConfig(FUNCTION_RANGEFINDER); + if (!portConfig) { + return false; + } + + return true; +} + +static void usd1RangefinderInit(void) +{ + if (!portConfig) { + return; + } + + serialPort = openSerialPort(portConfig->identifier, FUNCTION_RANGEFINDER, NULL, NULL, 115200, MODE_RXTX, SERIAL_NOT_INVERTED); + if (!serialPort) { + return; + } + + lastProtocolActivityMs = 0; +} + +static void usd1RangefinderUpdate(void) +{ + float sum = 0; + uint16_t count = 0; + uint8_t index = 0; + + while (serialRxBytesWaiting(serialPort) > 0) { + uint8_t c = serialRead(serialPort); + + if (c == USD1_HDR_V0 && index == 0) { + lineBuf[index] = c; + index = 1; + continue; + } + + if (index > 0) { + lineBuf[index] = c; + index++; + if (index == 3) { + index = 0; + sum += (float)((lineBuf[2]&0x7F) * 128 + (lineBuf[1]&0x7F)); + count++; + } + } + } + + if (count == 0) { + return; + } + + hasNewData = true; + hasEverData = true; + lastProtocolActivityMs = millis(); + sensorData = (int32_t)(2.5f * sum / (float)count); +} + +static int32_t usd1RangefinderGetDistance(void) +{ + int32_t altitude = (sensorData > 0) ? (sensorData) : RANGEFINDER_OUT_OF_RANGE; + + if (hasNewData) { + hasNewData = false; + return altitude; + } + else { + //keep last value for timeout, because radar sends data only if change + if ((millis() - lastProtocolActivityMs) < USD1_KEEP_DATA_TIMEOUT) { + return altitude; + } + + return hasEverData ? RANGEFINDER_OUT_OF_RANGE : RANGEFINDER_NO_NEW_DATA; + } +} + +virtualRangefinderVTable_t rangefinderUSD1Vtable = { + .detect = usd1RangefinderDetect, + .init = usd1RangefinderInit, + .update = usd1RangefinderUpdate, + .read = usd1RangefinderGetDistance +}; + +#endif diff --git a/src/main/main.c b/src/main/main.c index c002fbab25c..c303602dcbc 100644 --- a/src/main/main.c +++ b/src/main/main.c @@ -27,6 +27,11 @@ #include "scheduler/scheduler.h" +#if defined(SITL_BUILD) +#include "target/SITL/serial_proxy.h" +#endif + + #ifdef SOFTSERIAL_LOOPBACK serialPort_t *loopbackPort; #endif @@ -65,6 +70,9 @@ int main(void) loopbackInit(); while (true) { +#if defined(SITL_BUILD) + serialProxyProcess(); +#endif scheduler(); processLoopback(); } diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h index b44037f2f88..ac847afeaec 100644 --- a/src/main/msp/msp_protocol.h +++ b/src/main/msp/msp_protocol.h @@ -163,9 +163,6 @@ #define MSP_SONAR_ALTITUDE 58 //out message get surface altitude [cm] -#define MSP_ARMING_CONFIG 61 //out message Returns auto_disarm_delay and disarm_kill_switch parameters -#define MSP_SET_ARMING_CONFIG 62 //in message Sets auto_disarm_delay and disarm_kill_switch parameters - // // Baseflight MSP commands (if enabled they exist in Cleanflight) // @@ -207,7 +204,6 @@ #define MSP_FILTER_CONFIG 92 #define MSP_SET_FILTER_CONFIG 93 - #define MSP_PID_ADVANCED 94 #define MSP_SET_PID_ADVANCED 95 @@ -248,7 +244,6 @@ #define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID #define MSP_ACTIVEBOXES 113 //out message Active box flags (full width, more than 32 bits) #define MSP_MISC 114 //out message powermeter trig -#define MSP_MOTOR_PINS 115 //out message which pins are in use for motors & servos, for GUI #define MSP_BOXNAMES 116 //out message the aux switch names #define MSP_PIDNAMES 117 //out message the PID names #define MSP_WP 118 //out message get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold diff --git a/src/main/msp/msp_protocol_v2_inav.h b/src/main/msp/msp_protocol_v2_inav.h index 66e883ab8c7..3312e5bc25d 100755 --- a/src/main/msp/msp_protocol_v2_inav.h +++ b/src/main/msp/msp_protocol_v2_inav.h @@ -108,3 +108,5 @@ #define MSP2_INAV_CUSTOM_OSD_ELEMENTS 0x2100 #define MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS 0x2101 +#define MSP2_INAV_SERVO_CONFIG 0x2200 +#define MSP2_INAV_SET_SERVO_CONFIG 0x2201 \ No newline at end of file diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c index f9ddc1f2554..c776ce13f54 100644 --- a/src/main/navigation/navigation.c +++ b/src/main/navigation/navigation.c @@ -65,6 +65,7 @@ #include "sensors/boardalignment.h" #include "sensors/battery.h" #include "sensors/gyro.h" +#include "sensors/diagnostics.h" #include "programming/global_variables.h" #include "sensors/rangefinder.h" @@ -174,7 +175,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig, .land_detect_sensitivity = SETTING_NAV_LAND_DETECT_SENSITIVITY_DEFAULT, // Changes sensitivity of landing detection .auto_disarm_delay = SETTING_NAV_AUTO_DISARM_DELAY_DEFAULT, // 2000 ms - time delay to disarm when auto disarm after landing enabled .rth_linear_descent_start_distance = SETTING_NAV_RTH_LINEAR_DESCENT_START_DISTANCE_DEFAULT, - .cruise_yaw_rate = SETTING_NAV_CRUISE_YAW_RATE_DEFAULT, // 20dps + .cruise_yaw_rate = SETTING_NAV_CRUISE_YAW_RATE_DEFAULT, // 20dps .rth_fs_landing_delay = SETTING_NAV_RTH_FS_LANDING_DELAY_DEFAULT, // Delay before landing in FS. 0 = immedate landing }, @@ -203,44 +204,45 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig, // Fixed wing .fw = { - .max_bank_angle = SETTING_NAV_FW_BANK_ANGLE_DEFAULT, // degrees - .max_manual_climb_rate = SETTING_NAV_FW_MANUAL_CLIMB_RATE_DEFAULT, // 3 m/s - .max_climb_angle = SETTING_NAV_FW_CLIMB_ANGLE_DEFAULT, // degrees - .max_dive_angle = SETTING_NAV_FW_DIVE_ANGLE_DEFAULT, // degrees - .cruise_speed = SETTING_NAV_FW_CRUISE_SPEED_DEFAULT, // cm/s + .max_bank_angle = SETTING_NAV_FW_BANK_ANGLE_DEFAULT, // degrees + .max_auto_climb_rate = SETTING_NAV_FW_AUTO_CLIMB_RATE_DEFAULT, // 5 m/s + .max_manual_climb_rate = SETTING_NAV_FW_MANUAL_CLIMB_RATE_DEFAULT, // 3 m/s + .max_climb_angle = SETTING_NAV_FW_CLIMB_ANGLE_DEFAULT, // degrees + .max_dive_angle = SETTING_NAV_FW_DIVE_ANGLE_DEFAULT, // degrees + .cruise_speed = SETTING_NAV_FW_CRUISE_SPEED_DEFAULT, // cm/s .control_smoothness = SETTING_NAV_FW_CONTROL_SMOOTHNESS_DEFAULT, .pitch_to_throttle_smooth = SETTING_NAV_FW_PITCH2THR_SMOOTHING_DEFAULT, .pitch_to_throttle_thresh = SETTING_NAV_FW_PITCH2THR_THRESHOLD_DEFAULT, .minThrottleDownPitchAngle = SETTING_FW_MIN_THROTTLE_DOWN_PITCH_DEFAULT, - .loiter_radius = SETTING_NAV_FW_LOITER_RADIUS_DEFAULT, // 75m + .loiter_radius = SETTING_NAV_FW_LOITER_RADIUS_DEFAULT, // 75m .loiter_direction = SETTING_FW_LOITER_DIRECTION_DEFAULT, //Fixed wing landing - .land_dive_angle = SETTING_NAV_FW_LAND_DIVE_ANGLE_DEFAULT, // 2 degrees dive by default + .land_dive_angle = SETTING_NAV_FW_LAND_DIVE_ANGLE_DEFAULT, // 2 degrees dive by default // Fixed wing launch - .launch_velocity_thresh = SETTING_NAV_FW_LAUNCH_VELOCITY_DEFAULT, // 3 m/s - .launch_accel_thresh = SETTING_NAV_FW_LAUNCH_ACCEL_DEFAULT, // cm/s/s (1.9*G) - .launch_time_thresh = SETTING_NAV_FW_LAUNCH_DETECT_TIME_DEFAULT, // 40ms - .launch_motor_timer = SETTING_NAV_FW_LAUNCH_MOTOR_DELAY_DEFAULT, // ms - .launch_idle_motor_timer = SETTING_NAV_FW_LAUNCH_IDLE_MOTOR_DELAY_DEFAULT, // ms - .launch_motor_spinup_time = SETTING_NAV_FW_LAUNCH_SPINUP_TIME_DEFAULT, // ms, time to gredually increase throttle from idle to launch - .launch_end_time = SETTING_NAV_FW_LAUNCH_END_TIME_DEFAULT, // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode - .launch_min_time = SETTING_NAV_FW_LAUNCH_MIN_TIME_DEFAULT, // ms, min time in launch mode - .launch_timeout = SETTING_NAV_FW_LAUNCH_TIMEOUT_DEFAULT, // ms, timeout for launch procedure - .launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT, // cm, altitude where to consider launch ended - .launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT, // 18 degrees - .launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT, // 45 deg - .launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT,// OFF - .launch_land_abort_deadband = SETTING_NAV_FW_LAUNCH_LAND_ABORT_DEADBAND_DEFAULT, // 100 us - + .launch_velocity_thresh = SETTING_NAV_FW_LAUNCH_VELOCITY_DEFAULT, // 3 m/s + .launch_accel_thresh = SETTING_NAV_FW_LAUNCH_ACCEL_DEFAULT, // cm/s/s (1.9*G) + .launch_time_thresh = SETTING_NAV_FW_LAUNCH_DETECT_TIME_DEFAULT, // 40ms + .launch_motor_timer = SETTING_NAV_FW_LAUNCH_MOTOR_DELAY_DEFAULT, // ms + .launch_idle_motor_timer = SETTING_NAV_FW_LAUNCH_IDLE_MOTOR_DELAY_DEFAULT, // ms + .launch_wiggle_wake_idle = SETTING_NAV_FW_LAUNCH_WIGGLE_TO_WAKE_IDLE_DEFAULT, // uint8_t + .launch_motor_spinup_time = SETTING_NAV_FW_LAUNCH_SPINUP_TIME_DEFAULT, // ms, time to greaually increase throttle from idle to launch + .launch_end_time = SETTING_NAV_FW_LAUNCH_END_TIME_DEFAULT, // ms, time to gradually decrease/increase throttle and decrease pitch angle from launch to the current flight mode + .launch_min_time = SETTING_NAV_FW_LAUNCH_MIN_TIME_DEFAULT, // ms, min time in launch mode + .launch_timeout = SETTING_NAV_FW_LAUNCH_TIMEOUT_DEFAULT, // ms, timeout for launch procedure + .launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT, // cm, altitude where to consider launch ended + .launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT, // 18 degrees + .launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT, // 45 deg + .launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT, // OFF + .launch_land_abort_deadband = SETTING_NAV_FW_LAUNCH_LAND_ABORT_DEADBAND_DEFAULT, // 100 us .allow_manual_thr_increase = SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE_DEFAULT, .useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT, .yawControlDeadband = SETTING_NAV_FW_YAW_DEADBAND_DEFAULT, - .soaring_pitch_deadband = SETTING_NAV_FW_SOARING_PITCH_DEADBAND_DEFAULT,// pitch angle mode deadband when Saoring mode enabled - .wp_tracking_accuracy = SETTING_NAV_FW_WP_TRACKING_ACCURACY_DEFAULT, // 0, improves course tracking accuracy during FW WP missions - .wp_tracking_max_angle = SETTING_NAV_FW_WP_TRACKING_MAX_ANGLE_DEFAULT, // 60 degs - .wp_turn_smoothing = SETTING_NAV_FW_WP_TURN_SMOOTHING_DEFAULT, // 0, smooths turns during FW WP mode missions + .soaring_pitch_deadband = SETTING_NAV_FW_SOARING_PITCH_DEADBAND_DEFAULT, // pitch angle mode deadband when Saoring mode enabled + .wp_tracking_accuracy = SETTING_NAV_FW_WP_TRACKING_ACCURACY_DEFAULT, // 0, improves course tracking accuracy during FW WP missions + .wp_tracking_max_angle = SETTING_NAV_FW_WP_TRACKING_MAX_ANGLE_DEFAULT, // 60 degs + .wp_turn_smoothing = SETTING_NAV_FW_WP_TURN_SMOOTHING_DEFAULT, // 0, smooths turns during FW WP mode missions } ); @@ -326,8 +328,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_TRACKBACK(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigationFSMState_t previousState); -static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING(navigationFSMState_t previousState); -static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(navigationFSMState_t previousState); +static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING(navigationFSMState_t previousState); +static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHING(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHED(navigationFSMState_t previousState); @@ -354,6 +356,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_LOITER(navig static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_GLIDE(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_FLARE(navigationFSMState_t previousState); +static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_FINISHED(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_ABORT(navigationFSMState_t previousState); #endif @@ -421,7 +424,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE, .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE, .timeoutMs = 0, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT, + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT, .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE, .mwState = MW_NAV_STATE_HOLD_INFINIT, .mwError = MW_NAV_ERROR_NONE, @@ -436,7 +439,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS, .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS, .timeoutMs = 10, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW, + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW, .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE, .mwState = MW_NAV_STATE_HOLD_INFINIT, .mwError = MW_NAV_ERROR_NONE, @@ -583,7 +586,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_CLIMB_TO_SAFE_ALT, [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK] = NAV_STATE_RTH_TRACKBACK, [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE, - [NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING] = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING, + [NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING] = NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING, [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, } }, @@ -592,7 +595,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .persistentId = NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT, .onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT, .timeoutMs = 10, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, // allow pos adjustment while climbind to safe alt + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, // allow pos adjustment while climbing to safe alt .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE, .mwState = MW_NAV_STATE_RTH_CLIMB, .mwError = MW_NAV_ERROR_WAIT_FOR_RTH_ALT, @@ -638,7 +641,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .mwError = MW_NAV_ERROR_NONE, .onEvent = { [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_HEAD_HOME, // re-process the state - [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING, + [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING, [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE, [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE, @@ -649,37 +652,37 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { } }, - [NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING] = { - .persistentId = NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING, - .onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING, + [NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING] = { + .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_PRIOR_TO_LANDING, + .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING, .timeoutMs = 500, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE, .mwState = MW_NAV_STATE_LAND_SETTLE, .mwError = MW_NAV_ERROR_NONE, .onEvent = { - [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING, - [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_LANDING, - [NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME] = NAV_STATE_RTH_HOVER_ABOVE_HOME, - [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, - [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE, - [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE, - [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE, - [NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE, - [NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE, + [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING, + [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_LANDING, + [NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME] = NAV_STATE_RTH_LOITER_ABOVE_HOME, + [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, + [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE, + [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE, + [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE, + [NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE, + [NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE, } }, - [NAV_STATE_RTH_HOVER_ABOVE_HOME] = { - .persistentId = NAV_PERSISTENT_ID_RTH_HOVER_ABOVE_HOME, - .onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME, + [NAV_STATE_RTH_LOITER_ABOVE_HOME] = { + .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_ABOVE_HOME, + .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME, .timeoutMs = 10, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT, + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT, .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE, .mwState = MW_NAV_STATE_HOVER_ABOVE_HOME, .mwError = MW_NAV_ERROR_NONE, .onEvent = { - [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_HOVER_ABOVE_HOME, + [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_LOITER_ABOVE_HOME, [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE, [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE, @@ -693,20 +696,20 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .persistentId = NAV_PERSISTENT_ID_RTH_LANDING, .onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING, .timeoutMs = 10, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwError = MW_NAV_ERROR_LANDING, .onEvent = { - [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_LANDING, // re-process state - [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_FINISHING, - [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, - [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE, - [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE, - [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE, - [NAV_FSM_EVENT_SWITCH_TO_MIXERAT] = NAV_STATE_MIXERAT_INITIALIZE, - [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING] = NAV_STATE_FW_LANDING_CLIMB_TO_LOITER, - [NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME] = NAV_STATE_RTH_HOVER_ABOVE_HOME, + [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_LANDING, // re-process state + [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_RTH_FINISHING, + [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, + [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD] = NAV_STATE_ALTHOLD_INITIALIZE, + [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D] = NAV_STATE_POSHOLD_3D_INITIALIZE, + [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE, + [NAV_FSM_EVENT_SWITCH_TO_MIXERAT] = NAV_STATE_MIXERAT_INITIALIZE, + [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING] = NAV_STATE_FW_LANDING_CLIMB_TO_LOITER, + [NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME] = NAV_STATE_RTH_LOITER_ABOVE_HOME, } }, @@ -714,7 +717,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .persistentId = NAV_PERSISTENT_ID_RTH_FINISHING, .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING, .timeoutMs = 0, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH, + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH, .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwError = MW_NAV_ERROR_LANDING, @@ -825,7 +828,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .persistentId = NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME, // There is no state for timed hold? .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME, .timeoutMs = 10, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP, + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP, .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE, .mwState = MW_NAV_STATE_HOLD_TIMED, .mwError = MW_NAV_ERROR_NONE, @@ -846,7 +849,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .persistentId = NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND, .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND, .timeoutMs = 10, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP, + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP, .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwError = MW_NAV_ERROR_LANDING, @@ -884,7 +887,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED, .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED, .timeoutMs = 10, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE, + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE, .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE, .mwState = MW_NAV_STATE_WP_ENROUTE, .mwError = MW_NAV_ERROR_FINISH, @@ -923,7 +926,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS, .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS, .timeoutMs = 10, - .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE, + .stateFlags = NAV_CTL_HOLD | NAV_CTL_EMERG | NAV_REQUIRE_ANGLE, .mapToFlightModes = 0, .mwState = MW_NAV_STATE_EMERGENCY_LANDING, .mwError = MW_NAV_ERROR_LANDING, @@ -941,7 +944,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED, .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED, .timeoutMs = 10, - .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE, + .stateFlags = NAV_CTL_HOLD | NAV_CTL_EMERG | NAV_REQUIRE_ANGLE, .mapToFlightModes = 0, .mwState = MW_NAV_STATE_LANDED, .mwError = MW_NAV_ERROR_LANDING, @@ -1044,13 +1047,14 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { } }, +/** Advanced Fixed Wing Autoland **/ #ifdef USE_FW_AUTOLAND [NAV_STATE_FW_LANDING_CLIMB_TO_LOITER] = { .persistentId = NAV_PERSISTENT_ID_FW_LANDING_CLIMB_TO_LOITER, .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER, .timeoutMs = 10, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH, - .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE, + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH, + .mapToFlightModes = NAV_FW_AUTOLAND, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwError = MW_NAV_ERROR_NONE, .onEvent = { @@ -1070,8 +1074,8 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .persistentId = NAV_PERSISTENT_ID_FW_LANDING_LOITER, .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_LOITER, .timeoutMs = 10, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH, - .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE, + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH, + .mapToFlightModes = NAV_FW_AUTOLAND, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwError = MW_NAV_ERROR_NONE, .onEvent = { @@ -1091,8 +1095,8 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .persistentId = NAV_PERSISTENT_ID_FW_LANDING_APPROACH, .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH, .timeoutMs = 10, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP, - .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE, + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_WP, + .mapToFlightModes = NAV_FW_AUTOLAND, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwError = MW_NAV_ERROR_NONE, .onEvent = { @@ -1104,6 +1108,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE, [NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE, [NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE, + [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED] = NAV_STATE_FW_LANDING_FINISHED, [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT] = NAV_STATE_FW_LANDING_ABORT, } }, @@ -1113,7 +1118,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_GLIDE, .timeoutMs = 10, .stateFlags = NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_RC_POS | NAV_RC_YAW, - .mapToFlightModes = NAV_COURSE_HOLD_MODE, + .mapToFlightModes = NAV_FW_AUTOLAND, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwError = MW_NAV_ERROR_NONE, .onEvent = { @@ -1125,6 +1130,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE, [NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD] = NAV_STATE_COURSE_HOLD_INITIALIZE, [NAV_FSM_EVENT_SWITCH_TO_CRUISE] = NAV_STATE_CRUISE_INITIALIZE, + [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED] = NAV_STATE_FW_LANDING_FINISHED, [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT] = NAV_STATE_FW_LANDING_ABORT, } }, @@ -1134,21 +1140,36 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_FLARE, .timeoutMs = 10, .stateFlags = NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_RC_POS | NAV_RC_YAW, - .mapToFlightModes = NAV_COURSE_HOLD_MODE, + .mapToFlightModes = NAV_FW_AUTOLAND, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwError = MW_NAV_ERROR_NONE, .onEvent = { - [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_FW_LANDING_FLARE, // re-process the state - [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_IDLE, - [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, + [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_FW_LANDING_FLARE, // re-process the state + [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED] = NAV_STATE_FW_LANDING_FINISHED, + [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, } }, + + [NAV_STATE_FW_LANDING_FINISHED] = { + .persistentId = NAV_PERSISTENT_ID_FW_LANDING_FINISHED, + .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_FINISHED, + .timeoutMs = 10, + .stateFlags = NAV_REQUIRE_ANGLE, + .mapToFlightModes = NAV_FW_AUTOLAND, + .mwState = MW_NAV_STATE_LANDED, + .mwError = MW_NAV_ERROR_NONE, + .onEvent = { + [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_FW_LANDING_FINISHED, // re-process the state + [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, + } + }, + [NAV_STATE_FW_LANDING_ABORT] = { .persistentId = NAV_PERSISTENT_ID_FW_LANDING_ABORT, .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_ABORT, .timeoutMs = 10, - .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, - .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE, + .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, + .mapToFlightModes = NAV_FW_AUTOLAND, .mwState = MW_NAV_STATE_LAND_IN_PROGRESS, .mwError = MW_NAV_ERROR_NONE, .onEvent = { @@ -1243,7 +1264,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE(n } // Prepare position controller if idle or current Mode NOT active in position hold state - if (previousState != NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING && previousState != NAV_STATE_RTH_HOVER_ABOVE_HOME && + if (previousState != NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING && previousState != NAV_STATE_RTH_LOITER_ABOVE_HOME && previousState != NAV_STATE_RTH_LANDING && previousState != NAV_STATE_WAYPOINT_RTH_LAND && previousState != NAV_STATE_WAYPOINT_FINISHED && previousState != NAV_STATE_WAYPOINT_HOLD_TIME) { @@ -1424,10 +1445,12 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati setHomePosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING, NAV_HOME_VALID_ALL); setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING); - return NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING; // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING - } else { + return NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING; // NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING + } + else { + // Switch to RTH trackback if (rthTrackBackIsActive() && rth_trackback.activePointIndex >= 0 && !isWaypointMissionRTHActive()) { - rthTrackBackUpdate(true); // save final trackpoint for altitude and max trackback distance reference + rthTrackBackUpdate(true); // save final trackpoint for altitude and max trackback distance reference posControl.flags.rthTrackbackActive = true; calculateAndSetActiveWaypointToLocalPosition(getRthTrackBackPosition()); return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK; @@ -1493,8 +1516,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n initializeRTHSanityChecker(); } - // Save initial home distance for future use + // Save initial home distance and direction for future use posControl.rthState.rthInitialDistance = posControl.homeDistance; + posControl.activeWaypoint.bearing = posControl.homeDirection; fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_INITIAL); if (navConfig()->general.flags.rth_tail_first && !STATE(FIXED_WING_LEGACY)) { @@ -1580,7 +1604,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio if ((posControl.flags.estPosStatus >= EST_USABLE)) { fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_PROPORTIONAL); - if (isWaypointReached(tmpHomePos, 0)) { + if (isWaypointReached(tmpHomePos, &posControl.activeWaypoint.bearing)) { // Successfully reached position target - update XYZ-position setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING); @@ -1589,7 +1613,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive) posControl.rthState.rthLinearDescentActive = false; - return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING + return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING } else { setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z | NAV_POS_UPDATE_XY); return NAV_FSM_EVENT_NONE; @@ -1603,7 +1627,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio return NAV_FSM_EVENT_NONE; } -static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING(navigationFSMState_t previousState) +static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING(navigationFSMState_t previousState) { UNUSED(previousState); @@ -1636,8 +1660,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LAND // Wait until target heading is reached for MR (with 15 deg margin for error), or continue for Fixed Wing if (!pauseLanding && ((ABS(wrap_18000(posControl.rthState.homePosition.heading - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) || STATE(FIXED_WING_LEGACY))) { resetLandingDetector(); // force reset landing detector just in case - updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET); - return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME; // success = land + updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_CURRENT); + return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME; // success = land } else { fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_FINAL); setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING); @@ -1645,7 +1669,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LAND } } -static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(navigationFSMState_t previousState) +static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME(navigationFSMState_t previousState) { UNUSED(previousState); @@ -1654,7 +1678,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(na return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING; } - fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_FINAL_HOVER); + fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_FINAL_LOITER); setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z); return NAV_FSM_EVENT_NONE; @@ -1662,9 +1686,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(na static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationFSMState_t previousState) { -#ifndef USE_FW_AUTOLAND UNUSED(previousState); -#endif //On ROVER and BOAT we immediately switch to the next event if (!STATE(ALTITUDE_CONTROL)) { @@ -1677,7 +1699,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF /* If position sensors