From 0b99057cc5694accc8a02f820ebbd314a4c15739 Mon Sep 17 00:00:00 2001 From: error414 Date: Mon, 7 Oct 2024 19:55:50 +0200 Subject: [PATCH 1/2] change gimbal sensitivity from programming framework --- docs/Programming Framework.md | 1 + src/main/drivers/gimbal_common.c | 5 +++++ src/main/drivers/gimbal_common.h | 10 ++++++---- src/main/fc/settings.yaml | 3 +++ src/main/programming/logic_condition.c | 11 +++++++++++ src/main/programming/logic_condition.h | 3 ++- 6 files changed, 28 insertions(+), 5 deletions(-) diff --git a/docs/Programming Framework.md b/docs/Programming Framework.md index c2314dc627e..2eeb3fb3ad5 100644 --- a/docs/Programming Framework.md +++ b/docs/Programming Framework.md @@ -101,6 +101,7 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn | 52 | LED Pin PWM | Value `Operand A` from [`0` : `100`] starts PWM generation on LED Pin. See [LED pin PWM](LED%20pin%20PWM.md). Any other value stops PWM generation (stop to allow ws2812 LEDs updates in shared modes). | | 53 | Disable GPS Sensor Fix | Disables the GNSS sensor fix. For testing GNSS failure. | | 54 | Mag calibration | Trigger a magnetometer calibration. | +| 55 | Set Gimbal Sensitivity | Scales `Operand A` from [`-16` : `15`] ### Operands diff --git a/src/main/drivers/gimbal_common.c b/src/main/drivers/gimbal_common.c index e03e7fd9ddd..7660f82203c 100644 --- a/src/main/drivers/gimbal_common.c +++ b/src/main/drivers/gimbal_common.c @@ -89,6 +89,11 @@ bool gimbalCommonIsReady(gimbalDevice_t *gimbalDevice) return false; } +void setGimbalSensitivity(int16_t sensitivity) +{ + gimbalConfigMutable()->sensitivity = sensitivity; +} + #ifdef GIMBAL_UNIT_TEST void taskUpdateGimbal(timeUs_t currentTimeUs) { diff --git a/src/main/drivers/gimbal_common.h b/src/main/drivers/gimbal_common.h index 879e81116a0..3b5532bc81a 100644 --- a/src/main/drivers/gimbal_common.h +++ b/src/main/drivers/gimbal_common.h @@ -61,10 +61,10 @@ typedef struct gimbalConfig_s { uint8_t panChannel; uint8_t tiltChannel; uint8_t rollChannel; - uint8_t sensitivity; - uint16_t panTrim; - uint16_t tiltTrim; - uint16_t rollTrim; + int16_t sensitivity; + int16_t panTrim; + int16_t tiltTrim; + int16_t rollTrim; } gimbalConfig_t; PG_DECLARE(gimbalConfig_t, gimbalConfig); @@ -97,6 +97,8 @@ bool gimbalCommonHtrkIsEnabled(void); int16_t gimbalCommonGetPanPwm(const gimbalDevice_t *gimbalDevice); +void setGimbalSensitivity(int16_t sensitivity); + #ifdef __cplusplus } #endif diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml index e43ad233b0c..e57b5399199 100644 --- a/src/main/fc/settings.yaml +++ b/src/main/fc/settings.yaml @@ -4287,18 +4287,21 @@ groups: field: sensitivity min: -16 max: 15 + type: int16_t - name: gimbal_pan_trim field: panTrim description: "Trim gimbal pan center position." default_value: 0 min: -500 max: 500 + type: int16_t - name: gimbal_tilt_trim field: tiltTrim description: "Trim gimbal tilt center position." default_value: 0 min: -500 max: 500 + type: int16_t - name: gimbal_roll_trim field: rollTrim description: "Trim gimbal roll center position." diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c index 594db21417c..d5544389355 100644 --- a/src/main/programming/logic_condition.c +++ b/src/main/programming/logic_condition.c @@ -48,6 +48,7 @@ #include "flight/pid.h" #include "flight/mixer_profile.h" #include "drivers/io_port_expander.h" +#include "drivers/gimbal_common.h" #include "io/osd_common.h" #include "sensors/diagnostics.h" @@ -337,6 +338,16 @@ static int logicConditionCompute( } break; #endif + + case LOGIC_CONDITION_SET_GIMBAL_SENSITIVITY: +#ifdef USE_SERIAL_GIMBAL + setGimbalSensitivity(constrain(operandA, SETTING_GIMBAL_SENSITIVITY_MIN, SETTING_GIMBAL_SENSITIVITY_MAX)); + return true; + break; +#else + return false; +#endif + case LOGIC_CONDITION_INVERT_ROLL: LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_INVERT_ROLL); return true; diff --git a/src/main/programming/logic_condition.h b/src/main/programming/logic_condition.h index 74a7765be40..f3227e2196f 100644 --- a/src/main/programming/logic_condition.h +++ b/src/main/programming/logic_condition.h @@ -84,7 +84,8 @@ typedef enum { LOGIC_CONDITION_LED_PIN_PWM = 52, LOGIC_CONDITION_DISABLE_GPS_FIX = 53, LOGIC_CONDITION_RESET_MAG_CALIBRATION = 54, - LOGIC_CONDITION_LAST = 55, + LOGIC_CONDITION_SET_GIMBAL_SENSITIVITY = 55, + LOGIC_CONDITION_LAST = 56, } logicOperation_e; typedef enum logicOperandType_s { From 792f666f174a98526e415cdfef55448dacd6e198 Mon Sep 17 00:00:00 2001 From: error414 Date: Tue, 8 Oct 2024 20:17:06 +0200 Subject: [PATCH 2/2] change int16 to int8 --- src/main/drivers/gimbal_common.h | 2 +- src/main/fc/settings.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/drivers/gimbal_common.h b/src/main/drivers/gimbal_common.h index 3b5532bc81a..b4b7337dc2f 100644 --- a/src/main/drivers/gimbal_common.h +++ b/src/main/drivers/gimbal_common.h @@ -61,7 +61,7 @@ typedef struct gimbalConfig_s { uint8_t panChannel; uint8_t tiltChannel; uint8_t rollChannel; - int16_t sensitivity; + int8_t sensitivity; int16_t panTrim; int16_t tiltTrim; int16_t rollTrim; diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml index e57b5399199..c8b6de6d406 100644 --- a/src/main/fc/settings.yaml +++ b/src/main/fc/settings.yaml @@ -4287,7 +4287,7 @@ groups: field: sensitivity min: -16 max: 15 - type: int16_t + type: int8_t - name: gimbal_pan_trim field: panTrim description: "Trim gimbal pan center position."