unavailable - land immediately (wait for timeout on GPS) * Continue to check for RTH sanity during landing */ - if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || !validateRTHSanityChecker()) { + if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || (FLIGHT_MODE(NAV_RTH_MODE) && !validateRTHSanityChecker())) { return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING; } @@ -1687,7 +1709,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF #ifdef USE_FW_AUTOLAND if (STATE(AIRPLANE)) { - int8_t missionIdx = -1, shIdx = -1, missionFwLandConfigStartIdx = 8; + int8_t missionIdx = -1, shIdx = -1, missionFwLandConfigStartIdx = 8, approachSettingIdx = -1; #ifdef USE_MULTI_MISSION missionIdx = posControl.loadedMultiMissionIndex - 1; #endif @@ -1696,18 +1718,23 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF shIdx = posControl.safehomeState.index; missionFwLandConfigStartIdx = MAX_SAFE_HOMES; #endif - if (!posControl.fwLandState.landAborted && (shIdx >= 0 || missionIdx >= 0) && (fwAutolandApproachConfig(shIdx)->landApproachHeading1 != 0 || fwAutolandApproachConfig(shIdx)->landApproachHeading2 != 0)) { + if (FLIGHT_MODE(NAV_WP_MODE) && missionIdx >= 0) { + approachSettingIdx = missionFwLandConfigStartIdx + missionIdx; + } else if (shIdx >= 0) { + approachSettingIdx = shIdx; + } + + if (!posControl.fwLandState.landAborted && approachSettingIdx >= 0 && (fwAutolandApproachConfig(approachSettingIdx)->landApproachHeading1 != 0 || fwAutolandApproachConfig(approachSettingIdx)->landApproachHeading2 != 0)) { - if (previousState == NAV_STATE_WAYPOINT_REACHED) { + if (FLIGHT_MODE(NAV_WP_MODE)) { posControl.fwLandState.landPos = posControl.activeWaypoint.pos; - posControl.fwLandState.approachSettingIdx = missionFwLandConfigStartIdx + missionIdx; posControl.fwLandState.landWp = true; } else { posControl.fwLandState.landPos = posControl.safehomeState.nearestSafeHome; - posControl.fwLandState.approachSettingIdx = shIdx; posControl.fwLandState.landWp = false; } + posControl.fwLandState.approachSettingIdx = approachSettingIdx; posControl.fwLandState.landAltAgl = fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->isSeaLevelRef ? fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->landAlt - GPS_home.alt : fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->landAlt; posControl.fwLandState.landAproachAltAgl = fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->isSeaLevelRef ? fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->approachAlt - GPS_home.alt : fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->approachAlt; return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING; @@ -1779,6 +1806,12 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_INITIALIZE(nav resetPositionController(); resetAltitudeController(false); // Make sure surface tracking is not enabled - WP uses global altitude, not AGL +#ifdef USE_FW_AUTOLAND + if (previousState != NAV_STATE_FW_LANDING_ABORT) { + posControl.fwLandState.landAborted = false; + } +#endif + if (posControl.activeWaypointIndex == posControl.startWpIndex || posControl.wpMissionRestart) { /* Use p3 as the volatile jump counter, allowing embedded, rearmed jumps Using p3 minimises the risk of saving an invalid counter if a mission is aborted */ @@ -1818,7 +1851,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(nav case NAV_WP_ACTION_LAND: calculateAndSetActiveWaypoint(&posControl.waypointList[posControl.activeWaypointIndex]); posControl.wpInitialDistance = calculateDistanceToDestination(&posControl.activeWaypoint.pos); - posControl.wpInitialAltitude = posControl.actualState.abs.pos.z; posControl.wpAltitudeReached = false; return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_IN_PROGRESS @@ -1882,10 +1914,17 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na fpVector3_t tmpWaypoint; tmpWaypoint.x = posControl.activeWaypoint.pos.x; tmpWaypoint.y = posControl.activeWaypoint.pos.y; - tmpWaypoint.z = scaleRangef(constrainf(posControl.wpDistance, posControl.wpInitialDistance / 10.0f, posControl.wpInitialDistance), - posControl.wpInitialDistance, posControl.wpInitialDistance / 10.0f, - posControl.wpInitialAltitude, posControl.activeWaypoint.pos.z); - setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING); + setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING); + + // Use linear climb between WPs arriving at WP altitude when within 10% of total distance to WP + // Update climb rate until within 100cm of total climb xy distance to WP + float climbRate = 0.0f; + if (posControl.wpDistance - 0.1f * posControl.wpInitialDistance > 100.0f) { + climbRate = posControl.actualState.velXY * (posControl.activeWaypoint.pos.z - posControl.actualState.abs.pos.z) / + (posControl.wpDistance - 0.1f * posControl.wpInitialDistance); + } + updateClimbRateToAltitudeController(climbRate, posControl.activeWaypoint.pos.z, ROC_TO_ALT_TARGET); + if(STATE(MULTIROTOR)) { switch (wpHeadingControl.mode) { case NAV_WP_HEAD_MODE_NONE: @@ -1986,22 +2025,21 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME(navi static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navigationFSMState_t previousState) { - UNUSED(previousState); +#ifdef USE_FW_AUTOLAND + if (posControl.fwLandState.landAborted) { + return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED; + } +#endif const navigationFSMEvent_t landEvent = navOnEnteringState_NAV_STATE_RTH_LANDING(previousState); - if (landEvent == NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING) { - return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING; - } else if (landEvent == NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME) { - return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED; - } else if (landEvent == NAV_FSM_EVENT_SUCCESS) { - // Landing controller returned success - invoke RTH finishing state and finish the waypoint + if (landEvent == NAV_FSM_EVENT_SUCCESS) { + // Landing controller returned success - invoke RTH finish states and finish the waypoint navOnEnteringState_NAV_STATE_RTH_FINISHING(previousState); - return NAV_FSM_EVENT_SUCCESS; - } - else { - return NAV_FSM_EVENT_NONE; + navOnEnteringState_NAV_STATE_RTH_FINISHED(previousState); } + + return landEvent; } static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_NEXT(navigationFSMState_t previousState) @@ -2202,7 +2240,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOI } if (ABS(getEstimatedActualPosition(Z) - posControl.fwLandState.landAproachAltAgl) < (navConfig()->general.waypoint_enforce_altitude > 0 ? navConfig()->general.waypoint_enforce_altitude : FW_LAND_LOITER_ALT_TOLERANCE)) { - updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET); + updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_CURRENT); posControl.fwLandState.landState = FW_AUTOLAND_STATE_LOITER; return NAV_FSM_EVENT_SUCCESS; } @@ -2312,6 +2350,10 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH(nav { UNUSED(previousState); + if (STATE(LANDING_DETECTED)) { + return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED; + } + if ((posControl.flags.estHeadingStatus == EST_NONE) || checkForPositionSensorTimeout()) { return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING; } @@ -2320,12 +2362,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH(nav return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT; } - if (isLandingDetected()) { - posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE; - disarm(DISARM_LANDING); - return NAV_FSM_EVENT_SWITCH_TO_IDLE; - } - if (getLandAltitude() <= fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->landAlt + navFwAutolandConfig()->glideAltitude - (fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->isSeaLevelRef ? GPS_home.alt : 0)) { resetPositionController(); posControl.cruise.course = posControl.fwLandState.landingDirection; @@ -2362,21 +2398,19 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_GLIDE(naviga { UNUSED(previousState); + if (STATE(LANDING_DETECTED)) { + return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED; + } + if (isRollPitchStickDeflected(navConfig()->fw.launch_land_abort_deadband)) { return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT; } - if (getLandAltitude() <= posControl.fwLandState.landAltAgl + navFwAutolandConfig()->flareAltitude) { + if (getHwRangefinderStatus() == HW_SENSOR_OK && getLandAltitude() <= posControl.fwLandState.landAltAgl + navFwAutolandConfig()->flareAltitude) { posControl.fwLandState.landState = FW_AUTOLAND_STATE_FLARE; return NAV_FSM_EVENT_SUCCESS; } - if (isLandingDetected()) { - posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE; - disarm(DISARM_LANDING); - return NAV_FSM_EVENT_SWITCH_TO_IDLE; - } - setDesiredPosition(NULL, posControl.cruise.course, NAV_POS_UPDATE_HEADING); return NAV_FSM_EVENT_NONE; } @@ -2385,16 +2419,24 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_FLARE(naviga { UNUSED(previousState); - if (isLandingDetected()) { - posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE; - disarm(DISARM_LANDING); - return NAV_FSM_EVENT_SUCCESS; + if (STATE(LANDING_DETECTED)) { + return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED; } + setDesiredPosition(NULL, posControl.cruise.course, NAV_POS_UPDATE_HEADING); return NAV_FSM_EVENT_NONE; } +static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_FINISHED(navigationFSMState_t previousState) +{ + UNUSED(previousState); + + posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE; + + return NAV_FSM_EVENT_NONE; +} + static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_ABORT(navigationFSMState_t previousState) { UNUSED(previousState); @@ -2511,7 +2553,7 @@ static fpVector3_t * rthGetHomeTargetPosition(rthTargetMode_e mode) posControl.rthState.homeTmpWaypoint.z = posControl.rthState.rthFinalAltitude; break; - case RTH_HOME_FINAL_HOVER: + case RTH_HOME_FINAL_LOITER: if (navConfig()->general.rth_home_altitude) { posControl.rthState.homeTmpWaypoint.z = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_home_altitude; } @@ -2796,30 +2838,28 @@ static bool getLocalPosNextWaypoint(fpVector3_t * nextWpPos) /*----------------------------------------------------------- * Check if waypoint is/was reached. - * waypointBearing stores initial bearing to waypoint + * 'waypointBearing' stores initial bearing to waypoint. *-----------------------------------------------------------*/ bool isWaypointReached(const fpVector3_t *waypointPos, const int32_t *waypointBearing) { posControl.wpDistance = calculateDistanceToDestination(waypointPos); - // Airplane will do a circular loiter at hold waypoints and might never approach them closer than waypoint_radius - // Check within 10% margin of circular loiter radius - if (STATE(AIRPLANE) && isNavHoldPositionActive() && posControl.wpDistance <= (navConfig()->fw.loiter_radius * 1.10f)) { - return true; - } + // Check if waypoint was missed based on bearing to waypoint exceeding given angular limit relative to initial waypoint bearing. + // Default angular limit = 100 degs with a reduced limit of 60 degs used if fixed wing waypoint turn smoothing option active + uint16_t relativeBearingTargetAngle = 10000; - if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP || posControl.flags.rthTrackbackActive) { - // If WP turn smoothing CUT option used WP is reached when start of turn is initiated - if (navConfig()->fw.wp_turn_smoothing == WP_TURN_SMOOTHING_CUT && posControl.flags.wpTurnSmoothingActive) { + if (STATE(AIRPLANE) && posControl.flags.wpTurnSmoothingActive) { + // If WP mode turn smoothing CUT option used waypoint is reached when start of turn is initiated + if (navConfig()->fw.wp_turn_smoothing == WP_TURN_SMOOTHING_CUT) { posControl.flags.wpTurnSmoothingActive = false; return true; } - // Check if waypoint was missed based on bearing to WP exceeding 100 degrees relative to waypoint Yaw - // Same method for turn smoothing option but relative bearing set at 60 degrees - uint16_t relativeBearing = posControl.flags.wpTurnSmoothingActive ? 6000 : 10000; - if (ABS(wrap_18000(calculateBearingToDestination(waypointPos) - *waypointBearing)) > relativeBearing) { - return true; - } + relativeBearingTargetAngle = 6000; + } + + + if (ABS(wrap_18000(calculateBearingToDestination(waypointPos) - *waypointBearing)) > relativeBearingTargetAngle) { + return true; } return posControl.wpDistance <= (navConfig()->general.waypoint_radius); @@ -2993,7 +3033,7 @@ void setHomePosition(const fpVector3_t * pos, int32_t heading, navSetWaypointFla updateDesiredRTHAltitude(); // Reset RTH sanity checker for new home position if RTH active - if (FLIGHT_MODE(NAV_RTH_MODE)) { + if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_FW_AUTOLAND) ) { initializeRTHSanityChecker(); } @@ -3115,7 +3155,7 @@ void updateHomePosition(void) static bool isHomeResetAllowed = false; // If pilot so desires he may reset home position to current position if (IS_RC_MODE_ACTIVE(BOXHOMERESET)) { - if (isHomeResetAllowed && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && (posControl.flags.estPosStatus >= EST_USABLE)) { + if (isHomeResetAllowed && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_FW_AUTOLAND) && !FLIGHT_MODE(NAV_WP_MODE) && (posControl.flags.estPosStatus >= EST_USABLE)) { homeUpdateFlags = 0; homeUpdateFlags = STATE(GPS_FIX_HOME) ? (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING) : (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING); setHome = true; @@ -3164,7 +3204,7 @@ bool rthAltControlStickOverrideCheck(uint8_t axis) (axis == ROLL && STATE(MULTIROTOR) && !posControl.flags.rthTrackbackActive)) { return false; } - + static timeMs_t rthOverrideStickHoldStartTime[2]; if (rxGetChannelValue(axis) > rxConfig()->maxcheck) { @@ -3252,8 +3292,7 @@ void setDesiredPosition(const fpVector3_t * pos, int32_t yaw, navSetWaypointFlag // Z-position if ((useMask & NAV_POS_UPDATE_Z) != 0) { - updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET); // Reset RoC/RoD -> altitude controller - posControl.desiredState.pos.z = pos->z; + updateClimbRateToAltitudeController(0, pos->z, ROC_TO_ALT_TARGET); } // Heading @@ -3305,9 +3344,6 @@ void updateLandingStatus(timeMs_t currentTimeMs) } resetLandingDetector(); - if (!IS_RC_MODE_ACTIVE(BOXARM)) { - DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED); - } return; } @@ -3366,66 +3402,77 @@ bool isProbablyStillFlying(void) /*----------------------------------------------------------- * Z-position controller *-----------------------------------------------------------*/ -void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAltitude, climbRateToAltitudeControllerMode_e mode) +float getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros) { -#define MIN_TARGET_CLIMB_RATE 100.0f // cm/s + const bool emergLandingIsActive = navigationIsExecutingAnEmergencyLanding(); + float maxClimbRate = STATE(MULTIROTOR) ? navConfig()->mc.max_auto_climb_rate : navConfig()->fw.max_auto_climb_rate; + + if (posControl.flags.rocToAltMode == ROC_TO_ALT_CONSTANT) { + if (posControl.flags.isAdjustingAltitude) { + maxClimbRate = STATE(MULTIROTOR) ? navConfig()->mc.max_manual_climb_rate : navConfig()->fw.max_manual_climb_rate; + } - static timeUs_t lastUpdateTimeUs; - timeUs_t currentTimeUs = micros(); + return constrainf(posControl.desiredState.climbRateDemand, -maxClimbRate, maxClimbRate); + } - // Terrain following uses different altitude measurement - const float altitudeToUse = navGetCurrentActualPositionAndVelocity()->pos.z; + if (posControl.desiredState.climbRateDemand) { + maxClimbRate = constrainf(ABS(posControl.desiredState.climbRateDemand), 0.0f, maxClimbRate); + } else if (emergLandingIsActive) { + maxClimbRate = navConfig()->general.emerg_descent_rate; + } - if (mode != ROC_TO_ALT_RESET && desiredClimbRate) { - /* ROC_TO_ALT_CONSTANT - constant climb rate - * ROC_TO_ALT_TARGET - constant climb rate until close to target altitude reducing to min rate when altitude reached - * Rate reduction starts at distance from target altitude of 5 x climb rate */ + const float targetAltitudeError = targetAltitude - navGetCurrentActualPositionAndVelocity()->pos.z; + float targetVel = 0.0f; - if (mode == ROC_TO_ALT_TARGET && fabsf(desiredClimbRate) > MIN_TARGET_CLIMB_RATE) { - const int8_t direction = desiredClimbRate > 0 ? 1 : -1; - const float absClimbRate = fabsf(desiredClimbRate); - const uint16_t maxRateCutoffAlt = absClimbRate * 5; - const float verticalVelScaled = scaleRangef(navGetCurrentActualPositionAndVelocity()->pos.z - targetAltitude, - 0.0f, -maxRateCutoffAlt * direction, MIN_TARGET_CLIMB_RATE, absClimbRate); + if (STATE(MULTIROTOR)) { + targetVel = getSqrtControllerVelocity(targetAltitude, deltaMicros); + } else { + targetVel = pidProfile()->fwAltControlResponseFactor * targetAltitudeError / 100.0f; + } - desiredClimbRate = direction * constrainf(verticalVelScaled, MIN_TARGET_CLIMB_RATE, absClimbRate); - } + if (emergLandingIsActive && targetAltitudeError > -50.0f) { + return -100.0f; // maintain 1 m/s descent during emerg landing when within 50cm of min speed landing altitude target + } else { + return constrainf(targetVel, -maxClimbRate, maxClimbRate); + } +} - /* - * If max altitude is set, reset climb rate if altitude is reached and climb rate is > 0 - * In other words, when altitude is reached, allow it only to shrink - */ - if (navConfig()->general.max_altitude > 0 && altitudeToUse >= navConfig()->general.max_altitude && desiredClimbRate > 0) { - desiredClimbRate = 0; - } +void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAltitude, climbRateToAltitudeControllerMode_e mode) +{ + /* ROC_TO_ALT_TARGET - constant climb rate until close to target altitude then reducing down as altitude is reached. + * Any non zero climb rate sets the max allowed climb rate. Default max climb rate limits are used when set to 0. + * + * ROC_TO_ALT_CURRENT - similar to ROC_TO_ALT_TARGET except target altitude set to current altitude. + * No climb rate or altitude target required. + * + * ROC_TO_ALT_CONSTANT - constant climb rate. Climb rate and direction required. Target alt not required. */ - if (STATE(FIXED_WING_LEGACY)) { - // Fixed wing climb rate controller is open-loop. We simply move the known altitude target - float timeDelta = US2S(currentTimeUs - lastUpdateTimeUs); - static bool targetHoldActive = false; - - if (timeDelta <= HZ2S(MIN_POSITION_UPDATE_RATE_HZ) && desiredClimbRate) { - // Update target altitude only if actual altitude moving in same direction and lagging by < 5 m, otherwise hold target - if (navGetCurrentActualPositionAndVelocity()->vel.z * desiredClimbRate >= 0 && fabsf(posControl.desiredState.pos.z - altitudeToUse) < 500) { - posControl.desiredState.pos.z += desiredClimbRate * timeDelta; - targetHoldActive = false; - } else if (!targetHoldActive) { // Reset and hold target to actual + climb rate boost until actual catches up - posControl.desiredState.pos.z = altitudeToUse + desiredClimbRate; - targetHoldActive = true; - } - } else { - targetHoldActive = false; - } + if (mode == ROC_TO_ALT_CURRENT) { + posControl.desiredState.pos.z = navGetCurrentActualPositionAndVelocity()->pos.z; + desiredClimbRate = 0.0f; + } else if (mode == ROC_TO_ALT_TARGET) { + posControl.desiredState.pos.z = targetAltitude; + } + + posControl.desiredState.climbRateDemand = desiredClimbRate; + posControl.flags.rocToAltMode = mode; + + /* + * If max altitude is set limit desired altitude and impose altitude limit for constant climbs unless climb rate is -ve. + * Inhibit during RTH mode and also WP mode with altitude enforce active to avoid climbs getting stuck at max alt limit. + */ + if (navConfig()->general.max_altitude && !FLIGHT_MODE(NAV_RTH_MODE) && !(FLIGHT_MODE(NAV_WP_MODE) && navConfig()->general.waypoint_enforce_altitude)) { + posControl.desiredState.pos.z = MIN(posControl.desiredState.pos.z, navConfig()->general.max_altitude); + + if (mode != ROC_TO_ALT_CONSTANT || (mode == ROC_TO_ALT_CONSTANT && desiredClimbRate < 0.0f)) { + return; } - else { - // Multicopter climb-rate control is closed-loop, it's possible to directly calculate desired altitude setpoint to yield the required RoC/RoD - posControl.desiredState.pos.z = altitudeToUse + (desiredClimbRate / posControl.pids.pos[Z].param.kP); + + if (posControl.flags.isAdjustingAltitude) { + posControl.desiredState.pos.z = navConfig()->general.max_altitude; + posControl.flags.rocToAltMode = ROC_TO_ALT_TARGET; } - } else { // ROC_TO_ALT_RESET or zero desired climbrate - posControl.desiredState.pos.z = altitudeToUse; } - - lastUpdateTimeUs = currentTimeUs; } static void resetAltitudeController(bool useTerrainFollowing) @@ -3927,15 +3974,20 @@ bool isLastMissionWaypoint(void) /* Checks if Nav hold position is active */ bool isNavHoldPositionActive(void) { - // WP mode last WP hold and Timed hold positions + /* If the current Nav state isn't flagged as a hold point (NAV_CTL_HOLD) then + * waypoints are assumed to be hold points by default unless excluded as defined here */ + + if (navGetCurrentStateFlags() & NAV_CTL_HOLD) { + return true; + } + + // No hold required for basic WP type unless it's the last mission waypoint if (FLIGHT_MODE(NAV_WP_MODE)) { - return isLastMissionWaypoint() || NAV_Status.state == MW_NAV_STATE_HOLD_TIMED; + return posControl.waypointList[posControl.activeWaypointIndex].action != NAV_WP_ACTION_WAYPOINT || isLastMissionWaypoint(); } - // RTH mode (spiral climb and Home positions but excluding RTH Trackback point positions) and POSHOLD mode - // Also hold position during emergency landing if position valid - return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) || - FLIGHT_MODE(NAV_POSHOLD_MODE) || - navigationIsExecutingAnEmergencyLanding(); + + // No hold required for Trackback WPs or for fixed wing autoland WPs not flagged as hold points (returned above if they are) + return !FLIGHT_MODE(NAV_FW_AUTOLAND) && !posControl.flags.rthTrackbackActive; } float getActiveSpeed(void) @@ -3974,7 +4026,9 @@ bool isWaypointNavTrackingActive(void) // is set from current position not previous WP. Works for WP Restart intermediate WP as well as first mission WP. // (NAV_WP_MODE flag isn't set until WP initialisation is finished, i.e. after calculateAndSetActiveWaypoint called) - return FLIGHT_MODE(NAV_WP_MODE) || (posControl.flags.rthTrackbackActive && rth_trackback.activePointIndex != rth_trackback.lastSavedIndex); + return FLIGHT_MODE(NAV_WP_MODE) + || posControl.navState == NAV_STATE_FW_LANDING_APPROACH + || (posControl.flags.rthTrackbackActive && rth_trackback.activePointIndex != rth_trackback.lastSavedIndex); } /*----------------------------------------------------------- @@ -4039,7 +4093,7 @@ void applyWaypointNavigationAndAltitudeHold(void) posControl.flags.verticalPositionDataConsumed = false; #ifdef USE_FW_AUTOLAND - if (!isFwLandInProgess()) { + if (!FLIGHT_MODE(NAV_FW_AUTOLAND)) { posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE; } #endif @@ -4080,7 +4134,7 @@ void applyWaypointNavigationAndAltitudeHold(void) void switchNavigationFlightModes(void) { const flightModeFlags_e enabledNavFlightModes = navGetMappedFlightModes(posControl.navState); - const flightModeFlags_e disabledFlightModes = (NAV_ALTHOLD_MODE | NAV_RTH_MODE | NAV_POSHOLD_MODE | NAV_WP_MODE | NAV_LAUNCH_MODE | NAV_COURSE_HOLD_MODE) & (~enabledNavFlightModes); + const flightModeFlags_e disabledFlightModes = (NAV_ALTHOLD_MODE | NAV_RTH_MODE | NAV_FW_AUTOLAND | NAV_POSHOLD_MODE | NAV_WP_MODE | NAV_LAUNCH_MODE | NAV_COURSE_HOLD_MODE) & (~enabledNavFlightModes); DISABLE_FLIGHT_MODE(disabledFlightModes); ENABLE_FLIGHT_MODE(enabledNavFlightModes); } @@ -4192,22 +4246,6 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void) } posControl.rthSanityChecker.rthSanityOK = true; - /* WP mission activation control: - * canActivateWaypoint & waypointWasActivated are used to prevent WP mission - * auto restarting after interruption by Manual or RTH modes. - * WP mode must be deselected before it can be reactivated again. */ - static bool waypointWasActivated = false; - const bool isWpMissionLoaded = isWaypointMissionValid(); - bool canActivateWaypoint = isWpMissionLoaded && !posControl.flags.wpMissionPlannerActive; // Block activation if using WP Mission Planner - - if (waypointWasActivated && !FLIGHT_MODE(NAV_WP_MODE)) { - canActivateWaypoint = false; - if (!IS_RC_MODE_ACTIVE(BOXNAVWP)) { - canActivateWaypoint = true; - waypointWasActivated = false; - } - } - /* Airplane specific modes */ if (STATE(AIRPLANE)) { // LAUNCH mode has priority over any other NAV mode @@ -4247,14 +4285,36 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void) return NAV_FSM_EVENT_SWITCH_TO_RTH; } - /* Pilot-triggered RTH, also fall-back for WP if there is no mission loaded. - * WP prevented from falling back to RTH if WP mission planner is active */ - const bool wpRthFallbackIsActive = IS_RC_MODE_ACTIVE(BOXNAVWP) && !isWpMissionLoaded && !posControl.flags.wpMissionPlannerActive; + /* WP mission activation control: + * canActivateWaypoint & waypointWasActivated are used to prevent WP mission + * auto restarting after interruption by Manual or RTH modes. + * WP mode must be deselected before it can be reactivated again + * WP Mode also inhibited when Mission Planner is active */ + static bool waypointWasActivated = false; + bool canActivateWaypoint = isWaypointMissionValid(); + bool wpRthFallbackIsActive = false; + + if (IS_RC_MODE_ACTIVE(BOXMANUAL) || posControl.flags.wpMissionPlannerActive) { + canActivateWaypoint = false; + } else { + if (waypointWasActivated && !FLIGHT_MODE(NAV_WP_MODE)) { + canActivateWaypoint = false; + + if (!IS_RC_MODE_ACTIVE(BOXNAVWP)) { + canActivateWaypoint = true; + waypointWasActivated = false; + } + } + + wpRthFallbackIsActive = IS_RC_MODE_ACTIVE(BOXNAVWP) && !canActivateWaypoint; + } + + /* Pilot-triggered RTH, also fall-back for WP if no mission is loaded. + * Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss + * Without this loss of any of the canActivateNavigation && canActivateAltHold + * will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back + * logic kicking in (waiting for GPS on airplanes, switch to emergency landing etc) */ if (IS_RC_MODE_ACTIVE(BOXNAVRTH) || wpRthFallbackIsActive) { - // Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss - // Without this loss of any of the canActivateNavigation && canActivateAltHold - // will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back - // logic kicking in (waiting for GPS on airplanes, switch to emergency landing etc) if (isExecutingRTH || (canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) { return NAV_FSM_EVENT_SWITCH_TO_RTH; } @@ -4268,11 +4328,11 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void) // Pilot-activated waypoint mission. Fall-back to RTH if no mission loaded. // Also check multimission mission change status before activating WP mode. #ifdef USE_MULTI_MISSION - if (updateWpMissionChange() && IS_RC_MODE_ACTIVE(BOXNAVWP) && canActivateWaypoint) { + if (updateWpMissionChange() && IS_RC_MODE_ACTIVE(BOXNAVWP)) { #else - if (IS_RC_MODE_ACTIVE(BOXNAVWP) && canActivateWaypoint) { + if (IS_RC_MODE_ACTIVE(BOXNAVWP)) { #endif - if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) { + if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateWaypoint && canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) { waypointWasActivated = true; return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT; } @@ -4655,9 +4715,9 @@ void navigationUsePIDs(void) 0.0f ); - navPidInit(&posControl.pids.fw_alt, (float)pidProfile()->bank_fw.pid[PID_POS_Z].P / 10.0f, - (float)pidProfile()->bank_fw.pid[PID_POS_Z].I / 10.0f, - (float)pidProfile()->bank_fw.pid[PID_POS_Z].D / 10.0f, + navPidInit(&posControl.pids.fw_alt, (float)pidProfile()->bank_fw.pid[PID_POS_Z].P / 100.0f, + (float)pidProfile()->bank_fw.pid[PID_POS_Z].I / 100.0f, + (float)pidProfile()->bank_fw.pid[PID_POS_Z].D / 100.0f, 0.0f, NAV_DTERM_CUT_HZ, 0.0f @@ -4766,9 +4826,9 @@ void abortForcedRTH(void) rthState_e getStateOfForcedRTH(void) { - /* If forced RTH activated and in AUTO_RTH or EMERG state */ - if (posControl.flags.forcedRTHActivated && (navGetStateFlags(posControl.navState) & (NAV_AUTO_RTH | NAV_CTL_EMERG | NAV_MIXERAT))) { - if (posControl.navState == NAV_STATE_RTH_FINISHED || posControl.navState == NAV_STATE_EMERGENCY_LANDING_FINISHED) { + /* If forced RTH activated and in AUTO_RTH, EMERG state or FW Auto Landing */ + if (posControl.flags.forcedRTHActivated && ((navGetStateFlags(posControl.navState) & (NAV_AUTO_RTH | NAV_CTL_EMERG | NAV_MIXERAT)) || FLIGHT_MODE(NAV_FW_AUTOLAND))) { + if (posControl.navState == NAV_STATE_RTH_FINISHED || posControl.navState == NAV_STATE_EMERGENCY_LANDING_FINISHED || posControl.navState == NAV_STATE_FW_LANDING_FINISHED) { return RTH_HAS_LANDED; } else { @@ -4849,6 +4909,12 @@ bool navigationIsFlyingAutonomousMode(void) bool navigationRTHAllowsLanding(void) { +#ifdef USE_FW_AUTOLAND + if (posControl.fwLandState.landAborted) { + return false; + } +#endif + // WP mission RTH landing setting if (isWaypointMissionRTHActive() && isWaypointMissionValid()) { return posControl.waypointList[posControl.startWpIndex + posControl.waypointCount - 1].p1 > 0; @@ -5006,21 +5072,9 @@ void resetFwAutolandApproach(int8_t idx) } } -bool isFwLandInProgess(void) +bool canFwLandingBeCancelled(void) { - return posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER - || posControl.navState == NAV_STATE_FW_LANDING_LOITER - || posControl.navState == NAV_STATE_FW_LANDING_APPROACH - || posControl.navState == NAV_STATE_FW_LANDING_GLIDE - || posControl.navState == NAV_STATE_FW_LANDING_FLARE; -} - -bool canFwLandCanceld(void) -{ - return posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER - || posControl.navState == NAV_STATE_FW_LANDING_LOITER - || posControl.navState == NAV_STATE_FW_LANDING_APPROACH - || posControl.navState == NAV_STATE_FW_LANDING_GLIDE; + return FLIGHT_MODE(NAV_FW_AUTOLAND) && posControl.navState != NAV_STATE_FW_LANDING_FLARE; } #endif diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h index 84e5390d43e..0613a19c24e 100644 --- a/src/main/navigation/navigation.h +++ b/src/main/navigation/navigation.h @@ -193,9 +193,9 @@ typedef enum { } navRTHClimbFirst_e; typedef enum { // keep aligned with fixedWingLaunchState_t - FW_LAUNCH_DETECTED = 4, - FW_LAUNCH_ABORTED = 9, - FW_LAUNCH_FLYING = 10, + FW_LAUNCH_DETECTED = 5, + FW_LAUNCH_ABORTED = 10, + FW_LAUNCH_FLYING = 11, } navFwLaunchStatus_e; typedef enum { @@ -234,7 +234,6 @@ typedef struct positionEstimationConfig_s { uint8_t reset_altitude_type; // from nav_reset_type_e uint8_t reset_home_type; // nav_reset_type_e uint8_t gravity_calibration_tolerance; // Tolerance of gravity calibration (cm/s/s) - uint8_t use_gps_velned; uint8_t allow_dead_reckoning; uint16_t max_surface_altitude; @@ -265,7 +264,7 @@ typedef struct positionEstimationConfig_s { #ifdef USE_GPS_FIX_ESTIMATION uint8_t allow_gps_fix_estimation; -#endif +#endif } positionEstimationConfig_t; PG_DECLARE(positionEstimationConfig_t, positionEstimationConfig); @@ -329,7 +328,7 @@ typedef struct navConfig_s { struct { uint8_t max_bank_angle; // multicopter max banking angle (deg) - uint16_t max_auto_climb_rate; // max vertical speed limitation cm/sec + uint16_t max_auto_climb_rate; // max vertical speed limitation nav modes cm/sec uint16_t max_manual_climb_rate; // manual velocity control max vertical speed #ifdef USE_MR_BRAKING_MODE @@ -351,6 +350,7 @@ typedef struct navConfig_s { struct { uint8_t max_bank_angle; // Fixed wing max banking angle (deg) + uint16_t max_auto_climb_rate; // max vertical speed limitation nav modes cm/sec uint16_t max_manual_climb_rate; // manual velocity control max vertical speed uint8_t max_climb_angle; // Fixed wing max banking angle (deg) uint8_t max_dive_angle; // Fixed wing max banking angle (deg) @@ -367,6 +367,7 @@ typedef struct navConfig_s { uint16_t launch_time_thresh; // Time threshold for launch detection (ms) uint16_t launch_motor_timer; // Time to wait before setting launch_throttle (ms) uint16_t launch_idle_motor_timer; // Time to wait before motor starts at_idle throttle (ms) + uint8_t launch_wiggle_wake_idle; // Activate the idle throttle by wiggling the plane. 0 = disabled, 1 or 2 specify the number of wiggles. uint16_t launch_motor_spinup_time; // Time to speed-up motors from idle to launch_throttle (ESC desync prevention) uint16_t launch_end_time; // Time to make the transition from launch angle to leveled and throttle transition from launch throttle to the stick position uint16_t launch_min_time; // Minimum time in launch mode to prevent possible bump of the sticks from leaving launch mode early @@ -702,8 +703,7 @@ uint8_t getActiveWpNumber(void); int32_t navigationGetHomeHeading(void); #ifdef USE_FW_AUTOLAND -bool isFwLandInProgess(void); -bool canFwLandCanceld(void); +bool canFwLandingBeCancelled(void); #endif /* Compatibility data */ diff --git a/src/main/navigation/navigation_declination_gen.c b/src/main/navigation/navigation_declination_gen.c index 04e1c731726..c7d632cd87c 100644 --- a/src/main/navigation/navigation_declination_gen.c +++ b/src/main/navigation/navigation_declination_gen.c @@ -1,7 +1,7 @@ /* this file is automatically generated by src/utils/declination.py - DO NOT EDIT! */ -/* Updated on 2019-05-16 19:59:45.672184 */ +/* Updated on 2024-04-19 12:54:15.842704 */ #include @@ -16,25 +16,25 @@ #define SAMPLING_MAX_LAT 90.00000f static const float declination_table[19][37] = { - {149.21545f,139.21545f,129.21545f,119.21545f,109.21545f,99.21545f,89.21545f,79.21545f,69.21545f,59.21545f,49.21545f,39.21545f,29.21545f,19.21545f,9.21545f,-0.78455f,-10.78455f,-20.78455f,-30.78455f,-40.78455f,-50.78455f,-60.78455f,-70.78455f,-80.78455f,-90.78455f,-100.78455f,-110.78455f,-120.78455f,-130.78455f,-140.78455f,-150.78455f,-160.78455f,-170.78455f,179.21545f,169.21545f,159.21545f,149.21545f}, - {129.49173f,117.24379f,106.10409f,95.92286f,86.51411f,77.69583f,69.30955f,61.22803f,53.35622f,45.62814f,38.00071f,30.44524f,22.93795f,15.45138f,7.94874f,0.38309f,-7.29841f,-15.14665f,-23.20230f,-31.49030f,-40.01947f,-48.78754f,-57.79007f,-67.03110f,-76.53295f,-86.34401f,-96.54357f,-107.24276f,-118.57946f,-130.70159f,-143.72988f,-157.69312f,-172.44642f,172.37735f,157.31228f,142.89420f,129.49173f}, - {85.58549f,77.67225f,71.30884f,65.86377f,60.92589f,56.17990f,51.37001f,46.30480f,40.87538f,35.06788f,28.95999f,22.69753f,16.44959f,10.34723f,4.42361f,-1.41547f,-7.36729f,-13.65814f,-20.45428f,-27.80115f,-35.61613f,-43.73164f,-51.96263f,-60.16701f,-68.28139f,-76.33426f,-84.45291f,-92.88710f,-102.08596f,-112.90534f,-127.14324f,-148.72029f,177.01697f,138.42469f,112.13402f,96.22709f,85.58549f}, - {47.63660f,46.34868f,44.88668f,43.46724f,42.13334f,40.75578f,39.03991f,36.60567f,33.13133f,28.48297f,22.78165f,16.40811f,9.93011f,3.92458f,-1.26916f,-5.73344f,-9.95561f,-14.59663f,-20.17634f,-26.83800f,-34.30473f,-42.04900f,-49.54378f,-56.41737f,-62.46557f,-67.58445f,-71.67147f,-74.48888f,-75.41488f,-72.72854f,-60.65739f,-20.78150f,26.31817f,42.64478f,47.39885f,48.29568f,47.63660f}, - {30.97061f,31.18244f,30.92007f,30.51421f,30.19783f,30.07382f,29.96272f,29.32724f,27.44230f,23.71829f,17.99066f,10.70786f,2.93356f,-4.02123f,-9.25421f,-12.72420f,-15.16719f,-17.68585f,-21.36741f,-26.80526f,-33.62817f,-40.77079f,-47.22749f,-52.37678f,-55.85085f,-57.33789f,-56.38997f,-52.20324f,-43.65581f,-30.23589f,-13.76879f,1.84396f,13.87138f,22.01689f,27.05355f,29.80197f,30.97061f}, - {22.35701f,22.87747f,22.95380f,22.77246f,22.50130f,22.37009f,22.48347f,22.51381f,21.59756f,18.63829f,12.92222f,4.75452f,-4.29892f,-12.13023f,-17.44827f,-20.36076f,-21.71093f,-22.23838f,-22.95576f,-25.55066f,-30.56100f,-36.48539f,-41.58017f,-44.82620f,-45.65465f,-43.72977f,-38.84914f,-30.98997f,-21.09926f,-11.31468f,-3.00404f,3.97652f,9.93802f,14.84528f,18.57977f,21.04644f,22.35701f}, - {16.83374f,17.31701f,17.52984f,17.52512f,17.27497f,16.89826f,16.64631f,16.52197f,15.82359f,13.20018f,7.50544f,-1.01430f,-10.31063f,-17.86218f,-22.52054f,-24.77956f,-25.51811f,-24.67883f,-22.16922f,-20.17352f,-21.46713f,-25.48482f,-29.63408f,-31.91043f,-31.42054f,-28.23519f,-22.87573f,-15.95318f,-8.88587f,-3.41726f,0.43088f,3.87433f,7.44305f,10.85242f,13.73685f,15.75505f,16.83374f}, - {13.16653f,13.42584f,13.56856f,13.64914f,13.49908f,13.04415f,12.54312f,12.17294f,11.33249f,8.62333f,2.85124f,-5.49975f,-14.06214f,-20.49962f,-23.98868f,-24.97282f,-24.13471f,-21.32697f,-16.43179f,-11.33581f,-9.07326f,-10.72561f,-14.43596f,-17.29905f,-17.69300f,-15.77796f,-12.24267f,-7.56947f,-3.00400f,-0.11834f,1.39928f,3.14408f,5.63638f,8.32414f,10.72028f,12.39111f,13.16653f}, - {10.90437f,10.88236f,10.81163f,10.86511f,10.80010f,10.39894f,9.91702f,9.49494f,8.41184f,5.36760f,-0.47690f,-8.26124f,-15.66061f,-20.76090f,-22.78986f,-21.89942f,-18.89020f,-14.52921f,-9.53528f,-4.91597f,-1.91353f,-1.76484f,-4.25201f,-7.17489f,-8.55660f,-8.15241f,-6.39303f,-3.54345f,-0.64444f,0.81130f,1.15035f,2.11074f,4.17898f,6.59237f,8.80142f,10.33532f,10.90437f}, - {9.69156f,9.50282f,9.23338f,9.25605f,9.28344f,8.98186f,8.56848f,8.04846f,6.56771f,3.06569f,-2.75457f,-9.75616f,-15.91853f,-19.62874f,-20.10653f,-17.62100f,-13.38807f,-8.80249f,-4.83206f,-1.62618f,0.85458f,1.72352f,0.35339f,-2.00271f,-3.58526f,-3.93648f,-3.30170f,-1.78891f,-0.13334f,0.41999f,0.14853f,0.72192f,2.61852f,5.02104f,7.34668f,9.06648f,9.69156f}, - {8.99220f,9.02256f,8.80901f,8.93941f,9.15462f,8.99412f,8.49413f,7.54605f,5.38233f,1.29060f,-4.51973f,-10.72800f,-15.61393f,-17.87879f,-17.08037f,-13.87843f,-9.54744f,-5.34026f,-2.15287f,0.11672f,2.02473f,3.04733f,2.31093f,0.47960f,-0.96646f,-1.54925f,-1.53032f,-1.00772f,-0.42112f,-0.63497f,-1.37540f,-1.17754f,0.48492f,2.94585f,5.61932f,7.87900f,8.99220f}, - {8.04368f,8.88487f,9.24731f,9.76871f,10.30385f,10.32830f,9.60849f,7.94603f,4.81731f,-0.08975f,-6.10101f,-11.65411f,-15.25677f,-16.15822f,-14.52060f,-11.22653f,-7.24580f,-3.44558f,-0.61333f,1.25309f,2.76805f,3.73177f,3.36695f,1.97948f,0.74967f,0.13075f,-0.18979f,-0.42444f,-0.85420f,-1.93961f,-3.28866f,-3.62225f,-2.35247f,0.08639f,3.11990f,6.05468f,8.04368f}, - {6.44887f,8.52898f,10.00772f,11.25814f,12.19628f,12.38325f,11.43950f,9.05774f,4.87180f,-1.07081f,-7.58681f,-12.76972f,-15.34699f,-15.21292f,-13.06213f,-9.80318f,-6.10115f,-2.52848f,0.26062f,2.11110f,3.47313f,4.40612f,4.43031f,3.60979f,2.68625f,2.01876f,1.34276f,0.35243f,-1.18272f,-3.35038f,-5.50704f,-6.45531f,-5.60558f,-3.25332f,0.01287f,3.49652f,6.44887f}, - {4.61309f,7.91484f,10.67459f,12.86217f,14.28349f,14.59916f,13.44634f,10.43327f,5.19620f,-1.95110f,-9.25904f,-14.43995f,-16.45824f,-15.72227f,-13.22423f,-9.85034f,-6.14231f,-2.53072f,0.48676f,2.68447f,4.29956f,5.52570f,6.19623f,6.20084f,5.73301f,4.92006f,3.60085f,1.53163f,-1.39438f,-4.87688f,-7.94536f,-9.43097f,-8.85100f,-6.51552f,-3.06017f,0.84306f,4.61309f}, - {3.21875f,7.41586f,11.19354f,14.28261f,16.32057f,16.89633f,15.56524f,11.80300f,5.20653f,-3.55470f,-11.97809f,-17.43029f,-19.22616f,-18.17302f,-15.37952f,-11.69571f,-7.65025f,-3.63286f,-0.01295f,2.99661f,5.46716f,7.56207f,9.25413f,10.31810f,10.49165f,9.54146f,7.26006f,3.54973f,-1.33752f,-6.50635f,-10.55663f,-12.38793f,-11.79132f,-9.25449f,-5.49875f,-1.18292f,3.21875f}, - {2.52051f,7.33138f,11.79037f,15.58977f,18.29190f,19.30865f,17.85567f,12.95067f,3.98293f,-7.53431f,-17.54806f,-23.19596f,-24.60407f,-23.07402f,-19.77569f,-15.49637f,-10.73649f,-5.85097f,-1.12175f,3.26826f,7.26895f,10.88888f,14.03678f,16.41453f,17.52792f,16.76756f,13.54324f,7.61980f,-0.22282f,-7.89770f,-13.19396f,-15.21847f,-14.33135f,-11.37454f,-7.18383f,-2.40863f,2.52051f}, - {2.02983f,7.36989f,12.37081f,16.71056f,19.89761f,21.11515f,18.97400f,11.40232f,-2.70274f,-18.81527f,-29.66002f,-33.88571f,-33.57644f,-30.58814f,-26.04521f,-20.59815f,-14.64262f,-8.44459f,-2.20066f,3.93897f,9.85468f,15.42277f,20.45728f,24.64081f,27.44761f,28.04182f,25.18387f,17.54097f,5.49796f,-6.72811f,-14.58218f,-17.34691f,-16.39748f,-13.14509f,-8.58967f,-3.38880f,2.02983f}, - {0.42359f,5.67280f,10.45897f,14.18719f,15.84273f,13.44387f,3.31185f,-17.06908f,-37.86930f,-48.41039f,-50.74957f,-48.66334f,-44.20871f,-38.40471f,-31.78712f,-24.66267f,-17.22360f,-9.60278f,-1.90231f,5.78964f,13.38658f,20.79088f,27.87654f,34.46122f,40.25514f,44.75763f,47.03469f,45.25758f,36.18138f,17.77476f,-1.60905f,-12.11869f,-14.89059f,-13.37813f,-9.65915f,-4.84192f,0.42359f}, - {-178.76222f,-168.76222f,-158.76222f,-148.76222f,-138.76222f,-128.76222f,-118.76222f,-108.76222f,-98.76222f,-88.76222f,-78.76222f,-68.76222f,-58.76222f,-48.76222f,-38.76222f,-28.76222f,-18.76222f,-8.76222f,1.23778f,11.23778f,21.23778f,31.23778f,41.23778f,51.23778f,61.23778f,71.23778f,81.23778f,91.23778f,101.23778f,111.23778f,121.23778f,131.23778f,141.23778f,151.23778f,161.23778f,171.23778f,-178.76222f} + {148.63040f,138.63040f,128.63040f,118.63040f,108.63040f,98.63040f,88.63040f,78.63040f,68.63040f,58.63040f,48.63040f,38.63040f,28.63040f,18.63040f,8.63040f,-1.36960f,-11.36960f,-21.36960f,-31.36960f,-41.36960f,-51.36960f,-61.36960f,-71.36960f,-81.36960f,-91.36960f,-101.36960f,-111.36960f,-121.36960f,-131.36960f,-141.36960f,-151.36960f,-161.36960f,-171.36960f,178.63040f,168.63040f,158.63040f,148.63040f}, + {128.87816f,116.70769f,105.62443f,95.48127f,86.09683f,77.29367f,68.91718f,60.84302f,52.97822f,45.25811f,37.64003f,30.09478f,22.59702f,15.11676f,7.61418f,0.03947f,-7.66207f,-15.54157f,-23.63819f,-31.97410f,-40.55489f,-49.37538f,-58.42917f,-67.71936f,-77.26833f,-87.12519f,-97.37007f,-108.11458f,-119.49579f,-131.65830f,-144.71588f,-158.68662f,-173.41452f,171.47213f,156.49935f,142.18469f,128.87816f}, + {85.86755f,77.88182f,71.42849f,65.89217f,60.86962f,56.04972f,51.17842f,46.06489f,40.60132f,34.77619f,28.67056f,22.43282f,16.23087f,10.18755f,4.31917f,-1.49067f,-7.45797f,-13.81467f,-20.71641f,-28.18762f,-36.12471f,-44.34676f,-52.66473f,-60.93937f,-69.11381f,-77.22546f,-85.41334f,-93.94372f,-103.29064f,-114.35005f,-128.97727f,-151.06023f,174.83520f,137.67818f,112.23020f,96.52063f,85.86756f}, + {48.43188f,46.98353f,45.36982f,43.80186f,42.32760f,40.82382f,38.99678f,36.46379f,32.90329f,28.18877f,22.45599f,16.10387f,9.71432f,3.86202f,-1.14650f,-5.45997f,-9.64078f,-14.38658f,-20.18766f,-27.11174f,-34.80967f,-42.71859f,-50.31107f,-57.23008f,-63.28782f,-68.39719f,-72.47622f,-75.31221f,-76.30788f,-73.74072f,-61.55512f,-18.96160f,29.20071f,44.46666f,48.67974f,49.28540f,48.43188f}, + {31.58850f,31.74835f,31.39924f,30.87678f,30.43574f,30.19800f,29.98360f,29.24010f,27.23113f,23.37602f,17.54538f,10.24099f,2.57680f,-4.11819f,-8.98330f,-12.08874f,-14.32383f,-16.91831f,-20.97106f,-26.92020f,-34.17714f,-41.56631f,-48.09571f,-53.19469f,-56.53278f,-57.82558f,-56.66031f,-52.27310f,-43.55594f,-29.95085f,-13.24765f,2.54212f,14.60798f,22.72224f,27.72553f,30.44935f,31.58850f}, + {22.79850f,23.32533f,23.34746f,23.05694f,22.66226f,22.42885f,22.46289f,22.41289f,21.37705f,18.23370f,12.30982f,4.02530f,-4.93197f,-12.42012f,-17.23389f,-19.62803f,-20.56810f,-20.93312f,-21.98947f,-25.41090f,-31.19026f,-37.44166f,-42.49725f,-45.51856f,-46.02918f,-43.74555f,-38.55838f,-30.56411f,-20.73773f,-11.07131f,-2.79308f,4.21937f,10.21441f,15.15242f,18.92948f,21.44642f,22.79850f}, + {17.16987f,17.68582f,17.85385f,17.73377f,17.34906f,16.86130f,16.52747f,16.34574f,15.56790f,12.74839f,6.74610f,-2.00418f,-11.22826f,-18.37193f,-22.46233f,-24.19496f,-24.47888f,-23.22908f,-20.72783f,-19.60150f,-21.98233f,-26.43395f,-30.43203f,-32.35125f,-31.47499f,-27.95264f,-22.40690f,-15.51422f,-8.63620f,-3.35146f,0.42144f,3.87188f,7.48128f,10.95260f,13.91406f,16.01563f,17.16987f}, + {13.46149f,13.75829f,13.85281f,13.81813f,13.52893f,12.94281f,12.32698f,11.88976f,11.00215f,8.11359f,1.99478f,-6.62228f,-15.08744f,-21.05798f,-23.92224f,-24.34577f,-23.04831f,-19.84546f,-14.88685f,-10.38631f,-9.06427f,-11.31395f,-15.06340f,-17.65505f,-17.71488f,-15.54256f,-11.89991f,-7.27581f,-2.87289f,-0.16517f,1.24684f,2.97092f,5.51371f,8.29954f,10.80542f,12.58786f,13.46149f}, + {11.19370f,11.20122f,11.07257f,11.02175f,10.82482f,10.26986f,9.62418f,9.09716f,7.97068f,4.77978f,-1.35469f,-9.31946f,-16.55524f,-21.15274f,-22.50861f,-21.01857f,-17.63827f,-13.15823f,-8.29683f,-4.01764f,-1.51484f,-1.87967f,-4.62279f,-7.47003f,-8.63091f,-8.05888f,-6.24442f,-3.42551f,-0.62936f,0.67783f,0.89029f,1.80510f,3.93778f,6.48671f,8.83523f,10.50781f,11.19370f}, + {9.96310f,9.79689f,9.46606f,9.40362f,9.31492f,8.84240f,8.22130f,7.55735f,6.02850f,2.43377f,-3.55150f,-10.60044f,-16.54723f,-19.75861f,-19.59018f,-16.58982f,-12.16100f,-7.67553f,-3.93189f,-0.91522f,1.34973f,1.87637f,0.22653f,-2.15228f,-3.61566f,-3.90720f,-3.29932f,-1.83286f,-0.23997f,0.20367f,-0.19418f,0.32122f,2.29252f,4.85536f,7.33778f,9.21090f,9.96310f}, + {9.18888f,9.24336f,8.98253f,9.05281f,9.17191f,8.83598f,8.10836f,7.00345f,4.80464f,0.69064f,-5.15618f,-11.30079f,-15.93916f,-17.74937f,-16.42349f,-12.86230f,-8.44857f,-4.38855f,-1.42704f,0.70613f,2.51072f,3.31152f,2.34785f,0.48172f,-0.89199f,-1.49634f,-1.59901f,-1.18437f,-0.66243f,-0.94842f,-1.78088f,-1.62463f,0.11657f,2.73547f,5.55820f,7.95812f,9.18888f}, + {8.09034f,8.95675f,9.30400f,9.80188f,10.27100f,10.13647f,9.19791f,7.38846f,4.25004f,-0.60600f,-6.53915f,-11.93135f,-15.26054f,-15.79066f,-13.79060f,-10.27561f,-6.25103f,-2.56551f,0.07346f,1.80766f,3.24155f,4.05015f,3.51428f,2.10305f,0.93136f,0.25053f,-0.27213f,-0.70545f,-1.24346f,-2.37500f,-3.75122f,-4.07408f,-2.71911f,-0.15132f,2.99380f,6.02278f,8.09034f}, + {6.27792f,8.37723f,9.88296f,11.16334f,12.08487f,12.15767f,11.03142f,8.51947f,4.34248f,-1.47518f,-7.78911f,-12.71269f,-15.01118f,-14.61457f,-12.25578f,-8.87216f,-5.13675f,-1.63793f,0.99774f,2.71417f,3.98293f,4.78698f,4.67468f,3.82712f,2.93970f,2.18792f,1.25958f,-0.01231f,-1.71794f,-3.92282f,-6.03566f,-6.90283f,-5.95491f,-3.51614f,-0.20102f,3.30598f,6.27792f}, + {4.15672f,7.47883f,10.31556f,12.59798f,14.06987f,14.34572f,13.08042f,9.97537f,4.77447f,-2.16465f,-9.14687f,-14.00316f,-15.77819f,-14.88455f,-12.28640f,-8.84845f,-5.11869f,-1.55612f,1.34605f,3.41756f,4.91977f,6.01696f,6.56254f,6.51350f,6.02774f,5.09138f,3.48456f,1.07344f,-2.08240f,-5.60383f,-8.56486f,-9.89888f,-9.20525f,-6.83312f,-3.41374f,0.42499f,4.15672f}, + {2.38746f,6.60961f,10.51138f,13.76537f,15.94256f,16.59043f,15.27093f,11.52705f,5.06990f,-3.36003f,-11.36932f,-16.51244f,-18.15167f,-17.03678f,-14.21651f,-10.51524f,-6.47146f,-2.49805f,1.03216f,3.92789f,6.27640f,8.24229f,9.81368f,10.78355f,10.85070f,9.68870f,7.04509f,2.91449f,-2.25894f,-7.44786f,-11.30963f,-12.92043f,-12.20858f,-9.70263f,-6.08438f,-1.92562f,2.38746f}, + {1.14371f,5.95768f,10.55039f,14.56595f,17.51248f,18.77049f,17.56825f,12.99646f,4.54568f,-6.33792f,-15.91121f,-21.43028f,-22.88293f,-21.44177f,-18.22110f,-13.99911f,-9.28961f,-4.46489f,0.18470f,4.47851f,8.37200f,11.87759f,14.90388f,17.13814f,18.04159f,16.93503f,13.18748f,6.66358f,-1.56678f,-9.20492f,-14.20053f,-15.96059f,-14.99797f,-12.15657f,-8.19328f,-3.64820f,1.14371f}, + {-0.35955f,4.92766f,9.99739f,14.51863f,17.99503f,19.64821f,18.23668f,11.99980f,-0.09657f,-14.74873f,-25.55246f,-30.33910f,-30.58104f,-28.00627f,-23.75441f,-18.51083f,-12.70165f,-6.61593f,-0.46628f,5.58665f,11.41580f,16.88997f,21.81133f,25.83916f,28.40134f,28.57592f,24.99531f,16.28607f,3.28542f,-9.10495f,-16.59733f,-19.05958f,-18.04316f,-14.91590f,-10.58486f,-5.61478f,-0.35955f}, + {-5.35521f,-0.10619f,4.69597f,8.54683f,10.65268f,9.65875f,3.42678f,-9.71040f,-26.04578f,-37.63969f,-42.28407f,-42.02380f,-38.82980f,-33.88684f,-27.86664f,-21.16414f,-14.02720f,-6.62426f,0.91924f,8.49972f,16.02040f,23.37681f,30.43782f,37.01500f,42.80483f,47.26542f,49.32663f,46.69337f,34.75696f,10.85970f,-10.89085f,-20.36338f,-21.94791f,-19.71753f,-15.63466f,-10.66363f,-5.35521f}, + {-166.99999f,-156.99999f,-146.99999f,-136.99999f,-126.99999f,-116.99999f,-106.99999f,-96.99999f,-86.99999f,-76.99999f,-66.99999f,-56.99999f,-46.99999f,-36.99999f,-26.99999f,-16.99999f,-6.99999f,3.00001f,13.00001f,23.00001f,33.00000f,43.00000f,53.00000f,63.00000f,73.00000f,83.00000f,93.00000f,103.00000f,113.00000f,123.00000f,133.00000f,143.00000f,153.00000f,163.00000f,173.00000f,-177.00000f,-167.00000f} }; #else /* !NAV_AUTO_MAG_DECLINATION_PRECISE */ @@ -45,19 +45,19 @@ static const float declination_table[19][37] = { #define SAMPLING_MAX_LAT 60.00000f static const int8_t declination_table[13][37] = { - {48,46,45,43,42,41,39,37,33,28,23,16,10,4,-1,-6,-10,-15,-20,-27,-34,-42,-50,-56,-62,-68,-72,-74,-75,-73,-61,-21,26,43,47,48,48}, - {31,31,31,31,30,30,30,29,27,24,18,11,3,-4,-9,-13,-15,-18,-21,-27,-34,-41,-47,-52,-56,-57,-56,-52,-44,-30,-14,2,14,22,27,30,31}, - {22,23,23,23,23,22,22,23,22,19,13,5,-4,-12,-17,-20,-22,-22,-23,-26,-31,-36,-42,-45,-46,-44,-39,-31,-21,-11,-3,4,10,15,19,21,22}, - {17,17,18,18,17,17,17,17,16,13,8,-1,-10,-18,-23,-25,-26,-25,-22,-20,-21,-25,-30,-32,-31,-28,-23,-16,-9,-3,0,4,7,11,14,16,17}, - {13,13,14,14,13,13,13,12,11,9,3,-5,-14,-20,-24,-25,-24,-21,-16,-11,-9,-11,-14,-17,-18,-16,-12,-8,-3,0,1,3,6,8,11,12,13}, - {11,11,11,11,11,10,10,9,8,5,0,-8,-16,-21,-23,-22,-19,-15,-10,-5,-2,-2,-4,-7,-9,-8,-6,-4,-1,1,1,2,4,7,9,10,11}, - {10,10,9,9,9,9,9,8,7,3,-3,-10,-16,-20,-20,-18,-13,-9,-5,-2,1,2,0,-2,-4,-4,-3,-2,0,0,0,1,3,5,7,9,10}, - {9,9,9,9,9,9,8,8,5,1,-5,-11,-16,-18,-17,-14,-10,-5,-2,0,2,3,2,0,-1,-2,-2,-1,0,-1,-1,-1,0,3,6,8,9}, - {8,9,9,10,10,10,10,8,5,0,-6,-12,-15,-16,-15,-11,-7,-3,-1,1,3,4,3,2,1,0,0,0,-1,-2,-3,-4,-2,0,3,6,8}, - {6,9,10,11,12,12,11,9,5,-1,-8,-13,-15,-15,-13,-10,-6,-3,0,2,3,4,4,4,3,2,1,0,-1,-3,-6,-6,-6,-3,0,3,6}, - {5,8,11,13,14,15,13,10,5,-2,-9,-14,-16,-16,-13,-10,-6,-3,0,3,4,6,6,6,6,5,4,2,-1,-5,-8,-9,-9,-7,-3,1,5}, - {3,7,11,14,16,17,16,12,5,-4,-12,-17,-19,-18,-15,-12,-8,-4,0,3,5,8,9,10,10,10,7,4,-1,-7,-11,-12,-12,-9,-5,-1,3}, - {3,7,12,16,18,19,18,13,4,-8,-18,-23,-25,-23,-20,-15,-11,-6,-1,3,7,11,14,16,18,17,14,8,0,-8,-13,-15,-14,-11,-7,-2,3} + {48,47,45,44,42,41,39,36,33,28,22,16,10,4,-1,-5,-10,-14,-20,-27,-35,-43,-50,-57,-63,-68,-72,-75,-76,-74,-62,-19,29,44,49,49,48}, + {32,32,31,31,30,30,30,29,27,23,18,10,3,-4,-9,-12,-14,-17,-21,-27,-34,-42,-48,-53,-57,-58,-57,-52,-44,-30,-13,3,15,23,28,30,32}, + {23,23,23,23,23,22,22,22,21,18,12,4,-5,-12,-17,-20,-21,-21,-22,-25,-31,-37,-42,-46,-46,-44,-39,-31,-21,-11,-3,4,10,15,19,21,23}, + {17,18,18,18,17,17,17,16,16,13,7,-2,-11,-18,-22,-24,-24,-23,-21,-20,-22,-26,-30,-32,-31,-28,-22,-16,-9,-3,0,4,7,11,14,16,17}, + {13,14,14,14,14,13,12,12,11,8,2,-7,-15,-21,-24,-24,-23,-20,-15,-10,-9,-11,-15,-18,-18,-16,-12,-7,-3,0,1,3,6,8,11,13,13}, + {11,11,11,11,11,10,10,9,8,5,-1,-9,-17,-21,-23,-21,-18,-13,-8,-4,-2,-2,-5,-7,-9,-8,-6,-3,-1,1,1,2,4,6,9,11,11}, + {10,10,9,9,9,9,8,8,6,2,-4,-11,-17,-20,-20,-17,-12,-8,-4,-1,1,2,0,-2,-4,-4,-3,-2,0,0,0,0,2,5,7,9,10}, + {9,9,9,9,9,9,8,7,5,1,-5,-11,-16,-18,-16,-13,-8,-4,-1,1,3,3,2,0,-1,-1,-2,-1,-1,-1,-2,-2,0,3,6,8,9}, + {8,9,9,10,10,10,9,7,4,-1,-7,-12,-15,-16,-14,-10,-6,-3,0,2,3,4,4,2,1,0,0,-1,-1,-2,-4,-4,-3,0,3,6,8}, + {6,8,10,11,12,12,11,9,4,-1,-8,-13,-15,-15,-12,-9,-5,-2,1,3,4,5,5,4,3,2,1,0,-2,-4,-6,-7,-6,-4,0,3,6}, + {4,7,10,13,14,14,13,10,5,-2,-9,-14,-16,-15,-12,-9,-5,-2,1,3,5,6,7,7,6,5,3,1,-2,-6,-9,-10,-9,-7,-3,0,4}, + {2,7,11,14,16,17,15,12,5,-3,-11,-17,-18,-17,-14,-11,-6,-2,1,4,6,8,10,11,11,10,7,3,-2,-7,-11,-13,-12,-10,-6,-2,2}, + {1,6,11,15,18,19,18,13,5,-6,-16,-21,-23,-21,-18,-14,-9,-4,0,4,8,12,15,17,18,17,13,7,-2,-9,-14,-16,-15,-12,-8,-4,1} }; #endif diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c index db4b3229d58..71a7f99fc34 100755 --- a/src/main/navigation/navigation_fixedwing.c +++ b/src/main/navigation/navigation_fixedwing.c @@ -122,7 +122,7 @@ bool adjustFixedWingAltitudeFromRCInput(void) else { // Adjusting finished - reset desired position to stay exactly where pilot released the stick if (posControl.flags.isAdjustingAltitude) { - updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET); + updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_CURRENT); } return false; } @@ -133,46 +133,30 @@ static void updateAltitudeVelocityAndPitchController_FW(timeDelta_t deltaMicros) { static pt1Filter_t velzFilterState; - // On a fixed wing we might not have a reliable climb rate source (if no BARO available), so we can't apply PID controller to - // velocity error. We use PID controller on altitude error and calculate desired pitch angle + float desiredClimbRate = getDesiredClimbRate(posControl.desiredState.pos.z, deltaMicros); - // Update energies - const float demSPE = (posControl.desiredState.pos.z * 0.01f) * GRAVITY_MSS; - const float demSKE = 0.0f; - - const float estSPE = (navGetCurrentActualPositionAndVelocity()->pos.z * 0.01f) * GRAVITY_MSS; - const float estSKE = 0.0f; - - // speedWeight controls balance between potential and kinetic energy used for pitch controller - // speedWeight = 1.0 : pitch will only control airspeed and won't control altitude - // speedWeight = 0.5 : pitch will be used to control both airspeed and altitude - // speedWeight = 0.0 : pitch will only control altitude - const float speedWeight = 0.0f; // no speed sensing for now - - const float demSEB = demSPE * (1.0f - speedWeight) - demSKE * speedWeight; - const float estSEB = estSPE * (1.0f - speedWeight) - estSKE * speedWeight; - - // SEB to pitch angle gain to account for airspeed (with respect to specified reference (tuning) speed - const float pitchGainInv = 1.0f / 1.0f; + // Reduce max allowed climb rate by 2/3 if performing loiter (stall prevention) + if (needToCalculateCircularLoiter && desiredClimbRate > 0.67f * navConfig()->fw.max_auto_climb_rate) { + desiredClimbRate = 0.67f * navConfig()->fw.max_auto_climb_rate; + } // Here we use negative values for dive for better clarity - float maxClimbDeciDeg = DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle); + const float maxClimbDeciDeg = DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle); const float minDiveDeciDeg = -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle); - // Reduce max allowed climb pitch if performing loiter (stall prevention) - if (needToCalculateCircularLoiter) { - maxClimbDeciDeg = maxClimbDeciDeg * 0.67f; - } - - // PID controller to translate energy balance error [J] into pitch angle [decideg] - float targetPitchAngle = navPidApply3(&posControl.pids.fw_alt, demSEB, estSEB, US2S(deltaMicros), minDiveDeciDeg, maxClimbDeciDeg, 0, pitchGainInv, 1.0f); + // PID controller to translate desired climb rate error into pitch angle [decideg] + float currentClimbRate = navGetCurrentActualPositionAndVelocity()->vel.z; + float targetPitchAngle = navPidApply2(&posControl.pids.fw_alt, desiredClimbRate, currentClimbRate, US2S(deltaMicros), minDiveDeciDeg, maxClimbDeciDeg, PID_DTERM_FROM_ERROR); // Apply low-pass filter to prevent rapid correction targetPitchAngle = pt1FilterApply4(&velzFilterState, targetPitchAngle, getSmoothnessCutoffFreq(NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ), US2S(deltaMicros)); - // Reconstrain pitch angle ( >0 - climb, <0 - dive) + // Reconstrain pitch angle (> 0 - climb, < 0 - dive) targetPitchAngle = constrainf(targetPitchAngle, minDiveDeciDeg, maxClimbDeciDeg); posControl.rcAdjustment[PITCH] = targetPitchAngle; + + posControl.desiredState.vel.z = desiredClimbRate; + navDesiredVelocity[Z] = constrain(lrintf(posControl.desiredState.vel.z), -32678, 32767); } void applyFixedWingAltitudeAndThrottleController(timeUs_t currentTimeUs) @@ -271,7 +255,7 @@ static int8_t loiterDirection(void) { static void calculateVirtualPositionTarget_FW(float trackingPeriod) { - if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) { + if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) || posControl.navState == NAV_STATE_FW_LANDING_GLIDE || posControl.navState == NAV_STATE_FW_LANDING_FLARE) { return; } @@ -290,9 +274,12 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod) // Detemine if a circular loiter is required. // For waypoints only use circular loiter when angular visibility is > 30 degs, otherwise head straight toward target #define TAN_15DEG 0.26795f - needToCalculateCircularLoiter = isNavHoldPositionActive() && - (distanceToActualTarget <= (navLoiterRadius / TAN_15DEG)) && - (distanceToActualTarget > 50.0f); + + bool loiterApproachActive = isNavHoldPositionActive() && + distanceToActualTarget <= (navLoiterRadius / TAN_15DEG) && + distanceToActualTarget > 50.0f; + needToCalculateCircularLoiter = loiterApproachActive || (navGetCurrentStateFlags() & NAV_CTL_HOLD); + //if vtol landing is required, fly straight to homepoint if ((posControl.navState == NAV_STATE_RTH_HEAD_HOME) && navigationRTHAllowsLanding() && checkMixerATRequired(MIXERAT_REQUEST_LAND)){ needToCalculateCircularLoiter = false; @@ -405,7 +392,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta static bool forceTurnDirection = false; int32_t virtualTargetBearing; - if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) { + if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) || posControl.navState == NAV_STATE_FW_LANDING_GLIDE || posControl.navState == NAV_STATE_FW_LANDING_FLARE) { virtualTargetBearing = posControl.desiredState.yaw; } else { // We have virtual position target, calculate heading error @@ -643,15 +630,11 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat uint16_t correctedThrottleValue = constrain(currentBatteryProfile->nav.fw.cruise_throttle + throttleCorrection, currentBatteryProfile->nav.fw.min_throttle, currentBatteryProfile->nav.fw.max_throttle); // Manual throttle increase -#ifdef USE_FW_AUTOLAND - if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE) && !isFwLandInProgess()) { -#else - if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE)) { -#endif + if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_FW_AUTOLAND)) { if (rcCommand[THROTTLE] < PWM_RANGE_MIN + (PWM_RANGE_MAX - PWM_RANGE_MIN) * 0.95){ correctedThrottleValue += MAX(0, rcCommand[THROTTLE] - currentBatteryProfile->nav.fw.cruise_throttle); } else { - correctedThrottleValue = motorConfig()->maxthrottle; + correctedThrottleValue = getMaxThrottle(); } isAutoThrottleManuallyIncreased = (rcCommand[THROTTLE] > currentBatteryProfile->nav.fw.cruise_throttle); } else { @@ -665,7 +648,6 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat // Advanced autoland if (posControl.navState == NAV_STATE_FW_LANDING_GLIDE || posControl.navState == NAV_STATE_FW_LANDING_FLARE || STATE(LANDING_DETECTED)) { // Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled - rcCommand[THROTTLE] = getThrottleIdleValue(); ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE); if (posControl.navState == NAV_STATE_FW_LANDING_GLIDE) { @@ -727,6 +709,7 @@ bool isFixedWingLandingDetected(void) // Basic condition to start looking for landing bool startCondition = (navGetCurrentStateFlags() & (NAV_CTL_LAND | NAV_CTL_EMERG)) || FLIGHT_MODE(FAILSAFE_MODE) + || FLIGHT_MODE(NAV_FW_AUTOLAND) || (!navigationIsControllingThrottle() && throttleStickIsLow()); if (!startCondition || posControl.flags.resetLandingDetector) { @@ -786,8 +769,8 @@ void applyFixedWingEmergencyLandingController(timeUs_t currentTimeUs) rcCommand[THROTTLE] = setDesiredThrottle(currentBatteryProfile->failsafe_throttle, true); if (posControl.flags.estAltStatus >= EST_USABLE) { - // target min descent rate 10m above takeoff altitude - updateClimbRateToAltitudeController(-navConfig()->general.emerg_descent_rate, 1000.0f, ROC_TO_ALT_TARGET); + // target min descent rate at distance 2 x emerg descent rate above takeoff altitude + updateClimbRateToAltitudeController(0, 2.0f * navConfig()->general.emerg_descent_rate, ROC_TO_ALT_TARGET); applyFixedWingAltitudeAndThrottleController(currentTimeUs); int16_t pitchCorrection = constrain(posControl.rcAdjustment[PITCH], -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle)); diff --git a/src/main/navigation/navigation_fw_launch.c b/src/main/navigation/navigation_fw_launch.c index 5708e5dcaac..cc6256dbdd0 100644 --- a/src/main/navigation/navigation_fw_launch.c +++ b/src/main/navigation/navigation_fw_launch.c @@ -49,6 +49,7 @@ #include "io/gps.h" #include "sensors/battery.h" +#include "sensors/gyro.h" #define SWING_LAUNCH_MIN_ROTATION_RATE DEGREES_TO_RADIANS(100) // expect minimum 100dps rotation rate #define LAUNCH_MOTOR_IDLE_SPINUP_TIME 1500 // ms @@ -81,20 +82,22 @@ typedef enum { typedef enum { // if changed update navFwLaunchStatus_e FW_LAUNCH_STATE_WAIT_THROTTLE = 0, + FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT, FW_LAUNCH_STATE_IDLE_MOTOR_DELAY, FW_LAUNCH_STATE_MOTOR_IDLE, FW_LAUNCH_STATE_WAIT_DETECTION, - FW_LAUNCH_STATE_DETECTED, // 4 + FW_LAUNCH_STATE_DETECTED, // FW_LAUNCH_DETECTED = 5 FW_LAUNCH_STATE_MOTOR_DELAY, FW_LAUNCH_STATE_MOTOR_SPINUP, FW_LAUNCH_STATE_IN_PROGRESS, FW_LAUNCH_STATE_FINISH, - FW_LAUNCH_STATE_ABORTED, // 9 - FW_LAUNCH_STATE_FLYING, // 10 + FW_LAUNCH_STATE_ABORTED, // FW_LAUNCH_ABORTED = 10 + FW_LAUNCH_STATE_FLYING, // FW_LAUNCH_FLYING = 11 FW_LAUNCH_STATE_COUNT } fixedWingLaunchState_t; static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs_t currentTimeUs); +static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT(timeUs_t currentTimeUs); static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(timeUs_t currentTimeUs); static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_IDLE(timeUs_t currentTimeUs); static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_DETECTION(timeUs_t currentTimeUs); @@ -126,12 +129,22 @@ static const fixedWingLaunchStateDescriptor_t launchStateMachine[FW_LAUNCH_STATE [FW_LAUNCH_STATE_WAIT_THROTTLE] = { .onEntry = fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE, .onEvent = { - [FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_IDLE_MOTOR_DELAY, + [FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT, [FW_LAUNCH_EVENT_GOTO_DETECTION] = FW_LAUNCH_STATE_WAIT_DETECTION }, .messageType = FW_LAUNCH_MESSAGE_TYPE_WAIT_THROTTLE }, + [FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT] = { + .onEntry = fwLaunchState_FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT, + .onEvent = { + [FW_LAUNCH_EVENT_SUCCESS] = FW_LAUNCH_STATE_MOTOR_IDLE, + [FW_LAUNCH_EVENT_GOTO_DETECTION] = FW_LAUNCH_STATE_IDLE_MOTOR_DELAY, + [FW_LAUNCH_EVENT_THROTTLE_LOW] = FW_LAUNCH_STATE_WAIT_THROTTLE, + }, + .messageType = FW_LAUNCH_MESSAGE_TYPE_WAIT_IDLE + }, + [FW_LAUNCH_STATE_IDLE_MOTOR_DELAY] = { .onEntry = fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY, .onEvent = { @@ -243,6 +256,47 @@ static void applyThrottleIdleLogic(bool forceMixerIdle) } } +static bool hasIdleWakeWiggleSucceeded(timeUs_t currentTimeUs) { + static timeMs_t wiggleTime = 0; + static timeMs_t wigglesTime = 0; + static int8_t wiggleStageOne = 0; + static uint8_t wiggleCount = 0; + const bool isAircraftWithinLaunchAngle = (calculateCosTiltAngle() >= cos_approx(DEGREES_TO_RADIANS(navConfig()->fw.launch_max_angle))); + const uint8_t wiggleStrength = (navConfig()->fw.launch_wiggle_wake_idle == 1) ? 50 : 40; + int8_t wiggleDirection = 0; + int16_t yawRate = (int16_t)(gyroRateDps(YAW) * (4 / 16.4)); + + // Check to see if yaw rate has exceeded 50 dps. If so proceed to the next stage or continue to idle + if ((yawRate < -wiggleStrength || yawRate > wiggleStrength) && isAircraftWithinLaunchAngle) { + wiggleDirection = (yawRate > 0) ? 1 : -1; + + if (wiggleStageOne == 0) { + wiggleStageOne = wiggleDirection; + wigglesTime = US2MS(currentTimeUs); + } else if (wiggleStageOne != wiggleDirection) { + wiggleStageOne = 0; + wiggleCount++; + + if (wiggleCount == navConfig()->fw.launch_wiggle_wake_idle) { + return true; + } + } + + wiggleTime = US2MS(currentTimeUs); + } + + // If time between wiggle stages is > 100ms, or the time between two wiggles is > 1s. Reset the wiggle + if ( + ((wiggleStageOne != 0) && (US2MS(currentTimeUs) > (wiggleTime + 100))) || + ((wiggleCount != 0) && (US2MS(currentTimeUs) > (wigglesTime + 500))) + ) { + wiggleStageOne = 0; + wiggleCount = 0; + } + + return false; +} + static inline bool isLaunchMaxAltitudeReached(void) { return (navConfig()->fw.launch_max_altitude > 0) && (getEstimatedActualPosition(Z) >= navConfig()->fw.launch_max_altitude); @@ -300,6 +354,25 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_THROTTLE(timeUs return FW_LAUNCH_EVENT_NONE; } +static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_WIGGLE_WAIT(timeUs_t currentTimeUs) { + if (throttleStickIsLow()) { + return FW_LAUNCH_EVENT_THROTTLE_LOW; // go back to FW_LAUNCH_STATE_WAIT_THROTTLE + } + + if (navConfig()->fw.launch_wiggle_wake_idle == 0 || navConfig()->fw.launch_idle_motor_timer > 0 ) { + return FW_LAUNCH_EVENT_GOTO_DETECTION; + } + + applyThrottleIdleLogic(true); + + if (hasIdleWakeWiggleSucceeded(currentTimeUs)) { + idleMotorAboutToStart = false; + return FW_LAUNCH_EVENT_SUCCESS; + } + + return FW_LAUNCH_EVENT_NONE; +} + static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(timeUs_t currentTimeUs) { if (throttleStickIsLow()) { @@ -308,10 +381,11 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IDLE_MOTOR_DELAY(tim applyThrottleIdleLogic(true); - if (currentStateElapsedMs(currentTimeUs) > navConfig()->fw.launch_idle_motor_timer) { + if ((currentStateElapsedMs(currentTimeUs) > navConfig()->fw.launch_idle_motor_timer) || (navConfig()->fw.launch_wiggle_wake_idle > 0 && hasIdleWakeWiggleSucceeded(currentTimeUs))) { idleMotorAboutToStart = false; return FW_LAUNCH_EVENT_SUCCESS; } + // 5 second warning motor about to start at idle, changes Beeper sound idleMotorAboutToStart = navConfig()->fw.launch_idle_motor_timer - currentStateElapsedMs(currentTimeUs) < 5000; diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c index a9a6997a9f0..b108ef6aa31 100644 --- a/src/main/navigation/navigation_multicopter.c +++ b/src/main/navigation/navigation_multicopter.c @@ -63,28 +63,22 @@ static pt1Filter_t altholdThrottleFilterState; static bool prepareForTakeoffOnReset = false; static sqrt_controller_t alt_hold_sqrt_controller; -// Position to velocity controller for Z axis -static void updateAltitudeVelocityController_MC(timeDelta_t deltaMicros) +float getSqrtControllerVelocity(float targetAltitude, timeDelta_t deltaMicros) { - float targetVel = sqrtControllerApply( - &alt_hold_sqrt_controller, - posControl.desiredState.pos.z, - navGetCurrentActualPositionAndVelocity()->pos.z, - US2S(deltaMicros) + return sqrtControllerApply( + &alt_hold_sqrt_controller, + targetAltitude, + navGetCurrentActualPositionAndVelocity()->pos.z, + US2S(deltaMicros) ); +} - // hard limit desired target velocity to max_climb_rate - float vel_max_z = 0.0f; - - if (posControl.flags.isAdjustingAltitude) { - vel_max_z = navConfig()->mc.max_manual_climb_rate; - } else { - vel_max_z = navConfig()->mc.max_auto_climb_rate; - } - - targetVel = constrainf(targetVel, -vel_max_z, vel_max_z); +// Position to velocity controller for Z axis +static void updateAltitudeVelocityController_MC(timeDelta_t deltaMicros) +{ + float targetVel = getDesiredClimbRate(posControl.desiredState.pos.z, deltaMicros); - posControl.pids.pos[Z].output_constrained = targetVel; + posControl.pids.pos[Z].output_constrained = targetVel; // only used for Blackbox and OSD info // Limit max up/down acceleration target const float smallVelChange = US2S(deltaMicros) * (GRAVITY_CMSS * 0.1f); @@ -114,7 +108,7 @@ static void updateAltitudeThrottleController_MC(timeDelta_t deltaMicros) { // Calculate min and max throttle boundaries (to compensate for integral windup) const int16_t thrCorrectionMin = getThrottleIdleValue() - currentBatteryProfile->nav.mc.hover_throttle; - const int16_t thrCorrectionMax = motorConfig()->maxthrottle - currentBatteryProfile->nav.mc.hover_throttle; + const int16_t thrCorrectionMax = getMaxThrottle() - currentBatteryProfile->nav.mc.hover_throttle; float velocity_controller = navPidApply2(&posControl.pids.vel[Z], posControl.desiredState.vel.z, navGetCurrentActualPositionAndVelocity()->vel.z, US2S(deltaMicros), thrCorrectionMin, thrCorrectionMax, 0); @@ -127,13 +121,12 @@ static void updateAltitudeThrottleController_MC(timeDelta_t deltaMicros) bool adjustMulticopterAltitudeFromRCInput(void) { if (posControl.flags.isTerrainFollowEnabled) { - const float altTarget = scaleRangef(rcCommand[THROTTLE], getThrottleIdleValue(), motorConfig()->maxthrottle, 0, navConfig()->general.max_terrain_follow_altitude); + const float altTarget = scaleRangef(rcCommand[THROTTLE], getThrottleIdleValue(), getMaxThrottle(), 0, navConfig()->general.max_terrain_follow_altitude); // In terrain follow mode we apply different logic for terrain control if (posControl.flags.estAglStatus == EST_TRUSTED && altTarget > 10.0f) { // We have solid terrain sensor signal - directly map throttle to altitude - updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET); - posControl.desiredState.pos.z = altTarget; + updateClimbRateToAltitudeController(0, altTarget, ROC_TO_ALT_TARGET); } else { updateClimbRateToAltitudeController(-50.0f, 0, ROC_TO_ALT_CONSTANT); @@ -144,6 +137,7 @@ bool adjustMulticopterAltitudeFromRCInput(void) } else { const int16_t rcThrottleAdjustment = applyDeadbandRescaled(rcCommand[THROTTLE] - altHoldThrottleRCZero, rcControlsConfig()->alt_hold_deadband, -500, 500); + if (rcThrottleAdjustment) { // set velocity proportional to stick movement float rcClimbRate; @@ -151,7 +145,7 @@ bool adjustMulticopterAltitudeFromRCInput(void) // Make sure we can satisfy max_manual_climb_rate in both up and down directions if (rcThrottleAdjustment > 0) { // Scaling from altHoldThrottleRCZero to maxthrottle - rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(motorConfig()->maxthrottle - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband); + rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(getMaxThrottle() - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband); } else { // Scaling from minthrottle to altHoldThrottleRCZero @@ -165,7 +159,7 @@ bool adjustMulticopterAltitudeFromRCInput(void) else { // Adjusting finished - reset desired position to stay exactly where pilot released the stick if (posControl.flags.isAdjustingAltitude) { - updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET); + updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_CURRENT); } return false; @@ -190,7 +184,7 @@ void setupMulticopterAltitudeController(void) // Make sure we are able to satisfy the deadband altHoldThrottleRCZero = constrain(altHoldThrottleRCZero, getThrottleIdleValue() + rcControlsConfig()->alt_hold_deadband + 10, - motorConfig()->maxthrottle - rcControlsConfig()->alt_hold_deadband - 10); + getMaxThrottle() - rcControlsConfig()->alt_hold_deadband - 10); // Force AH controller to initialize althold integral for pending takeoff on reset // Signal for that is low throttle _and_ low actual altitude @@ -931,8 +925,8 @@ static void applyMulticopterEmergencyLandingController(timeUs_t currentTimeUs) // Check if last correction was not too long ago if (deltaMicrosPositionUpdate < MAX_POSITION_UPDATE_INTERVAL_US) { - // target min descent rate 5m above takeoff altitude - updateClimbRateToAltitudeController(-navConfig()->general.emerg_descent_rate, 500.0f, ROC_TO_ALT_TARGET); + // target min descent rate at distance 2 x emerg descent rate above takeoff altitude + updateClimbRateToAltitudeController(0, 2.0f * navConfig()->general.emerg_descent_rate, ROC_TO_ALT_TARGET); updateAltitudeVelocityController_MC(deltaMicrosPositionUpdate); updateAltitudeThrottleController_MC(deltaMicrosPositionUpdate); } diff --git a/src/main/navigation/navigation_pos_estimator.c b/src/main/navigation/navigation_pos_estimator.c index 3453c75c92b..19018983cc5 100755 --- a/src/main/navigation/navigation_pos_estimator.c +++ b/src/main/navigation/navigation_pos_estimator.c @@ -56,7 +56,7 @@ navigationPosEstimator_t posEstimator; static float initialBaroAltitudeOffset = 0.0f; -PG_REGISTER_WITH_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, PG_POSITION_ESTIMATION_CONFIG, 5); +PG_REGISTER_WITH_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, PG_POSITION_ESTIMATION_CONFIG, 6); PG_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, // Inertial position estimator parameters @@ -64,7 +64,6 @@ PG_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, .reset_altitude_type = SETTING_INAV_RESET_ALTITUDE_DEFAULT, .reset_home_type = SETTING_INAV_RESET_HOME_DEFAULT, .gravity_calibration_tolerance = SETTING_INAV_GRAVITY_CAL_TOLERANCE_DEFAULT, // 5 cm/s/s calibration error accepted (0.5% of gravity) - .use_gps_velned = SETTING_INAV_USE_GPS_VELNED_DEFAULT, // "Disabled" is mandatory with gps_dyn_model = Pedestrian .use_gps_no_baro = SETTING_INAV_USE_GPS_NO_BARO_DEFAULT, // Use GPS altitude if no baro is available on all aircrafts .allow_dead_reckoning = SETTING_INAV_ALLOW_DEAD_RECKONING_DEFAULT, @@ -229,7 +228,7 @@ void onNewGPSData(void) /* Use VELNED provided by GPS if available, calculate from coordinates otherwise */ float gpsScaleLonDown = constrainf(cos_approx((ABS(gpsSol.llh.lat) / 10000000.0f) * 0.0174532925f), 0.01f, 1.0f); - if (!ARMING_FLAG(SIMULATOR_MODE_SITL) && positionEstimationConfig()->use_gps_velned && gpsSol.flags.validVelNE) { + if (!ARMING_FLAG(SIMULATOR_MODE_SITL) && gpsSol.flags.validVelNE) { posEstimator.gps.vel.x = gpsSol.velNED[X]; posEstimator.gps.vel.y = gpsSol.velNED[Y]; } @@ -238,7 +237,7 @@ void onNewGPSData(void) posEstimator.gps.vel.y = (posEstimator.gps.vel.y + (gpsScaleLonDown * DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR * (gpsSol.llh.lon - previousLon) / dT)) / 2.0f; } - if (positionEstimationConfig()->use_gps_velned && gpsSol.flags.validVelD) { + if (gpsSol.flags.validVelD) { posEstimator.gps.vel.z = -gpsSol.velNED[Z]; // NEU } else { diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h index ca0cea8a3d1..6d7b386cbde 100644 --- a/src/main/navigation/navigation_private.h +++ b/src/main/navigation/navigation_private.h @@ -58,7 +58,7 @@ typedef enum { } navSetWaypointFlags_t; typedef enum { - ROC_TO_ALT_RESET, + ROC_TO_ALT_CURRENT, ROC_TO_ALT_CONSTANT, ROC_TO_ALT_TARGET } climbRateToAltitudeControllerMode_e; @@ -91,6 +91,8 @@ typedef struct navigationFlags_s { navigationEstimateStatus_e estHeadingStatus; // Indicate valid heading - wither mag or GPS at certain speed on airplane bool gpsCfEstimatedAltitudeMismatch; // Indicates a mismatch between GPS altitude and estimated altitude + climbRateToAltitudeControllerMode_e rocToAltMode; + bool isAdjustingPosition; bool isAdjustingAltitude; bool isAdjustingHeading; @@ -136,6 +138,7 @@ typedef struct { fpVector3_t pos; fpVector3_t vel; int32_t yaw; + int16_t climbRateDemand; } navigationDesiredState_t; typedef enum { @@ -163,16 +166,18 @@ typedef enum { NAV_FSM_EVENT_STATE_SPECIFIC_3, // State-specific event NAV_FSM_EVENT_STATE_SPECIFIC_4, // State-specific event NAV_FSM_EVENT_STATE_SPECIFIC_5, // State-specific event - NAV_FSM_EVENT_STATE_SPECIFIC_6, // State-specific event + + NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT = NAV_FSM_EVENT_STATE_SPECIFIC_1, + NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED = NAV_FSM_EVENT_STATE_SPECIFIC_2, + NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME = NAV_FSM_EVENT_STATE_SPECIFIC_1, + NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND = NAV_FSM_EVENT_STATE_SPECIFIC_2, + NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED = NAV_FSM_EVENT_STATE_SPECIFIC_3, + NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_INITIALIZE = NAV_FSM_EVENT_STATE_SPECIFIC_1, + NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK = NAV_FSM_EVENT_STATE_SPECIFIC_2, NAV_FSM_EVENT_SWITCH_TO_RTH_HEAD_HOME = NAV_FSM_EVENT_STATE_SPECIFIC_3, - NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING = NAV_FSM_EVENT_STATE_SPECIFIC_1, - NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND = NAV_FSM_EVENT_STATE_SPECIFIC_1, - NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED = NAV_FSM_EVENT_STATE_SPECIFIC_2, - NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME = NAV_FSM_EVENT_STATE_SPECIFIC_3, - NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME = NAV_FSM_EVENT_STATE_SPECIFIC_4, - NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK = NAV_FSM_EVENT_STATE_SPECIFIC_5, - NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_INITIALIZE = NAV_FSM_EVENT_STATE_SPECIFIC_6, - NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT = NAV_FSM_EVENT_STATE_SPECIFIC_6, + NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME = NAV_FSM_EVENT_STATE_SPECIFIC_4, + NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING = NAV_FSM_EVENT_STATE_SPECIFIC_5, + NAV_FSM_EVENT_COUNT, } navigationFSMEvent_t; @@ -195,7 +200,7 @@ typedef enum { NAV_PERSISTENT_ID_RTH_INITIALIZE = 8, NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT = 9, NAV_PERSISTENT_ID_RTH_HEAD_HOME = 10, - NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING = 11, + NAV_PERSISTENT_ID_RTH_LOITER_PRIOR_TO_LANDING = 11, NAV_PERSISTENT_ID_RTH_LANDING = 12, NAV_PERSISTENT_ID_RTH_FINISHING = 13, NAV_PERSISTENT_ID_RTH_FINISHED = 14, @@ -226,7 +231,7 @@ typedef enum { NAV_PERSISTENT_ID_CRUISE_ADJUSTING = 34, NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME = 35, - NAV_PERSISTENT_ID_RTH_HOVER_ABOVE_HOME = 36, + NAV_PERSISTENT_ID_RTH_LOITER_ABOVE_HOME = 36, NAV_PERSISTENT_ID_UNUSED_4 = 37, // was NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME NAV_PERSISTENT_ID_RTH_TRACKBACK = 38, @@ -239,6 +244,7 @@ typedef enum { NAV_PERSISTENT_ID_FW_LANDING_GLIDE = 45, NAV_PERSISTENT_ID_FW_LANDING_FLARE = 46, NAV_PERSISTENT_ID_FW_LANDING_ABORT = 47, + NAV_PERSISTENT_ID_FW_LANDING_FINISHED = 48, } navigationPersistentId_e; typedef enum { @@ -256,8 +262,8 @@ typedef enum { NAV_STATE_RTH_CLIMB_TO_SAFE_ALT, NAV_STATE_RTH_TRACKBACK, NAV_STATE_RTH_HEAD_HOME, - NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING, - NAV_STATE_RTH_HOVER_ABOVE_HOME, + NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING, + NAV_STATE_RTH_LOITER_ABOVE_HOME, NAV_STATE_RTH_LANDING, NAV_STATE_RTH_FINISHING, NAV_STATE_RTH_FINISHED, @@ -285,12 +291,13 @@ typedef enum { NAV_STATE_CRUISE_INITIALIZE, NAV_STATE_CRUISE_IN_PROGRESS, NAV_STATE_CRUISE_ADJUSTING, - + NAV_STATE_FW_LANDING_CLIMB_TO_LOITER, NAV_STATE_FW_LANDING_LOITER, NAV_STATE_FW_LANDING_APPROACH, NAV_STATE_FW_LANDING_GLIDE, NAV_STATE_FW_LANDING_FLARE, + NAV_STATE_FW_LANDING_FINISHED, NAV_STATE_FW_LANDING_ABORT, NAV_STATE_MIXERAT_INITIALIZE, @@ -325,9 +332,10 @@ typedef enum { /* Additional flags */ NAV_CTL_LAND = (1 << 14), - NAV_AUTO_WP_DONE = (1 << 15), //Waypoint mission reached the last waypoint and is idling + NAV_AUTO_WP_DONE = (1 << 15), // Waypoint mission reached the last waypoint and is idling - NAV_MIXERAT = (1 << 16), //MIXERAT in progress + NAV_MIXERAT = (1 << 16), // MIXERAT in progress + NAV_CTL_HOLD = (1 << 17), // Nav loiter active at position } navigationFSMStateFlags_t; typedef struct { @@ -394,7 +402,7 @@ typedef enum { RTH_HOME_ENROUTE_INITIAL, // Initial position for RTH approach RTH_HOME_ENROUTE_PROPORTIONAL, // Prorpotional position for RTH approach RTH_HOME_ENROUTE_FINAL, // Final position for RTH approach - RTH_HOME_FINAL_HOVER, // Final hover altitude (if rth_home_altitude is set) + RTH_HOME_FINAL_LOITER, // Final loiter altitude (if rth_home_altitude is set) RTH_HOME_FINAL_LAND, // Home position and altitude } rthTargetMode_e; @@ -519,6 +527,7 @@ bool isWaypointNavTrackingActive(void); void updateActualHeading(bool headingValid, int32_t newHeading, int32_t newGroundCourse); void updateActualHorizontalPositionAndVelocity(bool estPosValid, bool estVelValid, float newX, float newY, float newVelX, float newVelY); void updateActualAltitudeAndClimbRate(bool estimateValid, float newAltitude, float newVelocity, float surfaceDistance, float surfaceVelocity, navigationEstimateStatus_e surfaceStatus, float gpsCfEstimatedAltitudeError); +float getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros); bool checkForPositionSensorTimeout(void); @@ -537,10 +546,9 @@ bool adjustMulticopterHeadingFromRCInput(void); bool adjustMulticopterPositionFromRCInput(int16_t rcPitchAdjustment, int16_t rcRollAdjustment); void applyMulticopterNavigationController(navigationFSMStateFlags_t navStateFlags, timeUs_t currentTimeUs); - bool isMulticopterLandingDetected(void); - void calculateMulticopterInitialHoldPosition(fpVector3_t * pos); +float getSqrtControllerVelocity(float targetAltitude, timeDelta_t deltaMicros); /* Fixed-wing specific functions */ void setupFixedWingAltitudeController(void); diff --git a/src/main/navigation/navigation_rover_boat.c b/src/main/navigation/navigation_rover_boat.c index 5f8134c6a24..8816880388a 100644 --- a/src/main/navigation/navigation_rover_boat.c +++ b/src/main/navigation/navigation_rover_boat.c @@ -127,7 +127,7 @@ void applyRoverBoatPitchRollThrottleController(navigationFSMStateFlags_t navStat rcCommand[YAW] = posControl.rcAdjustment[YAW]; } - rcCommand[THROTTLE] = constrain(currentBatteryProfile->nav.fw.cruise_throttle, motorConfig()->mincommand, motorConfig()->maxthrottle); + rcCommand[THROTTLE] = constrain(currentBatteryProfile->nav.fw.cruise_throttle, motorConfig()->mincommand, getMaxThrottle()); } } } diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c index ad1cb21c6cf..343db2989f5 100644 --- a/src/main/programming/logic_condition.c +++ b/src/main/programming/logic_condition.c @@ -483,8 +483,9 @@ static int logicConditionCompute( } break; -#ifdef LED_PIN +#ifdef USE_LED_STRIP case LOGIC_CONDITION_LED_PIN_PWM: + if (operandA >=0 && operandA <= 100) { ledPinStartPWM((uint8_t)operandA); } else { @@ -768,7 +769,7 @@ static int logicConditionGetFlightOperandValue(int operand) { case LOGIC_CONDITION_OPERAND_FLIGHT_IS_LANDING: // 0/1 #ifdef USE_FW_AUTOLAND - return ((navGetCurrentStateFlags() & NAV_CTL_LAND) || isFwLandInProgess()) ? 1 : 0; + return ((navGetCurrentStateFlags() & NAV_CTL_LAND) || FLIGHT_MODE(NAV_FW_AUTOLAND)) ? 1 : 0; #else return ((navGetCurrentStateFlags() & NAV_CTL_LAND)) ? 1 : 0; #endif diff --git a/src/main/rx/crsf.h b/src/main/rx/crsf.h index 80e356223fb..f3bc7933494 100755 --- a/src/main/rx/crsf.h +++ b/src/main/rx/crsf.h @@ -45,7 +45,6 @@ enum { CRSF_FRAME_GPS_PAYLOAD_SIZE = 15, CRSF_FRAME_VARIO_SENSOR_PAYLOAD_SIZE = 2, CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8, - CRSF_FRAME_BAROVARIO_SENSOR_PAYLOAD_SIZE = 4, CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10, CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes. CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6, @@ -87,7 +86,6 @@ typedef enum { CRSF_FRAMETYPE_GPS = 0x02, CRSF_FRAMETYPE_VARIO_SENSOR = 0x07, CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08, - CRSF_FRAMETYPE_BAROVARIO_SENSOR = 0x09, CRSF_FRAMETYPE_LINK_STATISTICS = 0x14, CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16, CRSF_FRAMETYPE_ATTITUDE = 0x1E, diff --git a/src/main/rx/sim.c b/src/main/rx/sim.c index a2a336f612e..62d9a9b864c 100644 --- a/src/main/rx/sim.c +++ b/src/main/rx/sim.c @@ -31,15 +31,14 @@ static uint16_t channels[MAX_SUPPORTED_RC_CHANNEL_COUNT]; static bool hasNewData = false; +static uint16_t rssi = 0; -static uint16_t rxSimReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfigPtr, uint8_t chan) -{ +static uint16_t rxSimReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfigPtr, uint8_t chan) { UNUSED(rxRuntimeConfigPtr); return channels[chan]; } -void rxSimSetChannelValue(uint16_t* values, uint8_t count) -{ +void rxSimSetChannelValue(uint16_t* values, uint8_t count) { for (size_t i = 0; i < count; i++) { channels[i] = values[i]; } @@ -47,10 +46,11 @@ void rxSimSetChannelValue(uint16_t* values, uint8_t count) hasNewData = true; } -static uint8_t rxSimFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig) -{ +static uint8_t rxSimFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig) { UNUSED(rxRuntimeConfig); + lqTrackerSet(rxRuntimeConfig->lqTracker, rssi); + if (!hasNewData) { return RX_FRAME_PENDING; } @@ -59,8 +59,7 @@ static uint8_t rxSimFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig) return RX_FRAME_COMPLETE; } -void rxSimInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) -{ +void rxSimInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) { UNUSED(rxConfig); rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT; @@ -68,4 +67,8 @@ void rxSimInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) rxRuntimeConfig->rcReadRawFn = rxSimReadRawRC; rxRuntimeConfig->rcFrameStatusFn = rxSimFrameStatus; } + +void rxSimSetRssi(uint16_t value) { + rssi = value; +} #endif diff --git a/src/main/rx/sim.h b/src/main/rx/sim.h index 88342acad73..9c8ff36d1b0 100644 --- a/src/main/rx/sim.h +++ b/src/main/rx/sim.h @@ -20,4 +20,5 @@ #include "rx/rx.h" void rxSimSetChannelValue(uint16_t* values, uint8_t count); +void rxSimSetRssi(uint16_t value); void rxSimInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig); diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c index 695f49b00b2..4e46f178843 100644 --- a/src/main/sensors/acceleration.c +++ b/src/main/sensors/acceleration.c @@ -529,6 +529,15 @@ float accGetMeasuredMaxG(void) return acc.maxG; } +void resetGForceStats(void) { + acc.maxG = 0.0f; + + for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { + acc.extremes[axis].min = 100; + acc.extremes[axis].max = -100; + } +} + void accUpdate(void) { #ifdef USE_SIMULATOR diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h index f3385edc6d5..a25063ec4fd 100644 --- a/src/main/sensors/acceleration.h +++ b/src/main/sensors/acceleration.h @@ -86,6 +86,7 @@ void accGetMeasuredAcceleration(fpVector3_t *measuredAcc); const acc_extremes_t* accGetMeasuredExtremes(void); float accGetMeasuredMaxG(void); void updateAccExtremes(void); +void resetGForceStats(void); void accGetVibrationLevels(fpVector3_t *accVibeLevels); float accGetVibrationLevel(void); uint32_t accGetClipCount(void); diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c index 3745ed7a8ea..2ca7024694e 100644 --- a/src/main/sensors/battery.c +++ b/src/main/sensors/battery.c @@ -66,7 +66,7 @@ #define ADCVREF 3300 // in mV (3300 = 3.3V) #define VBATT_CELL_FULL_MAX_DIFF 10 // Max difference with cell max voltage for the battery to be considered full (10mV steps) -#define VBATT_PRESENT_THRESHOLD 100 // Minimum voltage to consider battery present +#define VBATT_PRESENT_THRESHOLD 220 // Minimum voltage to consider battery present #define VBATT_STABLE_DELAY 40 // Delay after connecting battery to begin monitoring #define VBATT_HYSTERESIS 10 // Batt Hysteresis of +/-100mV for changing battery state #define VBATT_LPF_FREQ 1 // Battery voltage filtering cutoff diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index a586ce6df6b..97e3f3be436 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -95,18 +95,15 @@ EXTENDED_FASTRAM secondaryDynamicGyroNotchState_t secondaryDynamicGyroNotchState #endif -PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 6); +PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 8); PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig, - .gyro_lpf = SETTING_GYRO_HARDWARE_LPF_DEFAULT, .gyro_anti_aliasing_lpf_hz = SETTING_GYRO_ANTI_ALIASING_LPF_HZ_DEFAULT, - .gyro_anti_aliasing_lpf_type = SETTING_GYRO_ANTI_ALIASING_LPF_TYPE_DEFAULT, .looptime = SETTING_LOOPTIME_DEFAULT, #ifdef USE_DUAL_GYRO .gyro_to_use = SETTING_GYRO_TO_USE_DEFAULT, #endif .gyro_main_lpf_hz = SETTING_GYRO_MAIN_LPF_HZ_DEFAULT, - .gyro_main_lpf_type = SETTING_GYRO_MAIN_LPF_TYPE_DEFAULT, .useDynamicLpf = SETTING_GYRO_USE_DYN_LPF_DEFAULT, .gyroDynamicLpfMinHz = SETTING_GYRO_DYN_LPF_MIN_HZ_DEFAULT, .gyroDynamicLpfMaxHz = SETTING_GYRO_DYN_LPF_MAX_HZ_DEFAULT, @@ -233,24 +230,13 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHard return gyroHardware; } -static void initGyroFilter(filterApplyFnPtr *applyFn, filter_t state[], uint8_t type, uint16_t cutoff, uint32_t looptime) +static void initGyroFilter(filterApplyFnPtr *applyFn, filter_t state[], uint16_t cutoff, uint32_t looptime) { *applyFn = nullFilterApply; if (cutoff > 0) { - switch (type) - { - case FILTER_PT1: - *applyFn = (filterApplyFnPtr)pt1FilterApply; - for (int axis = 0; axis < 3; axis++) { - pt1FilterInit(&state[axis].pt1, cutoff, US2S(looptime)); - } - break; - case FILTER_BIQUAD: - *applyFn = (filterApplyFnPtr)biquadFilterApply; - for (int axis = 0; axis < 3; axis++) { - biquadFilterInitLPF(&state[axis].biquad, cutoff, looptime); - } - break; + *applyFn = (filterApplyFnPtr)pt1FilterApply; + for (int axis = 0; axis < 3; axis++) { + pt1FilterInit(&state[axis].pt1, cutoff, US2S(looptime)); } } } @@ -258,10 +244,10 @@ static void initGyroFilter(filterApplyFnPtr *applyFn, filter_t state[], uint8_t static void gyroInitFilters(void) { //First gyro LPF running at full gyro frequency 8kHz - initGyroFilter(&gyroLpfApplyFn, gyroLpfState, gyroConfig()->gyro_anti_aliasing_lpf_type, gyroConfig()->gyro_anti_aliasing_lpf_hz, getGyroLooptime()); + initGyroFilter(&gyroLpfApplyFn, gyroLpfState, gyroConfig()->gyro_anti_aliasing_lpf_hz, getGyroLooptime()); //Second gyro LPF runnig and PID frequency - this filter is dynamic when gyro_use_dyn_lpf = ON - initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyro_main_lpf_type, gyroConfig()->gyro_main_lpf_hz, getLooptime()); + initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyro_main_lpf_hz, getLooptime()); #ifdef USE_GYRO_KALMAN if (gyroConfig()->kalmanEnabled) { @@ -295,7 +281,7 @@ bool gyroInit(void) sensorsSet(SENSOR_GYRO); // Driver initialisation - gyroDev[0].lpf = gyroConfig()->gyro_lpf; + gyroDev[0].lpf = GYRO_LPF_256HZ; gyroDev[0].requestedSampleIntervalUs = TASK_GYRO_LOOPTIME; gyroDev[0].sampleRateIntervalUs = TASK_GYRO_LOOPTIME; gyroDev[0].initFn(&gyroDev[0]); @@ -566,14 +552,8 @@ int16_t gyroRateDps(int axis) } void gyroUpdateDynamicLpf(float cutoffFreq) { - if (gyroConfig()->gyro_main_lpf_type == FILTER_PT1) { - for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { - pt1FilterUpdateCutoff(&gyroLpf2State[axis].pt1, cutoffFreq); - } - } else if (gyroConfig()->gyro_main_lpf_type == FILTER_BIQUAD) { - for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { - biquadFilterUpdate(&gyroLpf2State[axis].biquad, cutoffFreq, getLooptime(), BIQUAD_Q, FILTER_LPF); - } + for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { + pt1FilterUpdateCutoff(&gyroLpf2State[axis].pt1, cutoffFreq); } } diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h index 669f8fbee46..2ea70c589da 100644 --- a/src/main/sensors/gyro.h +++ b/src/main/sensors/gyro.h @@ -49,12 +49,6 @@ typedef enum { typedef enum { DYNAMIC_NOTCH_MODE_2D = 0, - DYNAMIC_NOTCH_MODE_R, - DYNAMIC_NOTCH_MODE_P, - DYNAMIC_NOTCH_MODE_Y, - DYNAMIC_NOTCH_MODE_RP, - DYNAMIC_NOTCH_MODE_RY, - DYNAMIC_NOTCH_MODE_PY, DYNAMIC_NOTCH_MODE_3D } dynamicGyroNotchMode_e; @@ -70,14 +64,11 @@ extern dynamicGyroNotchState_t dynamicGyroNotchState; typedef struct gyroConfig_s { uint16_t looptime; // imu loop time in us - uint8_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen. uint16_t gyro_anti_aliasing_lpf_hz; - uint8_t gyro_anti_aliasing_lpf_type; #ifdef USE_DUAL_GYRO uint8_t gyro_to_use; #endif uint16_t gyro_main_lpf_hz; - uint8_t gyro_main_lpf_type; uint8_t useDynamicLpf; uint16_t gyroDynamicLpfMinHz; uint16_t gyroDynamicLpfMaxHz; diff --git a/src/main/sensors/rangefinder.c b/src/main/sensors/rangefinder.c index a4af166cfe9..a721bb98634 100644 --- a/src/main/sensors/rangefinder.c +++ b/src/main/sensors/rangefinder.c @@ -41,6 +41,7 @@ #include "drivers/rangefinder/rangefinder_vl53l1x.h" #include "drivers/rangefinder/rangefinder_virtual.h" #include "drivers/rangefinder/rangefinder_us42.h" +#include "drivers/rangefinder/rangefinder_teraranger_evo.h" #include "drivers/rangefinder/rangefinder_tof10120_i2c.h" #include "fc/config.h" @@ -88,6 +89,14 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar #endif break; + case RANGEFINDER_TERARANGER_EVO: +#if defined(USE_RANGEFINDER_TERARANGER_EVO_I2C) + if (teraRangerDetect(dev)) { + rangefinderHardware = RANGEFINDER_TERARANGER_EVO; + rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TERA_EVO_TASK_PERIOD_MS)); + } +#endif + break; case RANGEFINDER_VL53L0X: #if defined(USE_RANGEFINDER_VL53L0X) if (vl53l0xDetect(dev)) { @@ -121,6 +130,22 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar rangefinderHardware = RANGEFINDER_BENEWAKE; rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_VIRTUAL_TASK_PERIOD_MS)); } +#endif + break; + case RANGEFINDER_USD1_V0: +#if defined(USE_RANGEFINDER_USD1_V0) + if (virtualRangefinderDetect(dev, &rangefinderUSD1Vtable)) { + rangefinderHardware = RANGEFINDER_USD1_V0; + rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_VIRTUAL_TASK_PERIOD_MS)); + } +#endif + break; + case RANGEFINDER_NANORADAR: +#if defined(USE_RANGEFINDER_NANORADAR) + if (virtualRangefinderDetect(dev, &rangefinderNanoradarVtable)) { + rangefinderHardware = RANGEFINDER_NANORADAR; + rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_VIRTUAL_TASK_PERIOD_MS)); + } #endif break; diff --git a/src/main/sensors/rangefinder.h b/src/main/sensors/rangefinder.h index a57253bd3f5..4c2a4e629aa 100644 --- a/src/main/sensors/rangefinder.h +++ b/src/main/sensors/rangefinder.h @@ -22,15 +22,18 @@ #include "drivers/rangefinder/rangefinder.h" typedef enum { - RANGEFINDER_NONE = 0, - RANGEFINDER_SRF10 = 1, - RANGEFINDER_VL53L0X = 2, - RANGEFINDER_MSP = 3, - RANGEFINDER_BENEWAKE = 4, - RANGEFINDER_VL53L1X = 5, - RANGEFINDER_US42 = 6, - RANGEFINDER_TOF10102I2C = 7, - RANGEFINDER_FAKE = 8, + RANGEFINDER_NONE = 0, + RANGEFINDER_SRF10 = 1, + RANGEFINDER_VL53L0X = 2, + RANGEFINDER_MSP = 3, + RANGEFINDER_BENEWAKE = 4, + RANGEFINDER_VL53L1X = 5, + RANGEFINDER_US42 = 6, + RANGEFINDER_TOF10102I2C = 7, + RANGEFINDER_FAKE = 8, + RANGEFINDER_TERARANGER_EVO = 9, + RANGEFINDER_USD1_V0 = 10, + RANGEFINDER_NANORADAR = 11, } rangefinderType_e; typedef struct rangefinderConfig_s { diff --git a/src/main/target/AOCODARCF405AIO/target.h b/src/main/target/AOCODARCF405AIO/target.h index a45205fbc5a..d732ebdd042 100644 --- a/src/main/target/AOCODARCF405AIO/target.h +++ b/src/main/target/AOCODARCF405AIO/target.h @@ -142,7 +142,8 @@ #define SERIALRX_UART SERIAL_PORT_USART2 #define DEFAULT_RX_TYPE RX_TYPE_SERIAL #define SERIALRX_PROVIDER SERIALRX_CRSF -#define CURRENT_METER_SCALE 500 +#define CURRENT_METER_SCALE 589 +#define CURRENT_METER_OFFSET -204 /*** Optical Flow & Lidar ***/ #define USE_RANGEFINDER diff --git a/src/main/target/AOCODARCF4V3/CMakeLists.txt b/src/main/target/AOCODARCF4V3/CMakeLists.txt new file mode 100644 index 00000000000..706b818e2b8 --- /dev/null +++ b/src/main/target/AOCODARCF4V3/CMakeLists.txt @@ -0,0 +1,3 @@ +target_stm32f405xg(AOCODARCF4V3_SD) +target_stm32f405xg(AOCODARCF4V3) + diff --git a/src/main/target/AOCODARCF4V3/config.c b/src/main/target/AOCODARCF4V3/config.c new file mode 100644 index 00000000000..c80a92940a9 --- /dev/null +++ b/src/main/target/AOCODARCF4V3/config.c @@ -0,0 +1,40 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ +#include + +#include "platform.h" + +#include "fc/fc_msp_box.h" +//#include "fc/config.h" + +#include "io/piniobox.h" +#include "drivers/serial.h" +#include "io/serial.h" +void targetConfiguration(void) +{ + pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; + pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2; + pinioBoxConfigMutable()->permanentId[2] = BOX_PERMANENT_ID_USER3; + // beeperConfigMutable()->pwmMode = true; + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].functionMask = FUNCTION_MSP; + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].msp_baudrateIndex = BAUD_115200; + serialConfigMutable()->portConfigs[4].functionMask = FUNCTION_VTX_TRAMP; + serialConfigMutable()->portConfigs[4].peripheral_baudrateIndex = BAUD_115200; + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_RX_SERIAL; + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_ESCSERIAL; + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_GPS; +} diff --git a/src/main/target/AOCODARCF4V3/target.c b/src/main/target/AOCODARCF4V3/target.c new file mode 100644 index 00000000000..8581cc5bf11 --- /dev/null +++ b/src/main/target/AOCODARCF4V3/target.c @@ -0,0 +1,46 @@ +/* + * This file is part of INAV. + * + * INAV is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ + + +#include + +#include "platform.h" +#include "drivers/io.h" +#include "drivers/timer.h" +#include "drivers/pwm_mapping.h" +#include "drivers/bus.h" + +timerHardware_t timerHardware[] = { + DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM, 0, 0 ), // PPM IN + + DEF_TIM(TIM8, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S1 + DEF_TIM(TIM8, CH2, PC7, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S2 + DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S3 + DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S4 + + DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S5 + DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S6 + + DEF_TIM(TIM2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S7 + DEF_TIM(TIM2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S8 + + DEF_TIM(TIM3, CH4, PB1, TIM_USE_LED, 0, 0 ), // LED_STRIP + + +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/AOCODARCF4V3/target.h b/src/main/target/AOCODARCF4V3/target.h new file mode 100644 index 00000000000..0c95564162e --- /dev/null +++ b/src/main/target/AOCODARCF4V3/target.h @@ -0,0 +1,192 @@ +/* + * This file is part of INAV. + * + * INAV is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ + +#pragma once + +#define USE_TARGET_CONFIG + +#ifdef AOCODARCF4V3 +#define TARGET_BOARD_IDENTIFIER "AOF4V3" +#define USBD_PRODUCT_STRING "AOCODARCF4V3" +#else +#define TARGET_BOARD_IDENTIFIER "AOF4V3SD" +#define USBD_PRODUCT_STRING "AOCODARCF4V3_SD" +#endif + +// ******** Board LEDs ********************** +#define LED0 PC13 + +// ******* Beeper *********** +#define BEEPER PB8 +#define BEEPER_INVERTED + + +// ******* GYRO and ACC ******** +#define USE_IMU_MPU6500 +#define IMU_MPU6500_ALIGN CW90_DEG +#define MPU6500_SPI_BUS BUS_SPI1 +#define MPU6500_CS_PIN PA4 + +#define USE_IMU_MPU6000 +#define IMU_MPU6000_ALIGN CW90_DEG +#define MPU6000_SPI_BUS BUS_SPI1 +#define MPU6000_CS_PIN PA4 + +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW90_DEG +#define ICM42605_SPI_BUS BUS_SPI1 +#define ICM42605_CS_PIN PA4 + + +// *************** Baro ************************** +#define USE_I2C +#define USE_I2C_DEVICE_1 + +#define I2C1_SCL PB6 // SCL +#define I2C1_SDA PB7 // SDA +#define DEFAULT_I2C_BUS BUS_I2C1 + +#define USE_BARO +#define BARO_I2C_BUS DEFAULT_I2C_BUS + +#define USE_BARO_BMP280 +#define USE_BARO_MS5611 +#define USE_BARO_DPS310 +#define USE_BARO_SPL06 + +//*********** Magnetometer / Compass ************* +#define USE_MAG +#define MAG_I2C_BUS DEFAULT_I2C_BUS +#define USE_MAG_ALL + +// ******* SERIAL ******** +#define USE_VCP +#define VBUS_SENSING_PIN PB12 +#define VBUS_SENSING_ENABLED + +#define USE_UART1 +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#define USE_UART2 +#define UART2_TX_PIN PA2 +#define UART2_RX_PIN PA3 + +#define USE_UART3 +#define UART3_TX_PIN PC10 +#define UART3_RX_PIN PC11 + +#define USE_UART4 +#define UART4_TX_PIN PA0 +#define UART4_RX_PIN PA1 + +#define USE_UART5 +#define UART5_TX_PIN PC12 +#define UART5_RX_PIN PD2 + + +#define SERIAL_PORT_COUNT 6 + + +// ******* SPI ******** +#define USE_SPI + +#define USE_SPI_DEVICE_1 +#define SPI1_NSS_PIN PA4 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_SPI_DEVICE_2 +#define SPI2_NSS_PIN PA13 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_SPI_DEVICE_3 +#define SPI3_NSS_PIN PC0 +#define SPI3_SCK_PIN PB3 +#define SPI3_MISO_PIN PB4 +#define SPI3_MOSI_PIN PB5 + +// ******* ADC ******** +#define USE_ADC +#define ADC_CHANNEL_1_PIN PC1 +#define ADC_CHANNEL_2_PIN PC2 +#define ADC_CHANNEL_3_PIN PC3 + +#define VBAT_ADC_CHANNEL ADC_CHN_2 +#define RSSI_ADC_CHANNEL ADC_CHN_3 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_1 + +#define VBAT_SCALE_DEFAULT 1100 +#define CURRENT_METER_SCALE 206 + +// ******* OSD ******** +#define USE_OSD +#define USE_MAX7456 +#define MAX7456_SPI_BUS BUS_SPI2 +#define MAX7456_CS_PIN PA13 + +//******* FLASH ******** +#if defined(AOCODARCF4V3_SD) +#define USE_SDCARD +#define USE_SDCARD_SPI +#define SDCARD_SPI_BUS BUS_SPI3 +#define SDCARD_CS_PIN PC0 +#define SDCARD_DETECT_INVERTED +#define SDCARD_DETECT_PIN PC14 +#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT +#else +#define USE_FLASHFS +#define USE_FLASH_M25P16 +#define M25P16_SPI_BUS BUS_SPI3 +#define M25P16_CS_PIN PC0 +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT +#endif +// *************** PINIO *************************** +#define USE_PINIO +#define USE_PINIOBOX +#define PINIO1_PIN PC5 // VTX power switcher +#define PINIO2_PIN PA14 //bluetooth +#define PINIO3_PIN PC15 //Camera control +#define PINIO1_FLAGS PINIO_FLAGS_INVERTED +#define PINIO2_FLAGS PINIO_FLAGS_INVERTED + +//************ LEDSTRIP ***************** +#define USE_LED_STRIP +#define WS2811_PIN PB1 + +// ******* FEATURES ******** +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_UART SERIAL_PORT_USART2 +#define SERIALRX_PROVIDER SERIALRX_CRSF + +#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_GPS | FEATURE_BLACKBOX | FEATURE_LED_STRIP) + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff + +#define MAX_PWM_OUTPUT_PORTS 10 + +// ESC-related features +#define USE_DSHOT +#define USE_SERIALSHOT +#define USE_ESC_SENSOR +#define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/AOCODARCH7DUAL/target.c b/src/main/target/AOCODARCH7DUAL/target.c index 85e8b004937..ac3be127191 100644 --- a/src/main/target/AOCODARCH7DUAL/target.c +++ b/src/main/target/AOCODARCH7DUAL/target.c @@ -36,11 +36,11 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 1), // S2 DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 2), // S3 DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 3), // S4 - - DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 4), // S5 - DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 5), // S6 - DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 6), // S7 - DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 7), // S8 + + DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 4), // S5 + DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 5), // S6 + DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 6), // S7 + DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 7), // S8 DEF_TIM(TIM4, CH3, PD14, TIM_USE_OUTPUT_AUTO, 0, 0), // S9 DEF_TIM(TIM4, CH4, PD15, TIM_USE_OUTPUT_AUTO, 0, 0), // S10 DMA_NONE diff --git a/src/main/target/ASGARD32F4/config.c b/src/main/target/ASGARD32F4/config.c index 9aaa2793ce3..fee09920388 100644 --- a/src/main/target/ASGARD32F4/config.c +++ b/src/main/target/ASGARD32F4/config.c @@ -36,5 +36,4 @@ void targetConfiguration(void) { serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT; motorConfigMutable()->motorPwmProtocol = PWM_TYPE_MULTISHOT; - motorConfigMutable()->maxthrottle = 1950; } diff --git a/src/main/target/ASGARD32F7/config.c b/src/main/target/ASGARD32F7/config.c index 9aaa2793ce3..fee09920388 100644 --- a/src/main/target/ASGARD32F7/config.c +++ b/src/main/target/ASGARD32F7/config.c @@ -36,5 +36,4 @@ void targetConfiguration(void) { serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT; motorConfigMutable()->motorPwmProtocol = PWM_TYPE_MULTISHOT; - motorConfigMutable()->maxthrottle = 1950; } diff --git a/src/main/target/BETAFPVF411/CMakeLists.txt b/src/main/target/BETAFPVF411/CMakeLists.txt new file mode 100644 index 00000000000..087194803cc --- /dev/null +++ b/src/main/target/BETAFPVF411/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32f411xe(BETAFPVF411 SKIP_RELEASES) \ No newline at end of file diff --git a/src/main/target/BETAFPVF411/target.c b/src/main/target/BETAFPVF411/target.c new file mode 100644 index 00000000000..58e44f9780f --- /dev/null +++ b/src/main/target/BETAFPVF411/target.c @@ -0,0 +1,34 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include +#include "drivers/io.h" +#include "drivers/dma.h" +#include "drivers/timer.h" +#include "drivers/bus.h" +#include "drivers/pwm_mapping.h" + + +timerHardware_t timerHardware[] = { + DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0, 0), +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/BETAFPVF411/target.h b/src/main/target/BETAFPVF411/target.h new file mode 100644 index 00000000000..1f57281d2f4 --- /dev/null +++ b/src/main/target/BETAFPVF411/target.h @@ -0,0 +1,130 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "B411" +#define USBD_PRODUCT_STRING "BETAFPVF411" + +#define LED0 PC13 + +#define BEEPER PB2 +#define BEEPER_INVERTED + +// *************** SPI ********************** +#define USE_SPI +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_SPI_DEVICE_2 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +// *************** SPI Gyro & ACC ********************** +#define USE_IMU_MPU6000 +#define MPU6000_CS_PIN PA4 +#define MPU6000_SPI_BUS BUS_SPI1 +#define IMU_MPU6000_ALIGN CW180_DEG + +#define USE_IMU_BMI270 +#define IMU_BMI270_ALIGN CW90_DEG +#define BMI270_SPI_BUS BUS_SPI1 +#define BMI270_CS_PIN PA4 + +// *************** Baro ***************************** + +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB8 +#define I2C1_SDA PB9 + +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C1 +#define USE_BARO_ALL + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C1 +#define USE_MAG_ALL + +// *************** SPI OSD ***************************** +#define USE_MAX7456 +#define MAX7456_SPI_BUS BUS_SPI2 +#define MAX7456_CS_PIN PB12 + +// *************** SPI FLASH ************************** +#define USE_FLASHFS +#define USE_FLASH_M25P16 +#define M25P16_CS_PIN PB2 +#define M25P16_SPI_BUS BUS_SPI2 +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT + +// *************** UART ***************************** +#define USE_VCP + +#define USE_UART1 +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#define USE_UART2 +#define UART2_TX_PIN PA2 +#define UART2_RX_PIN PA3 + +#define USE_SOFTSERIAL1 +#define SOFTSERIAL_1_TX_PIN PB3 +#define SOFTSERIAL_1_RX_PIN PB3 + +#define USE_SOFTSERIAL2 +#define SOFTSERIAL_2_TX_PIN PB10 +#define SOFTSERIAL_2_RX_PIN PB10 + +#define SERIAL_PORT_COUNT 5 + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_CRSF +#define SERIALRX_UART SERIAL_PORT_USART1 + +// *************** ADC ***************************** +#define USE_ADC +#define ADC_INSTANCE ADC1 +#define ADC_CHANNEL_1_PIN PB0 +#define ADC_CHANNEL_2_PIN PB1 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 + +#define VBAT_SCALE_DEFAULT 1100 + +// *************** LED2812 ************************ +#define USE_LED_STRIP +#define WS2811_PIN PA8 + +// *************** OTHERS ************************* +#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_BLACKBOX) + +#define USE_DSHOT +#define USE_ESC_SENSOR +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff + +#define MAX_PWM_OUTPUT_PORTS 4 diff --git a/src/main/target/FLYWOOF745/target.c b/src/main/target/FLYWOOF745/target.c index a82a708f51a..04c083ac94f 100644 --- a/src/main/target/FLYWOOF745/target.c +++ b/src/main/target/FLYWOOF745/target.c @@ -30,17 +30,26 @@ #include "drivers/pinio.h" timerHardware_t timerHardware[] = { - // DEF_TIM(TIM1, CH3, PE13, TIM_USE_PPM, 0, 1), // PPM, DMA2_ST6 +// DEF_TIM(TIM1, CH3, PE13, TIM_USE_PPM, 0, 1), // PPM, +// DMA2_ST6 - DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // M1 , DMA1_ST2 - DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // M2 , DMA2_ST7 - DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // M3 , DMA1_ST7 - DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO, 0, 1), // M4 , DMA2_ST4 - DEF_TIM(TIM1, CH1, PE9, TIM_USE_OUTPUT_AUTO, 0, 2), // M5 , DMA2_ST2 - DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 0), // M6 , DMA1_ST1 - DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // M7 , DMA1_ST4 - DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0), // M8 , DMA1_ST5 - DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED, 0, 0), // LED_STRIP, DMA1_ST0 +#ifdef FLYWOOF745 + DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // M1 , DMA1_ST2 + DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // M2 , DMA2_ST7 + DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // M3 , DMA1_ST7 + DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO, 0, 1), // M4 , DMA2_ST4 + DEF_TIM(TIM1, CH1, PE9, TIM_USE_OUTPUT_AUTO, 0, 2), // M5 , DMA2_ST2 +#else /* FLYWOOF745NANO */ + DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // M1 , DMA1_ST7 + DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // M2 , DMA1_ST2 + DEF_TIM(TIM1, CH1, PE9, TIM_USE_OUTPUT_AUTO, 0, 2), // M3 , DMA2_ST2 + DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO, 0, 1), // M4 , DMA2_ST4 + DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // M5 , DMA2_ST7 +#endif + DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 0), // M6 , DMA1_ST1 + DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // M7 , DMA1_ST4 + DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0), // M8 , DMA1_ST5 + DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED, 0, 0), // LED_STRIP, DMA1_ST0 }; const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/FOXEERF722DUAL/config.c b/src/main/target/FOXEERF722DUAL/config.c new file mode 100644 index 00000000000..38763948c3f --- /dev/null +++ b/src/main/target/FOXEERF722DUAL/config.c @@ -0,0 +1,31 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include + +#include "platform.h" + +#include "fc/fc_msp_box.h" + +#if defined(FOXEERF722V2) +#include "io/piniobox.h" + +void targetConfiguration(void) +{ + pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; +} +#endif diff --git a/src/main/target/FOXEERF722DUAL/target.c b/src/main/target/FOXEERF722DUAL/target.c index fe34e0a45d4..e81731651e3 100644 --- a/src/main/target/FOXEERF722DUAL/target.c +++ b/src/main/target/FOXEERF722DUAL/target.c @@ -22,6 +22,7 @@ #include "drivers/timer.h" #include "drivers/sensor.h" #include "drivers/pwm_mapping.h" +#include "drivers/pinio.h" BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN); #if defined(FOXEERF722DUAL) diff --git a/src/main/target/FOXEERF722DUAL/target.h b/src/main/target/FOXEERF722DUAL/target.h index 250a88a307f..1eafd86af9f 100644 --- a/src/main/target/FOXEERF722DUAL/target.h +++ b/src/main/target/FOXEERF722DUAL/target.h @@ -147,3 +147,13 @@ #define TARGET_IO_PORTC 0xffff #define TARGET_IO_PORTD (BIT(2)) + +// *************** PINIO *************************** +#if defined(FOXEERF722V2) +#define USE_PINIO +#define USE_PINIOBOX +#define PINIO1_PIN PC6 // Enable GPS power +#define PINIO1_FLAGS PINIO_FLAGS_INVERTED +#endif + + diff --git a/src/main/target/GEPRCF745_BT_HD/CMakeLists.txt b/src/main/target/GEPRCF745_BT_HD/CMakeLists.txt new file mode 100644 index 00000000000..6d067ab102c --- /dev/null +++ b/src/main/target/GEPRCF745_BT_HD/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32f745xg(GEPRCF745_BT_HD) diff --git a/src/main/target/GEPRCF745_BT_HD/config.c b/src/main/target/GEPRCF745_BT_HD/config.c new file mode 100644 index 00000000000..d2f972270a2 --- /dev/null +++ b/src/main/target/GEPRCF745_BT_HD/config.c @@ -0,0 +1,63 @@ +/* + * This file is part of INAV. + * + * INAV is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ + +#include +#include + +#include + +#include "common/axis.h" + +#include "config/config_master.h" +#include "config/feature.h" + +#include "drivers/sensor.h" +#include "drivers/pwm_esc_detect.h" +#include "drivers/pwm_output.h" +#include "drivers/serial.h" + +#include "fc/rc_controls.h" + +#include "flight/failsafe.h" +#include "flight/mixer.h" +#include "flight/pid.h" + +#include "rx/rx.h" + +#include "io/serial.h" + +#include "sensors/battery.h" +#include "sensors/sensors.h" + +#include "telemetry/telemetry.h" + +#include "fc/fc_msp_box.h" + +#include "io/piniobox.h" + + +#define BLUETOOTH_MSP_BAUDRATE BAUD_115200 + +void targetConfiguration(void) +{ + pinioBoxConfigMutable()->permanentId[0] = BOXARM; + pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER1; + + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_MSP; + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].msp_baudrateIndex = BLUETOOTH_MSP_BAUDRATE; +} + diff --git a/src/main/target/GEPRCF745_BT_HD/target.c b/src/main/target/GEPRCF745_BT_HD/target.c new file mode 100644 index 00000000000..6fe88bde011 --- /dev/null +++ b/src/main/target/GEPRCF745_BT_HD/target.c @@ -0,0 +1,52 @@ +/* +* This file is part of INAV Project. +* +* INAV is free software: you can redistribute it and/or modify +* it under the terms of the GNU General Public License as published by +* the Free Software Foundation, either version 3 of the License, or +* (at your option) any later version. +* +* INAV is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* GNU General Public License for more details. +* +* You should have received a copy of the GNU General Public License +* along with INAV. If not, see . +*/ + +#include + +#include "platform.h" + +#include "drivers/bus.h" +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" +#include "drivers/sensor.h" + + +BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, IMU1_SPI_BUS, IMU1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU1_ALIGN); +BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2, DEVHW_MPU6000, IMU2_SPI_BUS, IMU2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU2_ALIGN); + +BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_MPU6000, IMU1_SPI_BUS, IMU1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU1_ALIGN); +BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_2, DEVHW_ICM42605, IMU2_SPI_BUS, IMU2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU2_ALIGN); + + + +timerHardware_t timerHardware[] = { + + DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), + + DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), + + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/GEPRCF745_BT_HD/target.h b/src/main/target/GEPRCF745_BT_HD/target.h new file mode 100644 index 00000000000..3d61f663dd8 --- /dev/null +++ b/src/main/target/GEPRCF745_BT_HD/target.h @@ -0,0 +1,198 @@ +/* + * This file is part of INAV Project. + * + * INAV is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "GEPR" +#define USBD_PRODUCT_STRING "GEPRCF745_BT_HD" + +#define USE_TARGET_CONFIG + +#define LED0 PC13 + +#define BEEPER PD2 +#define BEEPER_INVERTED + + +//**************** SPI BUS ************************* +#define USE_SPI + +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_SPI_DEVICE_2 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_SPI_DEVICE_3 +#define SPI3_SCK_PIN PC10 +#define SPI3_MISO_PIN PC11 +#define SPI3_MOSI_PIN PC12 + +#define USE_SPI_DEVICE_4 +#define SPI4_SCK_PIN PE2 +#define SPI4_MISO_PIN PE5 +#define SPI4_MOSI_PIN PE6 + + + +// *************** Gyro & ACC ********************** + +#define USE_DUAL_GYRO +#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS +#define USE_IMU_MPU6000 +#define USE_IMU_ICM42605 + + +// *****IMU1 MPU6000 & ICM42688 ON SPI1 ************** +#define IMU1_ALIGN CW180_DEG +#define IMU1_SPI_BUS BUS_SPI1 +#define IMU1_CS_PIN PA4 + + + +// *****IMU2 MPU6000 & ICM42688 ON SPI2 ************** +#define IMU2_ALIGN CW0_DEG +#define IMU2_SPI_BUS BUS_SPI2 +#define IMU2_CS_PIN PB12 + + +// *************** I2C/Baro/Mag ********************* +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB8 +#define I2C1_SDA PB9 + + +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C1 +#define USE_BARO_BMP280 +#define USE_BARO_DPS310 +#define USE_BARO_MS5611 + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C1 +#define USE_MAG_HMC5883 +#define USE_MAG_QMC5883 +#define USE_MAG_IST8310 +#define USE_MAG_IST8308 +#define USE_MAG_MAG3110 +#define USE_MAG_LIS3MDL + +#define TEMPERATURE_I2C_BUS BUS_I2C1 + +#define PITOT_I2C_BUS BUS_I2C1 + +#define USE_RANGEFINDER +#define RANGEFINDER_I2C_BUS BUS_I2C1 +#define BNO055_I2C_BUS BUS_I2C1 + +// *************** FLASH ************************** +#define USE_SDCARD +#define USE_SDCARD_SPI +#define SDCARD_SPI_BUS BUS_SPI3 +#define SDCARD_CS_PIN PA15 + +#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT + + +// ************PINIO to disable BT***************** +#define USE_PINIO +#define USE_PINIOBOX +#define PINIO1_PIN PE13 +#define PINIO1_FLAGS PINIO_FLAGS_INVERTED + + +// ************PINIO to other +#define PINIO2_PIN PC14 //Enable vsw + + +// *************** OSD ***************************** +#define USE_MAX7456 +#define MAX7456_SPI_BUS BUS_SPI4 +#define MAX7456_CS_PIN PE4 + +// *************** UART ***************************** +#define USE_VCP + +#define USE_UART1 +#define UART1_RX_PIN PA10 +#define UART1_TX_PIN PA9 + +#define USE_UART2 +#define UART2_RX_PIN PA3 +#define UART2_TX_PIN PA2 + +#define USE_UART3 +#define UART3_RX_PIN PB11 +#define UART3_TX_PIN PB10 + +#define USE_UART4 +#define UART4_RX_PIN PA1 +#define UART4_TX_PIN PA0 + +#define USE_UART6 +#define UART6_RX_PIN PC7 +#define UART6_TX_PIN PC6 + +#define USE_UART7 +#define UART7_RX_PIN PE7 +#define UART7_TX_PIN PE8 + +#define USE_UART8 +#define UART8_RX_PIN PE0 +#define UART8_TX_PIN PE1 + +#define SERIAL_PORT_COUNT 8 + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_SBUS +#define SERIALRX_UART SERIAL_PORT_USART2 + +// *************** ADC ***************************** +#define USE_ADC +#define ADC_INSTANCE ADC1 +#define ADC1_DMA_STREAM DMA2_Stream0 +#define ADC_CHANNEL_1_PIN PC3 +#define ADC_CHANNEL_2_PIN PC5 +#define ADC_CHANNEL_3_PIN PC2 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define RSSI_ADC_CHANNEL ADC_CHN_2 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_3 + + +#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX) + +#define USE_LED_STRIP +#define WS2811_PIN PA8 + +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff +#define TARGET_IO_PORTE 0xffff + +#define MAX_PWM_OUTPUT_PORTS 8 + +#define USE_DSHOT +#define USE_ESC_SENSOR diff --git a/src/main/target/IFLIGHT_2RAW_H743/CMakeLists.txt b/src/main/target/IFLIGHT_2RAW_H743/CMakeLists.txt new file mode 100644 index 00000000000..6a430dc6758 --- /dev/null +++ b/src/main/target/IFLIGHT_2RAW_H743/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32h743xi(IFLIGHT_2RAW_H743) diff --git a/src/main/target/IFLIGHT_2RAW_H743/config.c b/src/main/target/IFLIGHT_2RAW_H743/config.c new file mode 100644 index 00000000000..0f1fec5a816 --- /dev/null +++ b/src/main/target/IFLIGHT_2RAW_H743/config.c @@ -0,0 +1,31 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include + +#include "platform.h" + +#include "fc/fc_msp_box.h" +#include "fc/config.h" + +#include "io/piniobox.h" + +void targetConfiguration(void) +{ + pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; + pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2; +} diff --git a/src/main/target/IFLIGHT_2RAW_H743/target.c b/src/main/target/IFLIGHT_2RAW_H743/target.c new file mode 100644 index 00000000000..23dd0e0c37a --- /dev/null +++ b/src/main/target/IFLIGHT_2RAW_H743/target.c @@ -0,0 +1,49 @@ +/* + * This file is part of INAV. + * + * INAV is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ + +#include + +#include "platform.h" + +#include "drivers/bus.h" +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" +#include "drivers/pinio.h" +#include "drivers/sensor.h" + +timerHardware_t timerHardware[] = { + DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1 + DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 1), // S2 + + DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 2), // S3 + DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 3), // S4 + DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 4), // S5 + DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 5), // S6 + + DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 6), // S7 + DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 7), // S8 + DEF_TIM(TIM4, CH3, PD14, TIM_USE_OUTPUT_AUTO, 0, 0), // S9 + DEF_TIM(TIM4, CH4, PD15, TIM_USE_OUTPUT_AUTO, 0, 0), // S10 DMA_NONE + + DEF_TIM(TIM15, CH1, PE5, TIM_USE_OUTPUT_AUTO, 0, 0), // S11 + DEF_TIM(TIM15, CH2, PE6, TIM_USE_OUTPUT_AUTO, 0, 0), // S12 DMA_NONE + + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 9), // LED_2812 +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/IFLIGHT_2RAW_H743/target.h b/src/main/target/IFLIGHT_2RAW_H743/target.h new file mode 100644 index 00000000000..d8a33a12ee1 --- /dev/null +++ b/src/main/target/IFLIGHT_2RAW_H743/target.h @@ -0,0 +1,167 @@ +/* + * This file is part of INAV. + * + * INAV is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ + + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "2RH7" + +#define USBD_PRODUCT_STRING "IFLIGHT_2RAW_H743" + +#define LED0 PE3 +#define LED1 PE4 + +#define BEEPER PC9 +#define BEEPER_INVERTED + +// SPI Buses +#define USE_SPI + +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PD7 + +#define USE_SPI_DEVICE_2 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_SPI_DEVICE_3 +#define SPI3_SCK_PIN PC10 +#define SPI3_MISO_PIN PC11 +#define SPI3_MOSI_PIN PC12 + +// I2C +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB6 +#define I2C1_SDA PB7 + +#define USE_I2C_DEVICE_2 +#define I2C2_SCL PB10 +#define I2C2_SDA PB11 + +// Gyro +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW0_DEG +#define ICM42605_SPI_BUS BUS_SPI1 +#define ICM42605_CS_PIN PC15 + +// OSD +// #define USE_MAX7456 +// #define MAX7456_SPI_BUS BUS_SPI2 +// #define MAX7456_CS_PIN PB12 + +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C2 +#define USE_BARO_ALL + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C1 +#define USE_MAG_ALL + +#define TEMPERATURE_I2C_BUS BUS_I2C1 +#define PITOT_I2C_BUS BUS_I2C1 +#define RANGEFINDER_I2C_BUS BUS_I2C1 + +// *************** UART ***************************** +#define USE_VCP + +#define USE_UART1 +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#define USE_UART2 +#define UART2_TX_PIN PD5 +#define UART2_RX_PIN PD6 + +#define USE_UART3 +#define UART3_TX_PIN PD8 +#define UART3_RX_PIN PD9 + +#define USE_UART4 +#define UART4_TX_PIN PB9 +#define UART4_RX_PIN PB8 + +#define USE_UART6 +#define UART6_TX_PIN PC6 +#define UART6_RX_PIN PC7 + +#define USE_UART7 +#define UART7_TX_PIN PE8 +#define UART7_RX_PIN PE7 + +#define USE_UART8 +#define UART8_TX_PIN PE1 +#define UART8_RX_PIN PE0 + +#define SERIAL_PORT_COUNT 8 + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_CRSF +#define SERIALRX_UART SERIAL_PORT_USART6 + +// SD Card +#define USE_SDCARD +#define USE_SDCARD_SPI +#define SDCARD_SPI_BUS BUS_SPI3 +#define SDCARD_CS_PIN PA15 + +#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT + +// ADC +#define USE_ADC +#define ADC_INSTANCE ADC1 + +#define ADC_CHANNEL_1_PIN PC0 +#define ADC_CHANNEL_2_PIN PC1 +#define ADC_CHANNEL_3_PIN PC5 +#define ADC_CHANNEL_4_PIN PC4 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 +#define RSSI_ADC_CHANNEL ADC_CHN_3 +#define AIRSPEED_ADC_CHANNEL ADC_CHN_4 + +#define VBAT_SCALE_DEFAULT 2100 + +// PINIO +#define USE_PINIO +#define USE_PINIOBOX +#define PINIO1_PIN PD10 +#define PINIO2_PIN PD11 + +// *************** LEDSTRIP ************************ +// #define USE_LED_STRIP +// #define WS2811_PIN PA8 + +#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX) +#define CURRENT_METER_SCALE 250 + +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff +#define TARGET_IO_PORTE 0xffff + +#define MAX_PWM_OUTPUT_PORTS 12 +#define USE_DSHOT +#define USE_ESC_SENSOR + diff --git a/src/main/target/IFLIGHT_BLITZ_ATF435/target.h b/src/main/target/IFLIGHT_BLITZ_ATF435/target.h index 7518bbe13e2..b29112d5256 100644 --- a/src/main/target/IFLIGHT_BLITZ_ATF435/target.h +++ b/src/main/target/IFLIGHT_BLITZ_ATF435/target.h @@ -69,6 +69,13 @@ #define BMI270_SPI_BUS BUS_SPI1 #define BMI270_CS_PIN PA4 +// ICM42605/ICM42688P +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW0_DEG +#define ICM42605_SPI_BUS BUS_SPI1 +#define ICM42605_CS_PIN PA4 + + // Other sensors #define USE_BARO diff --git a/src/main/target/IFLIGHT_BLITZ_F722/target.h b/src/main/target/IFLIGHT_BLITZ_F722/target.h index 0ced96ad5fb..cea6b4422ac 100644 --- a/src/main/target/IFLIGHT_BLITZ_F722/target.h +++ b/src/main/target/IFLIGHT_BLITZ_F722/target.h @@ -42,6 +42,11 @@ #define MPU6000_CS_PIN PA4 #define MPU6000_SPI_BUS BUS_SPI1 +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW0_DEG +#define ICM42605_SPI_BUS BUS_SPI1 +#define ICM42605_CS_PIN PA4 + // *************** I2C /Baro/Mag ********************* #define USE_I2C #define USE_I2C_DEVICE_1 diff --git a/src/main/target/IFLIGHT_BLITZ_F722_X1/CMakeLists.txt b/src/main/target/IFLIGHT_BLITZ_F722_X1/CMakeLists.txt new file mode 100644 index 00000000000..2d52bdb52e0 --- /dev/null +++ b/src/main/target/IFLIGHT_BLITZ_F722_X1/CMakeLists.txt @@ -0,0 +1,3 @@ +target_stm32f722xe(IFLIGHT_BLITZ_F722_X1) +target_stm32f722xe(IFLIGHT_BLITZ_F722_X1_OSD) + diff --git a/src/main/target/IFLIGHT_BLITZ_F722_X1/config.c b/src/main/target/IFLIGHT_BLITZ_F722_X1/config.c new file mode 100644 index 00000000000..b8796a0d2f3 --- /dev/null +++ b/src/main/target/IFLIGHT_BLITZ_F722_X1/config.c @@ -0,0 +1,29 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include "platform.h" + +#include "config/config_master.h" +#include "config/feature.h" +#include "io/piniobox.h" + +void targetConfiguration(void) +{ + pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; + pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2; +} diff --git a/src/main/target/IFLIGHT_BLITZ_F722_X1/target.c b/src/main/target/IFLIGHT_BLITZ_F722_X1/target.c new file mode 100644 index 00000000000..5a20c88ff22 --- /dev/null +++ b/src/main/target/IFLIGHT_BLITZ_F722_X1/target.c @@ -0,0 +1,37 @@ +/* + * This file is part of INAV. + * + * INAV is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ + +#include +#include "platform.h" +#include "drivers/bus.h" +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" + +timerHardware_t timerHardware[] = { + DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S1 DMA1_S2_CH5 + DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S2 DMA1_S7_CH5 + + DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 1), // S3 DMA2_S4_CH7 + DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S4 DMA2_S7_CH7 + DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // S5 DMA1_S0_CH2 + DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 DMA1_S3_CH2 + + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // WS2812B +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/IFLIGHT_BLITZ_F722_X1/target.h b/src/main/target/IFLIGHT_BLITZ_F722_X1/target.h new file mode 100644 index 00000000000..03196254420 --- /dev/null +++ b/src/main/target/IFLIGHT_BLITZ_F722_X1/target.h @@ -0,0 +1,167 @@ +/* + * This file is part of INAV. + * + * INAV is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ + + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "I7X1" +#define USBD_PRODUCT_STRING "IFLIGHT_BLITZ_F722_X1" + +#define LED0 PC15 +#define BEEPER PC13 +#define BEEPER_INVERTED + +// *************** SPI1 Gyro & ACC ******************* +#define USE_SPI +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_IMU_BMI270 +#define IMU_BMI270_ALIGN CW90_DEG_FLIP +#define BMI270_CS_PIN PA4 +#define BMI270_SPI_BUS BUS_SPI1 + +// ICM42605 +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW90_DEG_FLIP +#define ICM42605_SPI_BUS BUS_SPI1 +#define ICM42605_CS_PIN PA4 + +// *************** I2C /Baro/Mag ********************* +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB8 +#define I2C1_SDA PB9 + +#define USE_I2C_DEVICE_2 +#define I2C2_SCL PB10 +#define I2C2_SDA PB11 + +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C1 +#define USE_BARO_ALL + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C2 +#define USE_MAG_ALL + +#define TEMPERATURE_I2C_BUS BUS_I2C2 + +#define PITOT_I2C_BUS BUS_I2C2 + +#define RANGEFINDER_I2C_BUS BUS_I2C2 + +// *************** SPI2 OSD*********************** +#define USE_SPI_DEVICE_2 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_OSD + +#ifdef IFLIGHT_BLITZ_F722_X1_OSD + #define USE_MAX7456 + #define MAX7456_SPI_BUS BUS_SPI2 + #define MAX7456_CS_PIN PB12 +#endif + +// *************** SPI3 Flash *********************** +#define USE_SPI_DEVICE_3 +#define SPI3_SCK_PIN PB3 +#define SPI3_MISO_PIN PB4 +#define SPI3_MOSI_PIN PB5 + +#define USE_FLASHFS + +#define USE_FLASH_W25N01G +#define W25N01G_SPI_BUS BUS_SPI3 +#define W25N01G_CS_PIN PA15 + +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT + +// *************** UART ***************************** +#define USE_VCP +#define USB_DETECT_PIN PB2 +#define USE_USB_DETECT + +#define USE_UART1 +#define UART1_RX_PIN PA10 +#define UART1_TX_PIN PA9 + +#define USE_UART2 +#define UART2_RX_PIN PA3 +#define UART2_TX_PIN PA2 + +#define USE_UART3 +#define UART3_RX_PIN PC11 +#define UART3_TX_PIN PC10 + +#define USE_UART4 +#define UART4_RX_PIN PA1 +#define UART4_TX_PIN PA0 + +#define USE_UART5 +#define UART5_RX_PIN PD2 +#define UART5_TX_PIN PC12 + +#define USE_UART6 +#define UART6_RX_PIN PC7 +#define UART6_TX_PIN PC6 + +#define SERIAL_PORT_COUNT 7 + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_CRSF +#define SERIALRX_UART SERIAL_PORT_USART2 + +// *************** ADC ***************************** +#define USE_ADC +#define ADC_INSTANCE ADC1 +#define ADC1_DMA_STREAM DMA2_Stream0 + +#define ADC_CHANNEL_1_PIN PC2 +#define ADC_CHANNEL_2_PIN PC1 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 + +// *************** LEDSTRIP ************************ +#define USE_LED_STRIP +#define WS2811_PIN PA8 + +#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL) +#define CURRENT_METER_SCALE 200 + +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff + +#define MAX_PWM_OUTPUT_PORTS 7 +#define USE_DSHOT +#define USE_SERIALSHOT +#define USE_ESC_SENSOR + +#define USE_PINIO +#define USE_PINIOBOX +#define PINIO1_PIN PC0 +#define PINIO1_FLAGS PINIO_FLAGS_INVERTED +#define PINIO2_PIN PC14 \ No newline at end of file diff --git a/src/main/target/JHEMCUF405WING/CMakeLists.txt b/src/main/target/JHEMCUF405WING/CMakeLists.txt new file mode 100644 index 00000000000..fb99881c9bd --- /dev/null +++ b/src/main/target/JHEMCUF405WING/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32f405xg(JHEMCUF405WING) diff --git a/src/main/target/JHEMCUF405WING/config.c b/src/main/target/JHEMCUF405WING/config.c new file mode 100644 index 00000000000..07f44ab29f7 --- /dev/null +++ b/src/main/target/JHEMCUF405WING/config.c @@ -0,0 +1,42 @@ +/* + * This file is part of INAV Project. + * + * This Source Code Form is subject to the terms of the Mozilla Public + * License, v. 2.0. If a copy of the MPL was not distributed with this file, + * You can obtain one at http://mozilla.org/MPL/2.0/. + * + * Alternatively, the contents of this file may be used under the terms + * of the GNU General Public License Version 3, as described below: + * + * This file is free software: you may copy, redistribute and/or modify + * it under the terms of the GNU General Public License as published by the + * Free Software Foundation, either version 3 of the License, or (at your + * option) any later version. + * + * This file is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General + * Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see http://www.gnu.org/licenses/. + */ + +#include +#include + +#include "platform.h" + +#include "fc/fc_msp_box.h" +#include "fc/config.h" +#include "io/serial.h" +#include "io/piniobox.h" + +void targetConfiguration(void) +{ + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_RX_SERIAL; + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_GPS; + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_MSP; + + pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; +} diff --git a/src/main/target/JHEMCUF405WING/target.c b/src/main/target/JHEMCUF405WING/target.c new file mode 100644 index 00000000000..e8187f936b2 --- /dev/null +++ b/src/main/target/JHEMCUF405WING/target.c @@ -0,0 +1,47 @@ +/* + * This file is part of INAV. + * + * INAV is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ +#include +#include +#include + +#include "drivers/bus.h" +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" +#include "drivers/pinio.h" +#include "drivers/sensor.h" + +timerHardware_t timerHardware[] = { + DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 1, 0), // S1 D(1,3,2) + DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 1, 0), // S2 D(1,0,2) + + DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 1, 0), // S3 D(1,7,5) + DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 1, 0), // S4 D(1,2,5) + DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 1, 0), // S5 D(2,4,7) + DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 1, 0), // S6 D(2,7,7) + + DEF_TIM(TIM8, CH2N,PB14, TIM_USE_OUTPUT_AUTO, 1, 0), // S7 + DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 1, 0), // S8 + DEF_TIM(TIM2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 1, 0), // S9 + DEF_TIM(TIM2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 1, 0), // S10 + DEF_TIM(TIM12, CH2,PB15, TIM_USE_OUTPUT_AUTO, 1, 0), // S11 + + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // 2812LED + DEF_TIM(TIM5, CH3, PA2, TIM_USE_ANY, 0, 0), // TX2 +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/JHEMCUF405WING/target.h b/src/main/target/JHEMCUF405WING/target.h new file mode 100644 index 00000000000..fd64ff153d6 --- /dev/null +++ b/src/main/target/JHEMCUF405WING/target.h @@ -0,0 +1,163 @@ +/* + * This file is part of INAV. + * + * INAV is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ + +#pragma once + +#define USE_TARGET_CONFIG + +#define TARGET_BOARD_IDENTIFIER "JH45" +#define USBD_PRODUCT_STRING "JHEMCUF405WING" + +// LEDs +#define LED0 PA14 //Blue +#define LED1 PA13 //Green + +// Beeper +#define BEEPER PC15 +#define BEEPER_INVERTED + +// SPI1 +#define USE_SPI +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +// SPI2 +#define USE_SPI_DEVICE_2 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PC2 +#define SPI2_MOSI_PIN PC3 + +// SPI3 +#define USE_SPI_DEVICE_3 +#define SPI3_SCK_PIN PB3 +#define SPI3_MISO_PIN PB4 +#define SPI3_MOSI_PIN PB5 + +// Serial ports +#define USE_VCP + +#define USE_UART1 +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#define USE_UART2 +#define UART2_TX_PIN PA2 +#define UART2_RX_PIN PA3 + +#define USE_UART3 +#define UART3_TX_PIN PC10 +#define UART3_RX_PIN PC11 + +#define USE_UART4 +#define UART4_TX_PIN PA0 +#define UART4_RX_PIN PA1 + +#define USE_UART5 +#define UART5_TX_PIN PC12 +#define UART5_RX_PIN PD2 + +#define USE_UART6 +#define UART6_TX_PIN PC6 +#define UART6_RX_PIN PC7 + +// Optional Softserial on UART2 TX Pin PA2 +#define USE_SOFTSERIAL1 +#define SOFTSERIAL_1_TX_PIN PA2 +#define SOFTSERIAL_1_RX_PIN PA2 + +#define SERIAL_PORT_COUNT 8 + +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB8 +#define I2C1_SDA PB9 + +// ICM42605/ICM42688P +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW270_DEG +#define ICM42605_CS_PIN PA4 +#define ICM42605_SPI_BUS BUS_SPI1 + +// Baro +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C1 +#define USE_BARO_ALL + +// Mag +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C1 +#define USE_MAG_ALL + +#define RANGEFINDER_I2C_BUS BUS_I2C1 +#define PITOT_I2C_BUS BUS_I2C1 +#define TEMPERATURE_I2C_BUS BUS_I2C1 + +// OSD +#define USE_MAX7456 +#define MAX7456_CS_PIN PB12 +#define MAX7456_SPI_BUS BUS_SPI2 + +// SD Card +#define USE_SDCARD +#define USE_SDCARD_SPI +#define SDCARD_SPI_BUS BUS_SPI3 +#define SDCARD_CS_PIN PC14 + +#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_CRSF +#define SERIALRX_UART SERIAL_PORT_USART1 + +// ADC +#define USE_ADC +#define ADC_INSTANCE ADC1 +#define ADC1_DMA_STREAM DMA2_Stream0 +#define ADC_CHANNEL_1_PIN PC0 +#define ADC_CHANNEL_2_PIN PC1 +#define ADC_CHANNEL_3_PIN PC5 +#define ADC_CHANNEL_4_PIN PC4 +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 +#define RSSI_ADC_CHANNEL ADC_CHN_4 +#define AIRSPEED_ADC_CHANNEL ADC_CHN_3 + +// LED2812 +#define USE_LED_STRIP +#define WS2811_PIN PA8 + +// PINIO +#define USE_PINIO +#define USE_PINIOBOX +#define PINIO1_PIN PC13 // 2xCamera switcher + +// OTHERS +#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_BLACKBOX | FEATURE_AIRMODE) +#define CURRENT_METER_SCALE 175 + +#define USE_DSHOT +#define USE_ESC_SENSOR +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD (BIT(2)) + +#define MAX_PWM_OUTPUT_PORTS 11 \ No newline at end of file diff --git a/src/main/target/JHEMCUF745/CMakeLists.txt b/src/main/target/JHEMCUF745/CMakeLists.txt new file mode 100644 index 00000000000..5f5a85e7c5d --- /dev/null +++ b/src/main/target/JHEMCUF745/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32f745xg(JHEMCUF745) diff --git a/src/main/target/JHEMCUF745/config.c b/src/main/target/JHEMCUF745/config.c new file mode 100644 index 00000000000..fb2fe04f963 --- /dev/null +++ b/src/main/target/JHEMCUF745/config.c @@ -0,0 +1,29 @@ +/* + * This file is part of INAV. + * + * INAV is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ + +#include +#include + +#include + +#include "drivers/pwm_mapping.h" + +void targetConfiguration(void) +{ + timerOverridesMutable(timer2id(TIM1))->outputMode = OUTPUT_MODE_MOTORS; + timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS; +} diff --git a/src/main/target/JHEMCUF745/target.c b/src/main/target/JHEMCUF745/target.c new file mode 100644 index 00000000000..f603cbe43be --- /dev/null +++ b/src/main/target/JHEMCUF745/target.c @@ -0,0 +1,44 @@ +/* + * This file is part of INAV. + * + * This Source Code Form is subject to the terms of the Mozilla Public + * License, v. 2.0. If a copy of the MPL was not distributed with this file, + * You can obtain one at http://mozilla.org/MPL/2.0/. + * + * Alternatively, the contents of this file may be used under the terms + * of the GNU General Public License Version 3, as described below: + * + * This file is free software: you may copy, redistribute and/or modify + * it under the terms of the GNU General Public License as published by the + * Free Software Foundation, either version 3 of the License, or (at your + * option) any later version. + * + * This file is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General + * Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see http://www.gnu.org/licenses/. + */ + +#include +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" +#include "drivers/bus.h" +#include "drivers/pinio.h" + +timerHardware_t timerHardware[] = { + DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // M1, DMA1_ST7 + DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // M2, DMA1_ST2 + DEF_TIM(TIM1, CH1, PE9, TIM_USE_OUTPUT_AUTO, 0, 0), // M3 + DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO, 0, 1), // M4, DMA2_ST4 + DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // M5, DMA2_ST7 + DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 0), // M6, DMA1_ST1 + DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 + DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 + DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED, 0, 0), // LED_STRIP, DMA1_ST0 +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/JHEMCUF745/target.h b/src/main/target/JHEMCUF745/target.h new file mode 100644 index 00000000000..dfd45749d2d --- /dev/null +++ b/src/main/target/JHEMCUF745/target.h @@ -0,0 +1,157 @@ +/* + * This file is part of INAV. + * + * Cleanflight and Betaflight are free software. You can redistribute + * this software and/or modify this software under the terms of the + * GNU General Public License as published by the Free Software + * Foundation, either version 3 of the License, or (at your option) + * any later version. + * + * Cleanflight and Betaflight are distributed in the hope that they + * will be useful, but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this software. + * + * If not, see . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "JHF7" +#define USBD_PRODUCT_STRING "JHEMCUF745" + +#define LED0 PA2 + +#define BEEPER PD15 +#define BEEPER_INVERTED + +#define USE_DSHOT +#define USE_DSHOT_DMAR +#define USE_ESC_SENSOR + +#define USE_IMU_MPU6000 +#define IMU_MPU6000_ALIGN CW270_DEG +#define GYRO_INT_EXTI PE1 +#define MPU6000_CS_PIN SPI4_NSS_PIN +#define MPU6000_SPI_BUS BUS_SPI4 + +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW270_DEG +#define ICM42605_CS_PIN SPI4_NSS_PIN +#define ICM42605_SPI_BUS BUS_SPI4 +#define ICM42605_EXTI_PIN PE1 + +#define USB_IO +#define USE_VCP +#define VBUS_SENSING_ENABLED +#define VBUS_SENSING_PIN PA8 + +#define USE_UART1 +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#define USE_UART2 +#define UART2_TX_PIN PD5 +#define UART2_RX_PIN PD6 + +#define USE_UART3 +#define UART3_TX_PIN PB10 +#define UART3_RX_PIN PB11 + +#define USE_UART4 +#define UART4_TX_PIN PA0 +#define UART4_RX_PIN PA1 + +#define USE_UART5 +#define UART5_TX_PIN PC12 +#define UART5_RX_PIN PD2 + +#define USE_UART6 +#define UART6_TX_PIN PC6 +#define UART6_RX_PIN PC7 + +#define USE_UART7 +#define UART7_RX_PIN PE7 +#define UART7_TX_PIN PE8 + +#define SERIAL_PORT_COUNT 8 // VCP,UART1,UART2,UART3,UART4,UART5,UART6 + +#define USE_SPI +#define USE_SPI_DEVICE_1 // FLASH +#define USE_SPI_DEVICE_2 // OSD +#define USE_SPI_DEVICE_4 // ICM20689 + +#define SPI1_NSS_PIN PA4 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define SPI2_NSS_PIN PB12 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define SPI4_NSS_PIN PE4 +#define SPI4_SCK_PIN PE2 +#define SPI4_MISO_PIN PE5 +#define SPI4_MOSI_PIN PE6 + +#define USE_MAX7456 +#define MAX7456_SPI_BUS BUS_SPI2 +#define MAX7456_CS_PIN SPI2_NSS_PIN + +#define M25P16_CS_PIN SPI1_NSS_PIN +#define M25P16_SPI_BUS BUS_SPI1 +#define USE_FLASHFS +#define USE_FLASH_M25P16 +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT + +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB6 +#define I2C1_SDA PB7 + +// External I2C bus is the same as interal one +#define MAG_I2C_BUS BUS_I2C1 +#define TEMPERATURE_I2C_BUS BUS_I2C1 +#define RANGEFINDER_I2C_BUS BUS_I2C1 +#define DEFAULT_I2C_BUS BUS_I2C1 + +#define USE_BARO +#define USE_BARO_ALL +#define BARO_I2C_BUS BUS_I2C1 + +#define USE_MAG +#define USE_MAG_ALL + +#define USE_ADC +#define ADC_CHANNEL_1_PIN PC2 +#define ADC_CHANNEL_2_PIN PC3 +#define ADC_CHANNEL_3_PIN PC5 + +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_1 +#define VBAT_ADC_CHANNEL ADC_CHN_2 +#define RSSI_ADC_CHANNEL ADC_CHN_3 + +#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT + +#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_VBAT | FEATURE_BLACKBOX) +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_UART SERIAL_PORT_USART1 +#define SERIALRX_PROVIDER SERIALRX_SBUS + +#define USE_LED_STRIP +#define WS2811_PIN PD12 + +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff +#define TARGET_IO_PORTE 0xffff + +#define MAX_PWM_OUTPUT_PORTS 8 diff --git a/src/main/target/JHEMCUH743HD/CMakeLists.txt b/src/main/target/JHEMCUH743HD/CMakeLists.txt new file mode 100644 index 00000000000..b0192886d6c --- /dev/null +++ b/src/main/target/JHEMCUH743HD/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32h743xi(JHEMCUH743HD) \ No newline at end of file diff --git a/src/main/target/JHEMCUH743HD/config.c b/src/main/target/JHEMCUH743HD/config.c new file mode 100644 index 00000000000..4f0aea919e7 --- /dev/null +++ b/src/main/target/JHEMCUH743HD/config.c @@ -0,0 +1,66 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include + +#include + +#include "common/axis.h" + +#include "config/config_master.h" +#include "config/feature.h" + +#include "drivers/sensor.h" +#include "drivers/pwm_esc_detect.h" +#include "drivers/pwm_output.h" +#include "drivers/serial.h" + +#include "fc/rc_controls.h" + +#include "flight/failsafe.h" +#include "flight/mixer.h" +#include "flight/pid.h" + +#include "rx/rx.h" + +#include "io/serial.h" + +#include "sensors/battery.h" +#include "sensors/sensors.h" + +#include "telemetry/telemetry.h" + +#include "io/piniobox.h" + +void targetConfiguration(void) +{ + pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; + pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2; + + + /* + * UART1 is SerialRX + */ + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_RX_SERIAL; + + /* + * Enable MSP at 115200 at UART4 + */ + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].functionMask = FUNCTION_MSP; + serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].msp_baudrateIndex = BAUD_115200; +} diff --git a/src/main/target/JHEMCUH743HD/target.c b/src/main/target/JHEMCUH743HD/target.c new file mode 100644 index 00000000000..adb753b9d17 --- /dev/null +++ b/src/main/target/JHEMCUH743HD/target.c @@ -0,0 +1,49 @@ +/* + * This file is part of INAV. + * + * INAV is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ + +#include + +#include "platform.h" + +#include "drivers/bus.h" +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" +#include "drivers/pinio.h" +#include "drivers/sensor.h" + +BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN); +BUSDEV_REGISTER_SPI_TAG(busdev_bmi270, DEVHW_BMI270, BMI270_SPI_BUS, BMI270_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_BMI270_ALIGN); +BUSDEV_REGISTER_SPI_TAG(busdev_icm42605, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN); + + +timerHardware_t timerHardware[] = { + + DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1 + DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 1), // S2 + DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 2), // S3 + DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 3), // S4 + + DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 4), // S5 + DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 5), // S6 + DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 6), // S7 + DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 7), // S8 + + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 9), // LED_2812 +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/JHEMCUH743HD/target.h b/src/main/target/JHEMCUH743HD/target.h new file mode 100644 index 00000000000..92300b52564 --- /dev/null +++ b/src/main/target/JHEMCUH743HD/target.h @@ -0,0 +1,205 @@ +/* + * This file is part of INAV. + * + * INAV is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "JHEH743HD" +#define USBD_PRODUCT_STRING "JHEMCUH743HD" + +#define USE_TARGET_CONFIG + +#define LED0 PE5 +#define LED1 PE4 + +#define BEEPER PE3 +#define BEEPER_INVERTED + +// *************** IMU generic *********************** +#define USE_DUAL_GYRO +#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS + +// *************** SPI1 IMU0 MPU6000 **************** +#define USE_SPI +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_IMU_MPU6000 +#define IMU_MPU6000_ALIGN CW180_DEG +#define MPU6000_SPI_BUS BUS_SPI1 +#define MPU6000_CS_PIN PA4 + +#define USE_IMU_BMI270 +#define IMU_BMI270_ALIGN CW180_DEG +#define BMI270_SPI_BUS BUS_SPI1 +#define BMI270_CS_PIN PA4 + +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW180_DEG +#define ICM42605_SPI_BUS BUS_SPI1 +#define ICM42605_CS_PIN PA4 + +// *************** SPI2 OSD *********************** +#define USE_SPI_DEVICE_2 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_MAX7456 +#define MAX7456_SPI_BUS BUS_SPI2 +#define MAX7456_CS_PIN PB12 + +// *************** SPI3 FLASH *********************** +#define USE_SPI_DEVICE_3 +#define SPI3_SCK_PIN PC10 +#define SPI3_MISO_PIN PC11 +#define SPI3_MOSI_PIN PB2 +#define SPI3_NSS_PIN PA15 +#define SPI3_SCK_AF GPIO_AF6_SPI3 +#define SPI3_MISO_AF GPIO_AF6_SPI3 +#define SPI3_MOSI_AF GPIO_AF7_SPI3 + +#define M25P16_SPI_BUS BUS_SPI3 +#define M25P16_CS_PIN SPI3_NSS_PIN + +#define W25N01G_SPI_BUS BUS_SPI3 +#define W25N01G_CS_PIN SPI3_NSS_PIN + +#define USE_BLACKBOX +#define USE_FLASHFS +#define USE_FLASH_M25P16 +#define USE_FLASH_W25N01G +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT + +// *************** I2C /Baro/Mag ********************* +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB6 +#define I2C1_SDA PB7 + +#define USE_I2C_DEVICE_2 +#define I2C2_SCL PB10 +#define I2C2_SDA PB11 + +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C1 +#define USE_BARO_ALL + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C1 +#define USE_MAG_ALL + +#define TEMPERATURE_I2C_BUS BUS_I2C1 +#define PITOT_I2C_BUS BUS_I2C1 + +#define USE_RANGEFINDER +#define RANGEFINDER_I2C_BUS BUS_I2C1 + +// *************** UART ***************************** +#define USE_VCP + +#define USE_UART1 +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#define USE_UART2 +#define UART2_TX_PIN PD5 +#define UART2_RX_PIN PD6 + +#define USE_UART3 +#define UART3_TX_PIN PD8 +#define UART3_RX_PIN PD9 + +#define USE_UART4 +#define UART4_TX_PIN PD1 +#define UART4_RX_PIN PD0 + +#define USE_UART5 +#define UART5_TX_PIN PC12 +#define UART5_RX_PIN PD2 + +#define USE_UART6 +#define UART6_TX_PIN PC6 +#define UART6_RX_PIN PC7 + +#define USE_UART7 +#define UART7_TX_PIN PE8 +#define UART7_RX_PIN PE7 + +#define USE_UART8 +#define UART8_TX_PIN PE1 +#define UART8_RX_PIN PE0 + +#define SERIAL_PORT_COUNT 9 + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_SBUS + +// *************** ADC ***************************** +#define USE_ADC +#define ADC_INSTANCE ADC3 + +#ifdef MAMBAH743_2022B + +#define ADC_CHANNEL_1_PIN PC1 +#define ADC_CHANNEL_2_PIN PC3 +#define ADC_CHANNEL_3_PIN PC0 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 +#define AIRSPEED_ADC_CHANNEL ADC_CHN_3 + +#else + +#define ADC_CHANNEL_1_PIN PC1 +#define ADC_CHANNEL_2_PIN PC3 +#define ADC_CHANNEL_3_PIN PC2 +#define ADC_CHANNEL_4_PIN PC0 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 +#define RSSI_ADC_CHANNEL ADC_CHN_3 +#define AIRSPEED_ADC_CHANNEL ADC_CHN_4 + +#endif + +// *************** PINIO *************************** +#define USE_PINIO +#define USE_PINIOBOX + +#define PINIO1_PIN PC2 +#define PINIO2_PIN PC5 + +// *************** LEDSTRIP ************************ +#define USE_LED_STRIP +#define WS2811_PIN PA8 + +#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL) +#define CURRENT_METER_SCALE 250 + +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff +#define TARGET_IO_PORTE 0xffff + +#define MAX_PWM_OUTPUT_PORTS 8 +#define USE_DSHOT +#define USE_ESC_SENSOR \ No newline at end of file diff --git a/src/main/target/MAMBAF405_2022A/config.c b/src/main/target/MAMBAF405_2022A/config.c index ba3a5344c20..d632230c240 100644 --- a/src/main/target/MAMBAF405_2022A/config.c +++ b/src/main/target/MAMBAF405_2022A/config.c @@ -57,7 +57,4 @@ void targetConfiguration(void) serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].functionMask = FUNCTION_MSP; serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].msp_baudrateIndex = BAUD_115200; - - // To improve backwards compatibility with INAV versions 6.x and older - timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS; } diff --git a/src/main/target/MAMBAH743/CMakeLists.txt b/src/main/target/MAMBAH743/CMakeLists.txt index 61b073da931..801467cdb86 100644 --- a/src/main/target/MAMBAH743/CMakeLists.txt +++ b/src/main/target/MAMBAH743/CMakeLists.txt @@ -1,2 +1,3 @@ target_stm32h743xi(MAMBAH743) -target_stm32h743xi(MAMBAH743_2022B) \ No newline at end of file +target_stm32h743xi(MAMBAH743_2022B) +target_stm32h743xi(MAMBAH743_2022B_GYRO2) diff --git a/src/main/target/MAMBAH743/target.c b/src/main/target/MAMBAH743/target.c index 46231fdbd79..1e4f8fe246b 100644 --- a/src/main/target/MAMBAH743/target.c +++ b/src/main/target/MAMBAH743/target.c @@ -29,7 +29,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN); BUSDEV_REGISTER_SPI_TAG(busdev_bmi270, DEVHW_BMI270, BMI270_SPI_BUS, BMI270_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_BMI270_ALIGN); -#ifdef MAMBAH743_2022B +#ifdef USE_IMU_ICM42605 BUSDEV_REGISTER_SPI_TAG(busdev_icm42605, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN); #endif diff --git a/src/main/target/MAMBAH743/target.h b/src/main/target/MAMBAH743/target.h index 7fcea85f48b..bc4a73979ee 100644 --- a/src/main/target/MAMBAH743/target.h +++ b/src/main/target/MAMBAH743/target.h @@ -22,6 +22,11 @@ #define TARGET_BOARD_IDENTIFIER "M743" #define USBD_PRODUCT_STRING "MAMBAH743_2022B" +#elif defined(MAMBAH743_2022B_GYRO2) + +#define TARGET_BOARD_IDENTIFIER "M743" +#define USBD_PRODUCT_STRING "MAMBAH743_2022B_GYRO2" + #else #define TARGET_BOARD_IDENTIFIER "M743" @@ -58,13 +63,22 @@ #define BMI270_SPI_BUS BUS_SPI1 #define BMI270_CS_PIN PA4 -#ifdef MAMBAH743_2022B - #define USE_SPI_DEVICE_4 #define SPI4_SCK_PIN PE12 #define SPI4_MISO_PIN PE13 #define SPI4_MOSI_PIN PE14 +#ifdef MAMBAH743_2022B + +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW0_DEG +#define ICM42605_SPI_BUS BUS_SPI1 +#define ICM42605_CS_PIN PA4 + +#endif + +#ifdef MAMBAH743_2022B_GYRO2 + #define USE_IMU_ICM42605 #define IMU_ICM42605_ALIGN CW270_DEG #define ICM42605_SPI_BUS BUS_SPI4 @@ -175,7 +189,7 @@ #define USE_ADC #define ADC_INSTANCE ADC3 -#ifdef MAMBAH743_2022B +#if defined(MAMBAH743_2022B) || defined(MAMBAH743_2022B_GYRO2) #define ADC_CHANNEL_1_PIN PC1 #define ADC_CHANNEL_2_PIN PC3 @@ -203,7 +217,7 @@ #define USE_PINIO #define USE_PINIOBOX -#ifdef MAMBAH743_2022B +#if defined(MAMBAH743_2022B) || defined(MAMBAH743_2022B_GYRO2) #define PINIO1_PIN PC2 #define PINIO2_PIN PC5 diff --git a/src/main/target/SITL/serial_proxy.c b/src/main/target/SITL/serial_proxy.c new file mode 100644 index 00000000000..281fefd3ede --- /dev/null +++ b/src/main/target/SITL/serial_proxy.c @@ -0,0 +1,784 @@ +/* + * This file is part of INAV Project. + * + * This Source Code Form is subject to the terms of the Mozilla Public + * License, v. 2.0. If a copy of the MPL was not distributed with this file, + * You can obtain one at http://mozilla.org/MPL/2.0/. + * + * Alternatively, the contents of this file may be used under the terms + * of the GNU General Public License Version 3, as described below: + * + * This file is free software: you may copy, redistribute and/or modify + * it under the terms of the GNU General Public License as published by the + * Free Software Foundation, either version 3 of the License, or (at your + * option) any later version. + * + * This file is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General + * Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see http://www.gnu.org/licenses/. + */ + +#include "serial_proxy.h" + +#if defined(SITL_BUILD) + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "platform.h" + +#include +#include +#include +#include +#include + +#include "drivers/time.h" +#include "msp/msp_serial.h" +#include "msp/msp_protocol.h" +#include "common/crc.h" +#include "rx/sim.h" + +#include + +#ifdef __FreeBSD__ +# define __BSD_VISIBLE 1 +#endif + +#ifdef __linux__ +#include +#ifndef TCGETS2 +#include +#endif +#else +#include +#endif + +#ifdef __APPLE__ +#include +#endif + +#include "drivers/serial_tcp.h" + +#define SYM_BEGIN '$' +#define SYM_PROTO_V1 'M' +#define SYM_PROTO_V2 'X' +#define SYM_FROM_MWC '>' +#define SYM_TO_MWC '<' +#define SYM_UNSUPPORTED '!' + +#define JUMBO_FRAME_MIN_SIZE 255 +#define MAX_MSP_MESSAGE 1024 +#define RX_CONFIG_SIZE 24 + +typedef enum { + DS_IDLE, + DS_PROTO_IDENTIFIER, + DS_DIRECTION_V1, + DS_DIRECTION_V2, + DS_FLAG_V2, + DS_PAYLOAD_LENGTH_V1, + DS_PAYLOAD_LENGTH_JUMBO_LOW, + DS_PAYLOAD_LENGTH_JUMBO_HIGH, + DS_PAYLOAD_LENGTH_V2_LOW, + DS_PAYLOAD_LENGTH_V2_HIGH, + DS_CODE_V1, + DS_CODE_JUMBO_V1, + DS_CODE_V2_LOW, + DS_CODE_V2_HIGH, + DS_PAYLOAD_V1, + DS_PAYLOAD_V2, + DS_CHECKSUM_V1, + DS_CHECKSUM_V2, +} TDecoderState; + +static TDecoderState decoderState = DS_IDLE; + +typedef enum { + RXC_IDLE = 0, + RXC_RQ = 1, + RXC_DONE = 2 +} TRXConfigState; + +static TRXConfigState rxConfigState = RXC_IDLE; + +static int message_length_expected; +static unsigned char message_buffer[MAX_MSP_MESSAGE]; +static int message_length_received; +static int unsupported; +static int code; +static int message_direction; +static uint8_t message_checksum; +static int reqCount = 0; +static uint16_t rssi = 0; +static uint8_t rxConfigBuffer[RX_CONFIG_SIZE]; + +static timeMs_t lastWarning = 0; + +int serialUartIndex = -1; +char serialPort[64] = ""; +int serialBaudRate = 115200; +OptSerialStopBits_e serialStopBits = OPT_SERIAL_STOP_BITS_ONE; //0:None|1:One|2:OnePointFive|3:Two +OptSerialParity_e serialParity = OPT_SERIAL_PARITY_NONE; +bool serialFCProxy = false; + +#define FC_PROXY_REQUEST_PERIOD_MIN_MS 20 //inav can handle 100 msp messages per second max +#define FC_PROXY_REQUEST_PERIOD_TIMEOUT_MS 200 +#define FC_PROXY_REQUEST_PERIOD_RSSI_MS 300 +#define SERIAL_BUFFER_SIZE 256 + +#if defined(__CYGWIN__) +#include +static HANDLE hSerial; +#else +static int fd; +#endif + +static bool connected = false; +static bool started = false; + +static timeMs_t nextProxyRequestTimeout = 0; +static timeMs_t nextProxyRequestMin = 0; +static timeMs_t nextProxyRequestRssi = 0; + +static timeMs_t lastVisit = 0; + +#if !defined(__CYGWIN__) +#if !defined( __linux__) && !defined(__APPLE__) +static int rate_to_constant(int baudrate) +{ +#ifdef __FreeBSD__ + return baudrate; +#else +#define B(x) case x: return B##x + switch (baudrate) { + B(50); + B(75); + B(110); + B(134); + B(150); + B(200); + B(300); + B(600); + B(1200); + B(1800); + B(2400); + B(4800); + B(9600); + B(19200); + B(38400); + B(57600); + B(115200); + B(230400); + default: + return 0; + } +#undef B +#endif +} +#endif + +static void close_serial(void) +{ +#ifdef __linux__ + ioctl(fd, TCFLSH, TCIOFLUSH); +#else + tcflush(fd, TCIOFLUSH); +#endif + close(fd); +} + +static int set_fd_speed(void) +{ + int res = -1; +#ifdef __linux__ + // Just user BOTHER for everything (allows non-standard speeds) + struct termios2 t; + if ((res = ioctl(fd, TCGETS2, &t)) != -1) { + t.c_cflag &= ~CBAUD; + t.c_cflag |= BOTHER; + t.c_ospeed = t.c_ispeed = serialBaudRate; + res = ioctl(fd, TCSETS2, &t); + } +#elif __APPLE__ + speed_t speed = serialBaudRate; + res = ioctl(fd, IOSSIOSPEED, &speed); +#else + int speed = rate_to_constant(serialBaudRate); + struct termios term; + if (tcgetattr(fd, &term)) return -1; + if (speed == 0) { + res = -1; + } else { + if (cfsetispeed(&term, speed) != -1) { + cfsetospeed(&term, speed); + res = tcsetattr(fd, TCSANOW, &term); + } + if (res != -1) { + memset(&term, 0, sizeof(term)); + res = (tcgetattr(fd, &term)); + } + } +#endif + return res; +} + +static int set_attributes(void) +{ + struct termios tio; + memset (&tio, 0, sizeof(tio)); + int res = -1; +#ifdef __linux__ + res = ioctl(fd, TCGETS, &tio); +#else + res = tcgetattr(fd, &tio); +#endif + if (res != -1) { + // cfmakeraw ... + tio.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON); + tio.c_oflag &= ~OPOST; + tio.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN); + tio.c_cflag &= ~(CSIZE | PARENB); + tio.c_cflag |= CS8 | CREAD | CLOCAL; + tio.c_cc[VTIME] = 0; + tio.c_cc[VMIN] = 0; + + switch (serialStopBits) { + case OPT_SERIAL_STOP_BITS_ONE: + tio.c_cflag &= ~CSTOPB; + break; + case OPT_SERIAL_STOP_BITS_TWO: + tio.c_cflag |= CSTOPB; + break; + case OPT_SERIAL_STOP_BITS_INVALID: + break; + } + + switch (serialParity) { + case OPT_SERIAL_PARITY_EVEN: + tio.c_cflag |= PARENB; + tio.c_cflag &= ~PARODD; + break; + case OPT_SERIAL_PARITY_NONE: + tio.c_cflag &= ~PARENB; + tio.c_cflag &= ~PARODD; + break; + case OPT_SERIAL_PARITY_ODD: + tio.c_cflag |= PARENB; + tio.c_cflag |= PARODD; + break; + case OPT_SERIAL_PARITY_INVALID: + break; + } +#ifdef __linux__ + res = ioctl(fd, TCSETS, &tio); +#else + res = tcsetattr(fd, TCSANOW, &tio); +#endif + } + if (res != -1) { + res = set_fd_speed(); + } + return res; +} +#endif + +void serialProxyInit(void) +{ + char portName[64 + 20]; + if ( strlen(serialPort) < 1) { + return; + } + connected = false; + +#if defined(__CYGWIN__) + sprintf(portName, "\\\\.\\%s", serialPort); + + hSerial = CreateFile(portName, + GENERIC_READ | GENERIC_WRITE, + 0, + NULL, + OPEN_EXISTING, + FILE_ATTRIBUTE_NORMAL, + NULL); + + if (hSerial == INVALID_HANDLE_VALUE) { + if (GetLastError() == ERROR_FILE_NOT_FOUND) { + fprintf(stderr, "[SERIALPROXY] ERROR: Sserial port was not attached. Reason: %s not available.\n", portName); + } else { + fprintf(stderr, "[SERIALPROXY] ERROR: Can not connect to serial port, unknown error.\n"); + } + return; + } else { + DCB dcbSerialParams = { 0 }; + if (!GetCommState(hSerial, &dcbSerialParams)) { + fprintf(stderr, "[SERIALPROXY] ALERT: failed to get current serial parameters!\n"); + } else { + dcbSerialParams.BaudRate = serialBaudRate; + dcbSerialParams.ByteSize = 8; + + // Disable software flow control (XON/XOFF) + dcbSerialParams.fOutX = FALSE; + dcbSerialParams.fInX = FALSE; + + // Disable hardware flow control (RTS/CTS) + dcbSerialParams.fRtsControl = RTS_CONTROL_DISABLE; + dcbSerialParams.fDtrControl = DTR_CONTROL_DISABLE; + + // Disable any special processing of bytes + dcbSerialParams.fBinary = TRUE; + + switch (serialStopBits) { + case OPT_SERIAL_STOP_BITS_ONE: + dcbSerialParams.StopBits = ONESTOPBIT; + break; + case OPT_SERIAL_STOP_BITS_TWO: + dcbSerialParams.StopBits = TWOSTOPBITS; + break; + case OPT_SERIAL_STOP_BITS_INVALID: + break; + } + + switch (serialParity) { + case OPT_SERIAL_PARITY_EVEN: + dcbSerialParams.Parity = EVENPARITY; + break; + case OPT_SERIAL_PARITY_NONE: + dcbSerialParams.Parity = NOPARITY; + break; + case OPT_SERIAL_PARITY_ODD: + dcbSerialParams.Parity = ODDPARITY; + break; + case OPT_SERIAL_PARITY_INVALID: + break; + } + + if (!SetCommState(hSerial, &dcbSerialParams)) { + fprintf(stderr, "[SERIALPROXY] ALERT: Could not set Serial Port parameters\n"); + } else { + COMMTIMEOUTS comTimeOut; + comTimeOut.ReadIntervalTimeout = MAXDWORD; + comTimeOut.ReadTotalTimeoutMultiplier = 0; + comTimeOut.ReadTotalTimeoutConstant = 0; + comTimeOut.WriteTotalTimeoutMultiplier = 0; + comTimeOut.WriteTotalTimeoutConstant = 0; + SetCommTimeouts(hSerial, &comTimeOut); + } + } + } +#else + strcpy(portName, serialPort); // because, windows ... + fd = open(serialPort, O_RDWR | O_NOCTTY); + if (fd != -1) { + int res = 1; + res = set_attributes(); + if (res == -1) { + fprintf(stderr, "[SERIALPROXY] ALERT: Failed to configure device: %s %s\n", portName, strerror(errno)); + close(fd); + fd = -1; + } + } else { + fprintf(stderr, "[SERIALPROXY] ERROR: Can not connect to serial port %s\n", portName); + return; + } +#endif + connected = true; + + if ( !serialFCProxy ) { + fprintf(stderr, "[SERIALPROXY] Connected %s to UART%d\n", portName, serialUartIndex); + } else { + fprintf(stderr, "[SERIALPROXY] Using proxy flight controller on %s\n", portName); + } +} + +void serialProxyStart(void) +{ + started = true; +} + +void serialProxyClose(void) +{ + if (connected) { + connected = false; +#if defined(__CYGWIN__) + CloseHandle(hSerial); +#else + close_serial(); +#endif + started = false; + nextProxyRequestTimeout = 0; + nextProxyRequestMin = 0; + nextProxyRequestRssi = 0; + lastWarning = 0; + lastVisit = 0; + } +} + +static bool canOutputWarning(void) +{ + if ( millis() > lastWarning ) { + lastWarning = millis() + 5000; + return true; + } + return false; +} + +int serialProxyReadData(unsigned char *buffer, unsigned int nbChar) +{ + if (!connected) return 0; + +#if defined(__CYGWIN__) + COMSTAT status; + DWORD errors; + DWORD bytesRead; + + ClearCommError(hSerial, &errors, &status); + if (status.cbInQue > 0) { + unsigned int toRead = (status.cbInQue > nbChar) ? nbChar : status.cbInQue; + if (ReadFile(hSerial, buffer, toRead, &bytesRead, NULL) && (bytesRead != 0)) { + return bytesRead; + } + } + return 0; +#else + if (nbChar == 0) return 0; + int bytesRead = read(fd, buffer, nbChar); + return bytesRead; +#endif +} + +bool serialProxyWriteData(unsigned char *buffer, unsigned int nbChar) +{ + if (!connected) return false; + +#if defined(__CYGWIN__) + COMSTAT status; + DWORD errors; + DWORD bytesSent; + if (!WriteFile(hSerial, (void *)buffer, nbChar, &bytesSent, 0)) { + ClearCommError(hSerial, &errors, &status); + if ( canOutputWarning() ) { + fprintf(stderr, "[SERIALPROXY] ERROR: Can not write to serial port\n"); + } + return false; + } + if ( bytesSent != nbChar ) { + if ( canOutputWarning() ) { + fprintf(stderr, "[SERIALPROXY] ERROR: Can not write to serial port\n"); + } + } +#else + ssize_t l = write(fd, buffer, nbChar); + if ( l != (ssize_t)nbChar ) { + if ( canOutputWarning() ) { + fprintf(stderr, "[SERIALPROXY] ERROR: Can not write to serial port\n"); + } + return false; + } +#endif + return true; +} + +bool serialProxyIsConnected(void) +{ + return connected; +} + +static void mspSendCommand(int cmd, unsigned char *data, int dataLen) +{ + uint8_t msgBuf[MAX_MSP_MESSAGE] = { '$', 'X', '<' }; + int msgLen = 3; + + mspHeaderV2_t *hdrV2 = (mspHeaderV2_t *)&msgBuf[msgLen]; + hdrV2->flags = 0; + hdrV2->cmd = cmd; + hdrV2->size = dataLen; + msgLen += sizeof(mspHeaderV2_t); + + for ( int i = 0; i < dataLen; i++ ) { + msgBuf[msgLen++] = data[i]; + } + + uint8_t crc = crc8_dvb_s2_update(0, (uint8_t *)hdrV2, sizeof(mspHeaderV2_t)); + crc = crc8_dvb_s2_update(crc, data, dataLen); + msgBuf[msgLen] = crc; + msgLen++; + + serialProxyWriteData((unsigned char *)&msgBuf, msgLen); +} + +static void mspRequestChannels(void) +{ + mspSendCommand(MSP_RC, NULL, 0); +} + +static void mspRequestRssi(void) +{ + mspSendCommand(MSP_ANALOG, NULL, 0); +} + +static void requestRXConfigState(void) +{ + mspSendCommand(MSP_RX_CONFIG, NULL, 0); + rxConfigState = RXC_RQ; + fprintf(stderr, "[SERIALPROXY] Requesting RX config from proxy FC...\n"); +} + +static void processMessage(void) +{ + if ( code == MSP_RC ) { + if ( reqCount > 0 ) reqCount--; + int count = message_length_received / 2; + if ( count <= MAX_SUPPORTED_RC_CHANNEL_COUNT) { + uint16_t *channels = (uint16_t *)(&message_buffer[0]); + //AETR => AERT + uint v = channels[2]; + channels[2] = channels[3]; + channels[3] = v; + if ( rssi > 0 ) { + rxSimSetChannelValue(channels, count); + } + } + } else if ( code == MSP_ANALOG ) { + if ( reqCount > 0 ) reqCount--; + if ( message_length_received >= 7 ) { + rssi = *((uint16_t *)(&message_buffer[3])); + rxSimSetRssi( rssi ); + } + } else if ( code == MSP_RX_CONFIG ) { + memcpy( &(rxConfigBuffer[0]), &(message_buffer[0]), RX_CONFIG_SIZE ); + *((uint16_t *) & (rxConfigBuffer[1])) = 2500; //maxcheck + *((uint16_t *) & (rxConfigBuffer[5])) = 500; //mincheck + + mspSendCommand( MSP_SET_RX_CONFIG, rxConfigBuffer, RX_CONFIG_SIZE ); + rxConfigState = RXC_DONE; + fprintf(stderr, "[SERIALPROXY] Setting RX config on proxy FC...\n"); + } +} + +static void decodeProxyMessages(unsigned char *data, int len) +{ + for (int i = 0; i < len; i++) { + switch (decoderState) { + case DS_IDLE: // sync char 1 + if (data[i] == SYM_BEGIN) { + decoderState = DS_PROTO_IDENTIFIER; + } + break; + + case DS_PROTO_IDENTIFIER: // sync char 2 + switch (data[i]) { + case SYM_PROTO_V1: + decoderState = DS_DIRECTION_V1; + break; + case SYM_PROTO_V2: + decoderState = DS_DIRECTION_V2; + break; + default: + //unknown protocol + decoderState = DS_IDLE; + } + break; + + case DS_DIRECTION_V1: // direction (should be >) + + case DS_DIRECTION_V2: + unsupported = 0; + switch (data[i]) { + case SYM_FROM_MWC: + message_direction = 1; + break; + case SYM_TO_MWC: + message_direction = 0; + break; + case SYM_UNSUPPORTED: + unsupported = 1; + break; + } + decoderState = decoderState == DS_DIRECTION_V1 ? DS_PAYLOAD_LENGTH_V1 : DS_FLAG_V2; + break; + + case DS_FLAG_V2: + // Ignored for now + decoderState = DS_CODE_V2_LOW; + break; + + case DS_PAYLOAD_LENGTH_V1: + message_length_expected = data[i]; + + if (message_length_expected == JUMBO_FRAME_MIN_SIZE) { + decoderState = DS_CODE_JUMBO_V1; + } else { + message_length_received = 0; + decoderState = DS_CODE_V1; + } + break; + + case DS_PAYLOAD_LENGTH_V2_LOW: + message_length_expected = data[i]; + decoderState = DS_PAYLOAD_LENGTH_V2_HIGH; + break; + + case DS_PAYLOAD_LENGTH_V2_HIGH: + message_length_expected |= data[i] << 8; + message_length_received = 0; + if (message_length_expected <= MAX_MSP_MESSAGE) { + decoderState = message_length_expected > 0 ? DS_PAYLOAD_V2 : DS_CHECKSUM_V2; + } else { + //too large payload + decoderState = DS_IDLE; + } + break; + + case DS_CODE_V1: + case DS_CODE_JUMBO_V1: + code = data[i]; + if (message_length_expected > 0) { + // process payload + if (decoderState == DS_CODE_JUMBO_V1) { + decoderState = DS_PAYLOAD_LENGTH_JUMBO_LOW; + } else { + decoderState = DS_PAYLOAD_V1; + } + } else { + // no payload + decoderState = DS_CHECKSUM_V1; + } + break; + + case DS_CODE_V2_LOW: + code = data[i]; + decoderState = DS_CODE_V2_HIGH; + break; + + case DS_CODE_V2_HIGH: + code |= data[i] << 8; + decoderState = DS_PAYLOAD_LENGTH_V2_LOW; + break; + + case DS_PAYLOAD_LENGTH_JUMBO_LOW: + message_length_expected = data[i]; + decoderState = DS_PAYLOAD_LENGTH_JUMBO_HIGH; + break; + + case DS_PAYLOAD_LENGTH_JUMBO_HIGH: + message_length_expected |= data[i] << 8; + message_length_received = 0; + decoderState = DS_PAYLOAD_V1; + break; + + case DS_PAYLOAD_V1: + case DS_PAYLOAD_V2: + message_buffer[message_length_received] = data[i]; + message_length_received++; + + if (message_length_received >= message_length_expected) { + decoderState = decoderState == DS_PAYLOAD_V1 ? DS_CHECKSUM_V1 : DS_CHECKSUM_V2; + } + break; + + case DS_CHECKSUM_V1: + if (message_length_expected >= JUMBO_FRAME_MIN_SIZE) { + message_checksum = JUMBO_FRAME_MIN_SIZE; + } else { + message_checksum = message_length_expected; + } + message_checksum ^= code; + if (message_length_expected >= JUMBO_FRAME_MIN_SIZE) { + message_checksum ^= message_length_expected & 0xFF; + message_checksum ^= (message_length_expected & 0xFF00) >> 8; + } + for (int ii = 0; ii < message_length_received; ii++) { + message_checksum ^= message_buffer[ii]; + } + if (message_checksum == data[i]) { + processMessage(); + } + decoderState = DS_IDLE; + break; + + case DS_CHECKSUM_V2: + message_checksum = 0; + message_checksum = crc8_dvb_s2(message_checksum, 0); // flag + message_checksum = crc8_dvb_s2(message_checksum, code & 0xFF); + message_checksum = crc8_dvb_s2(message_checksum, (code & 0xFF00) >> 8); + message_checksum = crc8_dvb_s2(message_checksum, message_length_expected & 0xFF); + message_checksum = crc8_dvb_s2(message_checksum, (message_length_expected & 0xFF00) >> 8); + for (int ii = 0; ii < message_length_received; ii++) { + message_checksum = crc8_dvb_s2(message_checksum, message_buffer[ii]); + } + if (message_checksum == data[i]) { + processMessage(); + } + decoderState = DS_IDLE; + break; + + default: + break; + } + } +} + +void serialProxyProcess(void) +{ + + if (!started) return; + if (!connected) return; + + if ((millis() - lastVisit) > 500) { + if ( lastVisit > 0 ) { + fprintf(stderr, "timeout=%dms\n", millis() - lastVisit); + } + } + lastVisit = millis(); + + if ( serialFCProxy ) { + //first we have to change FC min_check and max_check thresholds to avoid activating stick commands on proxy FC + if ( rxConfigState == RXC_IDLE ) { + requestRXConfigState(); + } else if ( rxConfigState == RXC_DONE ) { + if ( (nextProxyRequestTimeout <= millis()) || ((reqCount == 0) && (nextProxyRequestMin <= millis()))) { + nextProxyRequestTimeout = millis() + FC_PROXY_REQUEST_PERIOD_TIMEOUT_MS; + nextProxyRequestMin = millis() + FC_PROXY_REQUEST_PERIOD_MIN_MS; + mspRequestChannels(); + reqCount++; + } + + if ( nextProxyRequestRssi <= millis()) { + nextProxyRequestRssi = millis() + FC_PROXY_REQUEST_PERIOD_RSSI_MS; + mspRequestRssi(); + reqCount++; + } + } + + unsigned char buf[SERIAL_BUFFER_SIZE]; + int count = serialProxyReadData(buf, SERIAL_BUFFER_SIZE); + if (count == 0) return; + decodeProxyMessages(buf, count); + + } else { + + if ( serialUartIndex == -1 ) return; + unsigned char buf[SERIAL_BUFFER_SIZE]; + uint32_t avail = tcpRXBytesFree(serialUartIndex - 1); + if ( avail == 0 ) return; + if (avail > SERIAL_BUFFER_SIZE) avail = SERIAL_BUFFER_SIZE; + + int count = serialProxyReadData(buf, avail); + if (count == 0) return; + + tcpReceiveBytesEx( serialUartIndex - 1, buf, count); + } + +} +#endif diff --git a/src/main/target/SITL/serial_proxy.h b/src/main/target/SITL/serial_proxy.h new file mode 100644 index 00000000000..5cb97516399 --- /dev/null +++ b/src/main/target/SITL/serial_proxy.h @@ -0,0 +1,64 @@ +/* + * This file is part of INAV Project. + * + * This Source Code Form is subject to the terms of the Mozilla Public + * License, v. 2.0. If a copy of the MPL was not distributed with this file, + * You can obtain one at http://mozilla.org/MPL/2.0/. + * + * Alternatively, the contents of this file may be used under the terms + * of the GNU General Public License Version 3, as described below: + * + * This file is free software: you may copy, redistribute and/or modify + * it under the terms of the GNU General Public License as published by the + * Free Software Foundation, either version 3 of the License, or (at your + * option) any later version. + * + * This file is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General + * Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see http://www.gnu.org/licenses/. + */ + + +#include +#include +#include + +#include + +#if defined(SITL_BUILD) + +typedef enum +{ + OPT_SERIAL_STOP_BITS_ONE, + OPT_SERIAL_STOP_BITS_TWO, + OPT_SERIAL_STOP_BITS_INVALID +} OptSerialStopBits_e; + +typedef enum +{ + OPT_SERIAL_PARITY_EVEN, + OPT_SERIAL_PARITY_NONE, + OPT_SERIAL_PARITY_ODD, + OPT_SERIAL_PARITY_INVALID +} OptSerialParity_e; + + +extern int serialUartIndex; ///1 for UART1 +extern char serialPort[64]; +extern int serialBaudRate; +extern OptSerialStopBits_e serialStopBits; +extern OptSerialParity_e serialParity; +extern bool serialFCProxy; + +extern void serialProxyInit(void); +extern void serialProxyStart(void); +extern void serialProxyProcess(void); +extern void serialProxyClose(void); +extern bool serialProxyIsConnected(void); +extern bool serialProxyWriteData(unsigned char *buffer, unsigned int nbChar); + +#endif \ No newline at end of file diff --git a/src/main/target/SITL/target.c b/src/main/target/SITL/target.c index 0a686f60619..e473c636981 100644 --- a/src/main/target/SITL/target.c +++ b/src/main/target/SITL/target.c @@ -56,6 +56,8 @@ #include "target/SITL/sim/realFlight.h" #include "target/SITL/sim/xplane.h" +#include "target/SITL/serial_proxy.h" + // More dummys const int timerHardwareCount = 0; timerHardware_t timerHardware[1]; @@ -170,19 +172,47 @@ bool parseMapping(char* mapStr) return true; } +OptSerialStopBits_e parseStopBits(const char* optarg){ + if ( strcmp(optarg, "One") == 0 ) { + return OPT_SERIAL_STOP_BITS_ONE; + } else if ( strcmp(optarg, "Two") == 0 ) { + return OPT_SERIAL_STOP_BITS_TWO; + } else { + return OPT_SERIAL_STOP_BITS_INVALID; + } +} + +OptSerialParity_e parseParity(const char* optarg){ + if ( strcmp(optarg, "Even") == 0 ) { + return OPT_SERIAL_PARITY_EVEN; + } else if ( strcmp(optarg, "None") == 0 ) { + return OPT_SERIAL_PARITY_NONE; + } else if ( strcmp(optarg, "Odd") == 0 ) { + return OPT_SERIAL_PARITY_ODD; + } else { + return OPT_SERIAL_PARITY_INVALID; + } +} + void printCmdLineOptions(void) { printVersion(); fprintf(stderr, "Avaiable options:\n"); - fprintf(stderr, "--path=[path] Path and filename of eeprom.bin. If not specified 'eeprom.bin' in program directory is used.\n"); - fprintf(stderr, "--sim=[rf|xp] Simulator interface: rf = RealFligt, xp = XPlane. Example: --sim=rf\n"); - fprintf(stderr, "--simip=[ip] IP-Address oft the simulator host. If not specified localhost (127.0.0.1) is used.\n"); - fprintf(stderr, "--simport=[port] Port oft the simulator host.\n"); - fprintf(stderr, "--useimu Use IMU sensor data from the simulator instead of using attitude data from the simulator directly (experimental, not recommended).\n"); - fprintf(stderr, "--chanmap=[mapstring] Channel mapping. Maps INAVs motor and servo PWM outputs to the virtual receiver output in the simulator.\n"); - fprintf(stderr, " The mapstring has the following format: M(otor)|S(servo)-,... All numbers must have two digits\n"); - fprintf(stderr, " For example: Map motor 1 to virtal receiver output 1, servo 1 to output 2 and servo 2 to output 3:\n"); - fprintf(stderr, " --chanmap=M01-01,S01-02,S02-03\n"); + fprintf(stderr, "--path=[path] Path and filename of eeprom.bin. If not specified 'eeprom.bin' in program directory is used.\n"); + fprintf(stderr, "--sim=[rf|xp] Simulator interface: rf = RealFligt, xp = XPlane. Example: --sim=rf\n"); + fprintf(stderr, "--simip=[ip] IP-Address oft the simulator host. If not specified localhost (127.0.0.1) is used.\n"); + fprintf(stderr, "--simport=[port] Port oft the simulator host.\n"); + fprintf(stderr, "--useimu Use IMU sensor data from the simulator instead of using attitude data from the simulator directly (experimental, not recommended).\n"); + fprintf(stderr, "--serialuart=[uart] UART number on which serial receiver is configured in SITL, f.e. 3 for UART3\n"); + fprintf(stderr, "--serialport=[serialport] Host's serial port to which serial receiver/proxy FC is connected, f.e. COM3, /dev/ttyACM3\n"); + fprintf(stderr, "--baudrate=[baudrate] Serial receiver baudrate (default: 115200).\n"); + fprintf(stderr, "--stopbits=[None|One|Two] Serial receiver stopbits (default: One).\n"); + fprintf(stderr, "--parity=[Even|None|Odd] Serial receiver parity (default: None).\n"); + fprintf(stderr, "--fcproxy Use inav/betaflight FC as a proxy for serial receiver.\n"); + fprintf(stderr, "--chanmap=[mapstring] Channel mapping. Maps INAVs motor and servo PWM outputs to the virtual receiver output in the simulator.\n"); + fprintf(stderr, " The mapstring has the following format: M(otor)|S(servo)-,... All numbers must have two digits\n"); + fprintf(stderr, " For example: Map motor 1 to virtal receiver output 1, servo 1 to output 2 and servo 2 to output 3:\n"); + fprintf(stderr, " --chanmap=M01-01,S01-02,S02-03\n"); } void parseArguments(int argc, char *argv[]) @@ -202,7 +232,13 @@ void parseArguments(int argc, char *argv[]) {"simport", required_argument, 0, 'p'}, {"help", no_argument, 0, 'h'}, {"path", required_argument, 0, 'e'}, - {"version", no_argument, 0, 'v'}, + {"version", no_argument, 0, 'v'}, + {"serialuart", required_argument, 0, '0'}, + {"serialport", required_argument, 0, '1'}, + {"baudrate", required_argument, 0, '2'}, + {"stopbits", required_argument, 0, '3'}, + {"parity", required_argument, 0, '4'}, + {"fcproxy", no_argument, 0, '5'}, {NULL, 0, NULL, 0} }; @@ -242,10 +278,54 @@ void parseArguments(int argc, char *argv[]) fprintf(stderr, "[EEPROM] Invalid path, using eeprom file in program directory\n."); } break; - case 'v': - printVersion(); - exit(0); - default: + case 'v': + printVersion(); + exit(0); + case '0': + serialUartIndex = atoi(optarg); + if ( (serialUartIndex<1) || (serialUartIndex>8) ) { + fprintf(stderr, "[serialuart] Invalid argument\n."); + exit(0); + } + break; + case '1': + if ( (strlen(optarg)<1) || (strlen(optarg)>63) ) { + fprintf(stderr, "[serialport] Invalid argument\n."); + exit(0); + } else { + strcpy( serialPort, optarg ); + } + break; + case '2': + serialBaudRate = atoi(optarg); + if ( serialBaudRate < 1200 ) + { + fprintf(stderr, "[baudrate] Invalid argument\n."); + exit(0); + } + break; + case '3': + serialStopBits = parseStopBits(optarg); + if ( serialStopBits == OPT_SERIAL_STOP_BITS_INVALID ) + { + fprintf(stderr, "[stopbits] Invalid argument\n."); + exit(0); + } + break; + + case '4': + serialParity = parseParity(optarg); + if ( serialParity== OPT_SERIAL_PARITY_INVALID ) + { + fprintf(stderr, "[parity] Invalid argument\n."); + exit(0); + } + break; + case '5': + serialFCProxy = true; + break; + + default: printCmdLineOptions(); exit(0); } @@ -304,6 +384,7 @@ void systemReset(void) #else closefrom(3); #endif + serialProxyClose(); execvp(c_argv[0], c_argv); // restart } @@ -342,11 +423,6 @@ void IOConfigGPIO(IO_t io, ioConfig_t cfg) UNUSED(cfg); } -void systemClockSetup(uint8_t cpuUnderclock) -{ - UNUSED(cpuUnderclock); -} - void timerInit(void) { // NOP } diff --git a/src/main/target/SKYSTARSF405HD/CMakeLists.txt b/src/main/target/SKYSTARSF405HD/CMakeLists.txt index cc9515d9e0c..b097558284c 100644 --- a/src/main/target/SKYSTARSF405HD/CMakeLists.txt +++ b/src/main/target/SKYSTARSF405HD/CMakeLists.txt @@ -1 +1,2 @@ target_stm32f405xg(SKYSTARSF405HD) +target_stm32f405xg(SKYSTARSF405HD2) \ No newline at end of file diff --git a/src/main/target/SKYSTARSF405HD/target.c b/src/main/target/SKYSTARSF405HD/target.c index 3da0f45db92..cc4ff1c5a88 100644 --- a/src/main/target/SKYSTARSF405HD/target.c +++ b/src/main/target/SKYSTARSF405HD/target.c @@ -28,6 +28,10 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 0), DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), DEF_TIM(TIM2, CH2, PB3, TIM_USE_OUTPUT_AUTO, 0, 0), +#if defined(SKYSTARSF405HD2) + DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), +#endif DEF_TIM(TIM8, CH3, PC8, TIM_USE_LED, 0, 0), }; diff --git a/src/main/target/SKYSTARSF405HD/target.h b/src/main/target/SKYSTARSF405HD/target.h index c5ab2d49fe2..9b9805084f2 100644 --- a/src/main/target/SKYSTARSF405HD/target.h +++ b/src/main/target/SKYSTARSF405HD/target.h @@ -156,4 +156,8 @@ #define USE_DSHOT #define USE_ESC_SENSOR +#if defined(SKYSTARSF405HD2) +#define MAX_PWM_OUTPUT_PORTS 6 +#else #define MAX_PWM_OUTPUT_PORTS 4 +#endif diff --git a/src/main/target/SPEEDYBEEF405WING/target.h b/src/main/target/SPEEDYBEEF405WING/target.h index 1684faabce1..9da5b115824 100644 --- a/src/main/target/SPEEDYBEEF405WING/target.h +++ b/src/main/target/SPEEDYBEEF405WING/target.h @@ -148,8 +148,8 @@ #define ADC_CHANNEL_4_PIN PC4 #define VBAT_ADC_CHANNEL ADC_CHN_1 #define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 -#define RSSI_ADC_CHANNEL ADC_CHN_4 -#define AIRSPEED_ADC_CHANNEL ADC_CHN_3 +#define RSSI_ADC_CHANNEL ADC_CHN_3 +#define AIRSPEED_ADC_CHANNEL ADC_CHN_4 // *************** LED2812 ************************ #define USE_LED_STRIP @@ -172,4 +172,4 @@ #define USE_PINIO #define USE_PINIOBOX -#define PINIO1_PIN PC13 \ No newline at end of file +#define PINIO1_PIN PC13 diff --git a/src/main/target/TAKERF722SE/CMakeLists.txt b/src/main/target/TAKERF722SE/CMakeLists.txt new file mode 100644 index 00000000000..c4716f616ee --- /dev/null +++ b/src/main/target/TAKERF722SE/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32f722xe(TAKERF722SE) \ No newline at end of file diff --git a/src/main/target/TAKERF722SE/target.c b/src/main/target/TAKERF722SE/target.c new file mode 100644 index 00000000000..d67062a9fbc --- /dev/null +++ b/src/main/target/TAKERF722SE/target.c @@ -0,0 +1,48 @@ +/* +* This file is part of INAV Project. +* +* INAV is free software: you can redistribute it and/or modify +* it under the terms of the GNU General Public License as published by +* the Free Software Foundation, either version 3 of the License, or +* (at your option) any later version. +* +* INAV is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* GNU General Public License for more details. +* +* You should have received a copy of the GNU General Public License +* along with INAV. If not, see . +*/ + +#include + +#include "platform.h" +#include "drivers/io.h" + +#include "drivers/dma.h" +#include "drivers/timer.h" +#include "drivers/timer_def.h" + + + + + +timerHardware_t timerHardware[] = { + + DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), + + DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), + DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), + + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); + + diff --git a/src/main/target/TAKERF722SE/target.h b/src/main/target/TAKERF722SE/target.h new file mode 100644 index 00000000000..817dc535f03 --- /dev/null +++ b/src/main/target/TAKERF722SE/target.h @@ -0,0 +1,186 @@ +/* + * This file is part of INAV Project. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * INAV is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with INAV. If not, see . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "GEPR" + +#define USBD_PRODUCT_STRING "TAKERF722SE" + +#define LED0 PC14 + + +// *************** BEEPER ************************ + +#define BEEPER PC13 +#define BEEPER_INVERTED + + +// *************** LEDSTRIP ************************ +#define USE_LED_STRIP +#define WS2811_PIN PA8 + + +// *************** UART ***************************** +#define USE_VCP + +#define USE_UART1 +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#define USE_UART2 +#define UART2_TX_PIN PA2 +#define UART2_RX_PIN PA3 + +#define USE_UART3 +#define UART3_TX_PIN PB10 +#define UART3_RX_PIN PB11 + +#define USE_UART4 +#define UART4_TX_PIN PA0 +#define UART4_RX_PIN PA1 + +#define USE_UART5 +#define UART5_TX_PIN PC12 +#define UART5_RX_PIN PD2 + +#define USE_UART6 +#define UART6_TX_PIN PC6 +#define UART6_RX_PIN PC7 + + +#define SERIAL_PORT_COUNT 7 + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_SBUS +#define SERIALRX_UART SERIAL_PORT_USART2 + + +// *************** SPI Bus ********************** + +#define USE_SPI + +#define USE_SPI_DEVICE_1 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_SPI_DEVICE_2 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_SPI_DEVICE_3 +#define SPI3_SCK_PIN PC10 +#define SPI3_MISO_PIN PC11 +#define SPI3_MOSI_PIN PB2 +#define SPI3_SCK_AF GPIO_AF6_SPI3 +#define SPI3_MISO_AF GPIO_AF6_SPI3 +#define SPI3_MOSI_AF GPIO_AF7_SPI3 + + +// *************** Gyro & ACC ********************** + +#define USE_IMU_MPU6000 +#define IMU_MPU6000_ALIGN CW0_DEG +#define MPU6000_CS_PIN PA4 +#define MPU6000_SPI_BUS BUS_SPI1 + + +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW0_DEG +#define ICM42605_CS_PIN PA4 +#define ICM42605_SPI_BUS BUS_SPI1 + +// *************** I2C/Baro/Mag ********************* +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB8 +#define I2C1_SDA PB9 + + +//*************************************************** +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C1 +#define USE_BARO_BMP280 +#define USE_BARO_DPS310 +#define USE_BARO_MS5611 + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C1 +#define USE_MAG_HMC5883 +#define USE_MAG_QMC5883 +#define USE_MAG_IST8310 +#define USE_MAG_IST8308 + +#define TEMPERATURE_I2C_BUS BUS_I2C1 + +#define PITOT_I2C_BUS BUS_I2C1 + +#define USE_RANGEFINDER +#define RANGEFINDER_I2C_BUS BUS_I2C1 +#define BNO055_I2C_BUS BUS_I2C1 + +// *************** FLASH ************************** + +#define USE_FLASHFS + +#define USE_FLASH_M25P16 +#define M25P16_CS_PIN PA15 +#define M25P16_SPI_BUS BUS_SPI3 + +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT + +// *************** OSD ***************************** + +#define USE_MAX7456 +#define MAX7456_SPI_BUS BUS_SPI2 +#define MAX7456_CS_PIN PB12 + +// *************** ADC ***************************** + +#define USE_ADC +#define ADC_INSTANCE ADC1 +#define ADC1_DMA_STREAM DMA2_Stream0 +#define ADC_CHANNEL_1_PIN PC3 +#define ADC_CHANNEL_2_PIN PC0 +#define ADC_CHANNEL_3_PIN PC2 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define RSSI_ADC_CHANNEL ADC_CHN_2 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_3 + + +#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX) + + + + +//************************************************** + +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD (BIT(2)) + + +#define MAX_PWM_OUTPUT_PORTS 8 + +#define USE_DSHOT +#define USE_ESC_SENSOR diff --git a/src/main/target/TMOTORF7V2/target.h b/src/main/target/TMOTORF7V2/target.h index 2691812f2fc..f5def98a403 100644 --- a/src/main/target/TMOTORF7V2/target.h +++ b/src/main/target/TMOTORF7V2/target.h @@ -67,6 +67,11 @@ #define USE_IMU_MPU6000 #define IMU_MPU6000_ALIGN CW0_DEG +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW0_DEG +#define ICM42605_CS_PIN PA4 +#define ICM42605_SPI_BUS BUS_SPI1 + // OSD -- SPI2 #define USE_SPI_DEVICE_2 #define SPI2_SCK_PIN PB13 diff --git a/src/main/target/TUNERCF405/CMakeLists.txt b/src/main/target/TUNERCF405/CMakeLists.txt new file mode 100644 index 00000000000..ba4e9fd3cd3 --- /dev/null +++ b/src/main/target/TUNERCF405/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32f405xg(TUNERCF405) diff --git a/src/main/target/TUNERCF405/target.c b/src/main/target/TUNERCF405/target.c new file mode 100644 index 00000000000..bc0b4e86f65 --- /dev/null +++ b/src/main/target/TUNERCF405/target.c @@ -0,0 +1,39 @@ +/* + * This file is part of INAV Project. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include + +#include +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" + +timerHardware_t timerHardware[] = { + DEF_TIM(TIM1, CH2N, PB0, TIM_USE_MOTOR, 0, 0), //D2s6 + DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, 0, 0), //D2s6 + DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, 0, 0), //D1s7 + DEF_TIM(TIM2, CH1, PA15, TIM_USE_MOTOR, 0, 0), //D1s5 + + DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), //D2s7 + DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), //D2s2 / D2s4 + DEF_TIM(TIM8, CH2, PC7, TIM_USE_OUTPUT_AUTO, 0, 0), //D2s2 + DEF_TIM(TIM8, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0, 0), //D2s2 + + DEF_TIM(TIM3, CH4, PB1, TIM_USE_LED, 0, 0), +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/TUNERCF405/target.h b/src/main/target/TUNERCF405/target.h new file mode 100644 index 00000000000..f193377c6ea --- /dev/null +++ b/src/main/target/TUNERCF405/target.h @@ -0,0 +1,137 @@ +/* + * This file is part of INAV Project. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "TURC" + +#define USBD_PRODUCT_STRING "TUNERCF405" + +// Indicators +#define LED0 PB9 + +#define BEEPER PB2 +#define BEEPER_INVERTED + +// WS2812 +#define USE_LED_STRIP +#define WS2811_PIN PB1 + +// Gyro & ACC +#define USE_SPI +#define USE_SPI_DEVICE_1 + +#define SPI1_NSS_PIN PA4 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_IMU_BMI270 +#define IMU_BMI270_ALIGN CW180_DEG +#define BMI270_CS_PIN SPI1_NSS_PIN +#define BMI270_SPI_BUS BUS_SPI1 + +// OSD +#define USE_SPI_DEVICE_2 +#define SPI2_NSS_PIN PB12 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_MAX7456 +#define MAX7456_SPI_BUS BUS_SPI2 +#define MAX7456_CS_PIN SPI2_NSS_PIN + +// Onboard Flash +#define USE_SPI_DEVICE_3 +#define SPI3_SCK_PIN PB3 +#define SPI3_MISO_PIN PB4 +#define SPI3_MOSI_PIN PB5 + +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT +#define USE_FLASHFS +#define USE_FLASH_M25P16 //W25Q32JVXGIQ TR +#define M25P16_SPI_BUS BUS_SPI3 +#define M25P16_CS_PIN PB6 + +// IIC +#define USE_I2C +#define USE_I2C_DEVICE_2 +#define I2C1_SCL PB10 +#define I2C1_SDA PB11 + +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C2 +#define USE_BARO_BMP280 +#define USE_BARO_DPS310 + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C2 +#define USE_MAG_ALL + +// Serial ports +#define USE_VCP +#define VBUS_SENSING_PIN PB7 +#define VBUS_SENSING_ENABLED + +#define USE_UART1 +#define UART1_RX_PIN PA10 +#define UART1_TX_PIN PA9 + +#define USE_UART2 +#define UART2_RX_PIN PA3 +#define UART2_TX_PIN PA2 + +#define USE_UART3 +#define UART3_RX_PIN PC11 +#define UART3_TX_PIN PC10 + +#define USE_UART4 +#define UART4_RX_PIN PA1 +#define UART4_TX_PIN PA0 + +#define USE_UART5 +#define UART5_RX_PIN PD2 +#define UART5_TX_PIN PC12 + +#define SERIAL_PORT_COUNT 6 + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_CRSF + +// ADC +#define USE_ADC +#define ADC_CHANNEL_1_PIN PC0 +#define ADC_CHANNEL_2_PIN PC1 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 +#define CURRENT_METER_SCALE 453 + +// SET +#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT ) +#define USE_DSHOT +#define USE_DSHOT_DMAR +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +#define MAX_PWM_OUTPUT_PORTS 8 +#define TARGET_MOTOR_COUNT 8 + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff diff --git a/src/main/target/ZEEZF7/target.c b/src/main/target/ZEEZF7/target.c index f1f5356dcb2..79bfc08d2cb 100755 --- a/src/main/target/ZEEZF7/target.c +++ b/src/main/target/ZEEZF7/target.c @@ -32,9 +32,9 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S3 DEF_TIM(TIM2, CH2, PB3, TIM_USE_OUTPUT_AUTO, 0, 0), // S4 DEF_TIM(TIM8, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0, 1), // S5 - DEF_TIM(TIM3, CH2, PC7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 - DEF_TIM(TIM3, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 - DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 + DEF_TIM(TIM8, CH2, PC7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 + DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 + DEF_TIM(TIM1, CH3N, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 #endif #ifdef ZEEZF7V2 @@ -42,10 +42,10 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // S2 DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S3 DEF_TIM(TIM2, CH2, PB3, TIM_USE_OUTPUT_AUTO, 0, 0), // S4 - DEF_TIM(TIM3, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S5 - DEF_TIM(TIM3, CH2, PC7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 + DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S5 + DEF_TIM(TIM8, CH2, PC7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 DEF_TIM(TIM8, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0, 1), // S7 - DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 + DEF_TIM(TIM1, CH3N, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 #endif #ifdef ZEEZF7 diff --git a/src/main/target/common.h b/src/main/target/common.h index 8bbaadef718..b550df42d0f 100644 --- a/src/main/target/common.h +++ b/src/main/target/common.h @@ -83,6 +83,9 @@ #define USE_RANGEFINDER_VL53L1X #define USE_RANGEFINDER_US42 #define USE_RANGEFINDER_TOF10120_I2C +#define USE_RANGEFINDER_TERARANGER_EVO_I2C +#define USE_RANGEFINDER_USD1_V0 +#define USE_RANGEFINDER_NANORADAR // Allow default optic flow boards #define USE_OPFLOW @@ -111,7 +114,6 @@ #define USE_FRSKYOSD #define USE_DJI_HD_OSD #define USE_MSP_OSD -#define USE_SMARTPORT_MASTER #define NAV_NON_VOLATILE_WAYPOINT_CLI @@ -199,7 +201,15 @@ #define USE_HOTT_TEXTMODE #define USE_24CHANNELS #define MAX_MIXER_PROFILE_COUNT 2 +#define USE_SMARTPORT_MASTER #elif !defined(STM32F7) #define MAX_MIXER_PROFILE_COUNT 1 #endif + +#if (MCU_FLASH_SIZE <= 512) + #define SKIP_CLI_COMMAND_HELP + #undef USE_SERIALRX_SPEKTRUM + #undef USE_TELEMETRY_SRXL +#endif + #define USE_EZ_TUNE diff --git a/src/main/target/common_hardware.c b/src/main/target/common_hardware.c index 76ffbf19420..0169e8099bf 100755 --- a/src/main/target/common_hardware.c +++ b/src/main/target/common_hardware.c @@ -91,7 +91,10 @@ #if !defined(BMP085_I2C_BUS) #define BMP085_I2C_BUS BARO_I2C_BUS #endif - BUSDEV_REGISTER_I2C(busdev_bmp085, DEVHW_BMP085, BMP085_I2C_BUS, 0x77, NONE, DEVFLAGS_NONE, 0); + #if !defined(BMP085_I2C_ADDR) + #define BMP085_I2C_ADDR (0x77) + #endif + BUSDEV_REGISTER_I2C(busdev_bmp085, DEVHW_BMP085, BMP085_I2C_BUS, BMP085_I2C_ADDR, NONE, DEVFLAGS_NONE, 0); #endif #if defined(USE_BARO_BMP280) @@ -115,7 +118,10 @@ #if !defined(BMP388_I2C_BUS) #define BMP388_I2C_BUS BARO_I2C_BUS #endif - BUSDEV_REGISTER_I2C(busdev_bmp388, DEVHW_BMP388, BMP388_I2C_BUS, 0x76, NONE, DEVFLAGS_NONE, 0); + #if !defined(BMP388_I2C_ADDR) + #define BMP388_I2C_ADDR (0x76) + #endif + BUSDEV_REGISTER_I2C(busdev_bmp388, DEVHW_BMP388, BMP388_I2C_BUS, BMP388_I2C_ADDR, NONE, DEVFLAGS_NONE, 0); #endif #endif @@ -126,7 +132,10 @@ #if !defined(SPL06_I2C_BUS) #define SPL06_I2C_BUS BARO_I2C_BUS #endif - BUSDEV_REGISTER_I2C(busdev_spl06, DEVHW_SPL06, SPL06_I2C_BUS, 0x76, NONE, DEVFLAGS_NONE, 0); + #if !defined(SPL06_I2C_ADDR) + #define SPL06_I2C_ADDR (0x76) + #endif + BUSDEV_REGISTER_I2C(busdev_spl06, DEVHW_SPL06, SPL06_I2C_BUS, SPL06_I2C_ADDR, NONE, DEVFLAGS_NONE, 0); #endif #endif @@ -140,7 +149,10 @@ #if !defined(MS5607_I2C_BUS) #define MS5607_I2C_BUS BARO_I2C_BUS #endif - BUSDEV_REGISTER_I2C(busdev_ms5607, DEVHW_MS5607, MS5607_I2C_BUS, 0x77, NONE, DEVFLAGS_USE_RAW_REGISTERS, 0); + #if !defined(MS5607_I2C_ADDR) + #define MS5607_I2C_ADDR (0x77) + #endif + BUSDEV_REGISTER_I2C(busdev_ms5607, DEVHW_MS5607, MS5607_I2C_BUS, MS5607_I2C_ADDR, NONE, DEVFLAGS_USE_RAW_REGISTERS, 0); #endif #if defined(USE_BARO_MS5611) @@ -150,7 +162,10 @@ #if !defined(MS5611_I2C_BUS) #define MS5611_I2C_BUS BARO_I2C_BUS #endif - BUSDEV_REGISTER_I2C(busdev_ms5611, DEVHW_MS5611, MS5611_I2C_BUS, 0x77, NONE, DEVFLAGS_USE_RAW_REGISTERS, 0); + #if !defined(MS5611_I2C_ADDR) + #define MS5611_I2C_ADDR (0x77) + #endif + BUSDEV_REGISTER_I2C(busdev_ms5611, DEVHW_MS5611, MS5611_I2C_BUS, MS5611_I2C_ADDR, NONE, DEVFLAGS_USE_RAW_REGISTERS, 0); #endif #endif @@ -161,18 +176,24 @@ #if !defined(DPS310_I2C_BUS) #define DPS310_I2C_BUS BARO_I2C_BUS #endif - BUSDEV_REGISTER_I2C(busdev_dps310, DEVHW_DPS310, DPS310_I2C_BUS, 0x76, NONE, DEVFLAGS_NONE, 0); + #if !defined(DPS310_I2C_ADDR) + #define DPS310_I2C_ADDR (0x76) + #endif + BUSDEV_REGISTER_I2C(busdev_dps310, DEVHW_DPS310, DPS310_I2C_BUS, DPS310_I2C_ADDR, NONE, DEVFLAGS_NONE, 0); #endif #endif #if defined(USE_BARO_B2SMPB) #if defined(B2SMPB_SPI_BUS) - BUSDEV_REGISTER_SPI(busdev_b2smpb, DEVHW_B2SMPB, B2SMPB_SPI_BUS, B2SMPB_CS_PIN, NONE, DEVFLAGS_NONE, 0); + BUSDEV_REGISTER_SPI(busdev_b2smpb, DEVHW_B2SMPB, B2SMPB_SPI_BUS, B2SMPB_CS_PIN, NONE, DEVFLAGS_NONE, 0); #elif defined(B2SMPB_I2C_BUS) || defined(BARO_I2C_BUS) #if !defined(B2SMPB_I2C_BUS) #define B2SMPB_I2C_BUS BARO_I2C_BUS #endif - BUSDEV_REGISTER_I2C(busdev_b2smpb, DEVHW_B2SMPB, B2SMPB_I2C_BUS, 0x70, NONE, DEVFLAGS_NONE, 0); + #if !defined(B2SMPB_I2C_ADDR) + #define B2SMPB_I2C_ADDR (0x70) + #endif + BUSDEV_REGISTER_I2C(busdev_b2smpb, DEVHW_B2SMPB, B2SMPB_I2C_BUS, B2SMPB_I2C_ADDR, NONE, DEVFLAGS_NONE, 0); #endif #endif @@ -341,6 +362,15 @@ #endif #endif +#if defined(USE_RANGEFINDER_TERARANGER_EVO_I2C) + #if !defined(TERARANGER_EVO_I2C_BUS) && defined(RANGEFINDER_I2C_BUS) + #define TERARANGER_EVO_I2C_BUS RANGEFINDER_I2C_BUS + #endif + #if defined(TERARANGER_EVO_I2C_BUS) + BUSDEV_REGISTER_I2C(busdev_teraranger_evo, DEVHW_TERARANGER_EVO_I2C, TERARANGER_EVO_I2C_BUS, 0x31, NONE, DEVFLAGS_NONE, 0); + #endif +#endif + #if defined(USE_RANGEFINDER_TOF10120_I2C) && (defined(TOF10120_I2C_BUS) || defined(RANGEFINDER_I2C_BUS)) #if !defined(TOF10120_I2C_BUS) #define TOF10120_I2C_BUS RANGEFINDER_I2C_BUS diff --git a/src/main/telemetry/crsf.c b/src/main/telemetry/crsf.c index af9f278659f..5ed25de73be 100755 --- a/src/main/telemetry/crsf.c +++ b/src/main/telemetry/crsf.c @@ -57,7 +57,7 @@ #include "sensors/battery.h" #include "sensors/sensors.h" -#include "sensors/barometer.h" + #include "telemetry/crsf.h" #include "telemetry/telemetry.h" #include "telemetry/msp_shared.h" @@ -258,22 +258,6 @@ static void crsfFrameBatterySensor(sbuf_t *dst) crsfSerialize8(dst, batteryRemainingPercentage); } -/* -0x09 Baro+Vario sensor -Payload: -uint16 Altitude -int16 Vertical speed ( cm/s ) -*/ -static void crsfFrameBaroVarioSensor(sbuf_t *dst) -{ - // use sbufWrite since CRC does not include frame length - sbufWriteU8(dst, CRSF_FRAME_BAROVARIO_SENSOR_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC); - crsfSerialize8(dst, CRSF_FRAMETYPE_BAROVARIO_SENSOR); - int32_t altitude = baroGetLatestAltitude() / 10; // Altitude in decimeters - crsfSerialize16(dst, altitude + 10000 < 0x8000 ? altitude + 10000 : 0x8000 + altitude / 10); - crsfSerialize16(dst, lrintf(getEstimatedActualVelocity(Z))); -} - typedef enum { CRSF_ACTIVE_ANTENNA1 = 0, CRSF_ACTIVE_ANTENNA2 = 1 @@ -371,6 +355,10 @@ static void crsfFrameFlightMode(sbuf_t *dst) } else if (FLIGHT_MODE(ANGLEHOLD_MODE)) { flightMode = "ANGH"; } +#ifdef USE_FW_AUTOLAND + } else if (FLIGHT_MODE(NAV_FW_AUTOLAND)) { + flightMode = "LAND"; +#endif #ifdef USE_GPS } else if (feature(FEATURE_GPS) && navConfig()->general.flags.extra_arming_safety && (!STATE(GPS_FIX) || !STATE(GPS_FIX_HOME))) { flightMode = "WAIT"; // Waiting for GPS lock @@ -427,7 +415,6 @@ typedef enum { CRSF_FRAME_FLIGHT_MODE_INDEX, CRSF_FRAME_GPS_INDEX, CRSF_FRAME_VARIO_SENSOR_INDEX, - CRSF_FRAME_BAROVARIO_SENSOR_INDEX, CRSF_SCHEDULE_COUNT_MAX } crsfFrameTypeIndex_e; @@ -487,18 +474,13 @@ static void processCrsf(void) crsfFrameGps(dst); crsfFinalize(dst); } +#endif +#if defined(USE_BARO) || defined(USE_GPS) if (currentSchedule & BV(CRSF_FRAME_VARIO_SENSOR_INDEX)) { crsfInitializeFrame(dst); crsfFrameVarioSensor(dst); crsfFinalize(dst); } -#endif -#if defined(USE_BARO) - if (currentSchedule & BV(CRSF_FRAME_BAROVARIO_SENSOR_INDEX)) { - crsfInitializeFrame(dst); - crsfFrameBaroVarioSensor(dst); - crsfFinalize(dst); - } #endif crsfScheduleIndex = (crsfScheduleIndex + 1) % crsfScheduleCount; } @@ -523,23 +505,14 @@ void initCrsfTelemetry(void) crsfSchedule[index++] = BV(CRSF_FRAME_ATTITUDE_INDEX); crsfSchedule[index++] = BV(CRSF_FRAME_BATTERY_SENSOR_INDEX); crsfSchedule[index++] = BV(CRSF_FRAME_FLIGHT_MODE_INDEX); -#if defined(USE_GPS) +#ifdef USE_GPS if (feature(FEATURE_GPS)) { crsfSchedule[index++] = BV(CRSF_FRAME_GPS_INDEX); - #if !defined(USE_BARO) - crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX); - #endif } #endif -#if defined(USE_BARO) - if (sensors(SENSOR_BARO)) { - crsfSchedule[index++] = BV(CRSF_FRAME_BAROVARIO_SENSOR_INDEX); - } else { - #if defined(USE_GPS) - if (feature(FEATURE_GPS)) { - crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX); - } - #endif +#if defined(USE_BARO) || defined(USE_GPS) + if (sensors(SENSOR_BARO) || (STATE(FIXED_WING_LEGACY) && feature(FEATURE_GPS))) { + crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX); } #endif crsfScheduleCount = (uint8_t)index; @@ -618,11 +591,7 @@ int getCrsfFrame(uint8_t *frame, crsfFrameType_e frameType) case CRSF_FRAMETYPE_VARIO_SENSOR: crsfFrameVarioSensor(sbuf); break; - case CRSF_FRAMETYPE_BAROVARIO_SENSOR: - crsfFrameBaroVarioSensor(sbuf); - break; } - const int frameSize = crsfFinalizeBuf(sbuf, frame); return frameSize; } diff --git a/src/main/telemetry/ltm.c b/src/main/telemetry/ltm.c index 84dccddb869..45ab37deec5 100644 --- a/src/main/telemetry/ltm.c +++ b/src/main/telemetry/ltm.c @@ -71,6 +71,7 @@ #include "sensors/gyro.h" #include "sensors/sensors.h" #include "sensors/pitotmeter.h" +#include "sensors/diagnostics.h" #include "telemetry/ltm.h" #include "telemetry/telemetry.h" @@ -182,6 +183,10 @@ void ltm_sframe(sbuf_t *dst) lt_flightmode = LTM_MODE_ANGLE; else if (FLIGHT_MODE(HORIZON_MODE)) lt_flightmode = LTM_MODE_HORIZON; +#ifdef USE_FW_AUTOLAND + else if (FLIGHT_MODE(NAV_FW_AUTOLAND)) + lt_flightmode = LTM_MODE_LAND; +#endif else lt_flightmode = LTM_MODE_RATE; // Rate mode diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c index 438e119a568..6b4c9346ece 100644 --- a/src/main/telemetry/mavlink.c +++ b/src/main/telemetry/mavlink.c @@ -492,30 +492,78 @@ void mavlinkSendSystemStatus(void) void mavlinkSendRCChannelsAndRSSI(void) { #define GET_CHANNEL_VALUE(x) ((rxRuntimeConfig.channelCount >= (x + 1)) ? rxGetChannelValue(x) : 0) - mavlink_msg_rc_channels_raw_pack(mavSystemId, mavComponentId, &mavSendMsg, - // time_boot_ms Timestamp (milliseconds since system boot) - millis(), - // port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. - 0, - // chan1_raw RC channel 1 value, in microseconds - GET_CHANNEL_VALUE(0), - // chan2_raw RC channel 2 value, in microseconds - GET_CHANNEL_VALUE(1), - // chan3_raw RC channel 3 value, in microseconds - GET_CHANNEL_VALUE(2), - // chan4_raw RC channel 4 value, in microseconds - GET_CHANNEL_VALUE(3), - // chan5_raw RC channel 5 value, in microseconds - GET_CHANNEL_VALUE(4), - // chan6_raw RC channel 6 value, in microseconds - GET_CHANNEL_VALUE(5), - // chan7_raw RC channel 7 value, in microseconds - GET_CHANNEL_VALUE(6), - // chan8_raw RC channel 8 value, in microseconds - GET_CHANNEL_VALUE(7), - // rssi Receive signal strength indicator, 0: 0%, 254: 100% - //https://github.com/mavlink/mavlink/issues/1027 - scaleRange(getRSSI(), 0, 1023, 0, 254)); + if (telemetryConfig()->mavlink.version == 1) { + mavlink_msg_rc_channels_raw_pack(mavSystemId, mavComponentId, &mavSendMsg, + // time_boot_ms Timestamp (milliseconds since system boot) + millis(), + // port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. + 0, + // chan1_raw RC channel 1 value, in microseconds + GET_CHANNEL_VALUE(0), + // chan2_raw RC channel 2 value, in microseconds + GET_CHANNEL_VALUE(1), + // chan3_raw RC channel 3 value, in microseconds + GET_CHANNEL_VALUE(2), + // chan4_raw RC channel 4 value, in microseconds + GET_CHANNEL_VALUE(3), + // chan5_raw RC channel 5 value, in microseconds + GET_CHANNEL_VALUE(4), + // chan6_raw RC channel 6 value, in microseconds + GET_CHANNEL_VALUE(5), + // chan7_raw RC channel 7 value, in microseconds + GET_CHANNEL_VALUE(6), + // chan8_raw RC channel 8 value, in microseconds + GET_CHANNEL_VALUE(7), + // rssi Receive signal strength indicator, 0: 0%, 254: 100% + //https://github.com/mavlink/mavlink/issues/1027 + scaleRange(getRSSI(), 0, 1023, 0, 254)); + } + else { + mavlink_msg_rc_channels_pack(mavSystemId, mavComponentId, &mavSendMsg, + // time_boot_ms Timestamp (milliseconds since system boot) + millis(), + // Total number of RC channels being received. + rxRuntimeConfig.channelCount, + // chan1_raw RC channel 1 value, in microseconds + GET_CHANNEL_VALUE(0), + // chan2_raw RC channel 2 value, in microseconds + GET_CHANNEL_VALUE(1), + // chan3_raw RC channel 3 value, in microseconds + GET_CHANNEL_VALUE(2), + // chan4_raw RC channel 4 value, in microseconds + GET_CHANNEL_VALUE(3), + // chan5_raw RC channel 5 value, in microseconds + GET_CHANNEL_VALUE(4), + // chan6_raw RC channel 6 value, in microseconds + GET_CHANNEL_VALUE(5), + // chan7_raw RC channel 7 value, in microseconds + GET_CHANNEL_VALUE(6), + // chan8_raw RC channel 8 value, in microseconds + GET_CHANNEL_VALUE(7), + // chan9_raw RC channel 9 value, in microseconds + GET_CHANNEL_VALUE(8), + // chan10_raw RC channel 10 value, in microseconds + GET_CHANNEL_VALUE(9), + // chan11_raw RC channel 11 value, in microseconds + GET_CHANNEL_VALUE(10), + // chan12_raw RC channel 12 value, in microseconds + GET_CHANNEL_VALUE(11), + // chan13_raw RC channel 13 value, in microseconds + GET_CHANNEL_VALUE(12), + // chan14_raw RC channel 14 value, in microseconds + GET_CHANNEL_VALUE(13), + // chan15_raw RC channel 15 value, in microseconds + GET_CHANNEL_VALUE(14), + // chan16_raw RC channel 16 value, in microseconds + GET_CHANNEL_VALUE(15), + // chan17_raw RC channel 17 value, in microseconds + GET_CHANNEL_VALUE(16), + // chan18_raw RC channel 18 value, in microseconds + GET_CHANNEL_VALUE(17), + // rssi Receive signal strength indicator, 0: 0%, 254: 100% + //https://github.com/mavlink/mavlink/issues/1027 + scaleRange(getRSSI(), 0, 1023, 0, 254)); + } #undef GET_CHANNEL_VALUE mavlinkSendMessage(); diff --git a/src/main/vcp_hal/usbd_cdc_interface.c b/src/main/vcp_hal/usbd_cdc_interface.c index 8fd3abc6556..2489d74fb26 100644 --- a/src/main/vcp_hal/usbd_cdc_interface.c +++ b/src/main/vcp_hal/usbd_cdc_interface.c @@ -54,6 +54,8 @@ #include "usbd_cdc_interface.h" #include "stdbool.h" #include "drivers/time.h" +#include "drivers/nvic.h" +#include "build/atomic.h" /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ @@ -366,14 +368,13 @@ uint32_t CDC_Receive_BytesAvailable(void) uint32_t CDC_Send_FreeBytes(void) { - /* - return the bytes free in the circular buffer - - functionally equivalent to: - (APP_Rx_ptr_out > APP_Rx_ptr_in ? APP_Rx_ptr_out - APP_Rx_ptr_in : APP_RX_DATA_SIZE - APP_Rx_ptr_in + APP_Rx_ptr_in) - but without the impact of the condition check. - */ - return ((UserTxBufPtrOut - UserTxBufPtrIn) + (-((int)(UserTxBufPtrOut <= UserTxBufPtrIn)) & APP_TX_DATA_SIZE)) - 1; + uint32_t freeBytes; + + ATOMIC_BLOCK(NVIC_PRIO_VCP) { + freeBytes = ((UserTxBufPtrOut - UserTxBufPtrIn) + (-((int)(UserTxBufPtrOut <= UserTxBufPtrIn)) & APP_TX_DATA_SIZE)) - 1; + } + + return freeBytes; } /** diff --git a/src/test/unit/flight_failsafe_unittest.cc.txt b/src/test/unit/flight_failsafe_unittest.cc.txt index eb4aacef72c..895cbd15d76 100644 --- a/src/test/unit/flight_failsafe_unittest.cc.txt +++ b/src/test/unit/flight_failsafe_unittest.cc.txt @@ -297,62 +297,6 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms) EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING)); } -/****************************************************************************************/ -TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent) -{ - // given - ENABLE_ARMING_FLAG(ARMED); - resetCallCounters(); - failsafeStartMonitoring(); - - // and - throttleStatus = THROTTLE_HIGH; // throttle HIGH to go for a failsafe landing procedure - failsafeConfig.failsafe_kill_switch = 1; // configure AUX switch as kill switch - ACTIVATE_RC_MODE(BOXFAILSAFE); // and activate it - sysTickUptime = 0; // restart time from 0 - failsafeOnValidDataReceived(); // set last valid sample at current time - sysTickUptime = PERIOD_RXDATA_FAILURE + 1; // adjust time to point just past the failure time to - failsafeOnValidDataFailed(); // cause a lost link - - // when - failsafeUpdateState(); // kill switch handling should come first - - // then - EXPECT_EQ(true, failsafeIsActive()); - EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING)); - EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); - EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase()); - - // given - failsafeOnValidDataFailed(); // set last invalid sample at current time - sysTickUptime += PERIOD_RXDATA_RECOVERY + 1; // adjust time to point just past the recovery time to - failsafeOnValidDataReceived(); // cause a recovered link - - rcModeActivationMask = DE_ACTIVATE_ALL_BOXES; // BOXFAILSAFE must be off (kill switch) - - // when - failsafeUpdateState(); - - // then - EXPECT_EQ(true, failsafeIsActive()); - EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING)); - EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); - EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase()); - - // given - sysTickUptime += PERIOD_OF_1_SECONDS + 1; // adjust time to point just past the required additional recovery time - failsafeOnValidDataReceived(); - - // when - failsafeUpdateState(); - - // then - EXPECT_EQ(false, failsafeIsActive()); - EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); - EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly. - EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING)); -} - /****************************************************************************************/ // // Additional non-stepwise tests diff --git a/src/utils/compiler.rb b/src/utils/compiler.rb index 29b8f10418b..fe2868acd15 100644 --- a/src/utils/compiler.rb +++ b/src/utils/compiler.rb @@ -47,7 +47,7 @@ def initialize(use_host_gcc) dirs.each do |dir| p = File.join(dir, bin) ['', '.exe'].each do |suffix| - f = p + suffix + f = File.expand_path(p + suffix) if File.executable?(f) if @verbose puts "Found #{bin} at #{f}" diff --git a/src/utils/declination.py b/src/utils/declination.py old mode 100644 new mode 100755 index 8608ffda95f..44f5c9f21db --- a/src/utils/declination.py +++ b/src/utils/declination.py @@ -14,7 +14,7 @@ import pathlib import sys -import igrf12 +import igrf import numpy as np SAMPLING_RES = 10 @@ -73,7 +73,7 @@ def declination_tables(query): for i, lat in enumerate(lats): for j, lon in enumerate(lons): - mag = igrf12.igrf(date, glat=lat, glon=lon, alt_km=0., isv=0, itype=1) + mag = igrf.igrf(date, glat=lat, glon=lon, alt_km=0., isv=0, itype=1) intensity[i][j] = mag.total / 1e5 inclination[i][j] = mag.incl declination[i][j] = mag.decl