diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 09e27045ca6..92862bb4300 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -2,17 +2,26 @@ name: Build firmware # Don't enable CI on push, just on PR. If you # are working on the main repo and want to trigger # a CI build submit a draft PR. -on: pull_request +on: + pull_request: + paths: + - 'src/**' + - '.github/**' + - 'cmake/**' + - 'lib/**' + - 'docs/Settings.md' + - 'CMakeLists.txt' + - '*.sh' jobs: build: runs-on: ubuntu-latest strategy: matrix: - id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] + id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16] steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Install dependencies run: sudo apt-get update && sudo apt-get -y install ninja-build - name: Setup environment @@ -31,22 +40,22 @@ jobs: VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }') echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV - - uses: actions/cache@v1 + - uses: actions/cache@v4 with: path: downloads key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}} - name: Build targets (${{ matrix.id }}) - run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -G Ninja .. && ninja ci + run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DMAIN_COMPILE_OPTIONS=-pipe -G Ninja .. && ninja -j4 ci - name: Upload artifacts - uses: actions/upload-artifact@v3 + uses: actions/upload-artifact@v4 with: - name: ${{ env.BUILD_NAME }} + name: ${{ env.BUILD_NAME }}.${{ matrix.id }} path: ./build/*.hex build-SITL-Linux: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Install dependencies run: sudo apt-get update && sudo apt-get -y install ninja-build - name: Setup environment @@ -66,17 +75,17 @@ jobs: echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV - name: Build SITL - run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja + run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4 - name: Upload artifacts - uses: actions/upload-artifact@v3 + uses: actions/upload-artifact@v4 with: - name: ${{ env.BUILD_NAME }}_SITL + name: ${{ env.BUILD_NAME }}_SITL-Linux path: ./build_SITL/*_SITL build-SITL-Mac: runs-on: macos-latest steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Install dependencies run: | brew install cmake ninja ruby @@ -100,11 +109,11 @@ jobs: - name: Build SITL run: | mkdir -p build_SITL && cd build_SITL - cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. - ninja + cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -G Ninja .. + ninja -j3 - name: Upload artifacts - uses: actions/upload-artifact@v3 + uses: actions/upload-artifact@v4 with: name: ${{ env.BUILD_NAME }}_SITL-MacOS path: ./build_SITL/*_SITL @@ -115,7 +124,7 @@ jobs: run: shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}' steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Setup Cygwin uses: egor-tensin/setup-cygwin@v4 with: @@ -137,19 +146,19 @@ jobs: echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV - name: Build SITL - run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja + run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4 - name: Upload artifacts - uses: actions/upload-artifact@v3 + uses: actions/upload-artifact@v4 with: name: ${{ env.BUILD_NAME }}_SITL-WIN path: ./build_SITL/*.exe test: - needs: [build] + #needs: [build] runs-on: ubuntu-latest steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Install dependencies run: sudo apt-get update && sudo apt-get -y install ninja-build - name: Run Tests diff --git a/.github/workflows/dev-builds.yml b/.github/workflows/dev-builds.yml new file mode 100644 index 00000000000..94492966f79 --- /dev/null +++ b/.github/workflows/dev-builds.yml @@ -0,0 +1,243 @@ +name: Build pre-release +# Don't enable CI on push, just on PR. If you +# are working on the main repo and want to trigger +# a CI build submit a draft PR. +on: + push: + branches: + - master + paths: + - 'src/**' + - '.github/**' + - 'cmake/**' + - 'lib/**' + - 'docs/Settings.md' + - 'CMakeLists.txt' + - '*.sh' + +jobs: + build: + runs-on: ubuntu-latest + strategy: + matrix: + id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16] + + steps: + - uses: actions/checkout@v4 + - name: Install dependencies + run: sudo apt-get update && sudo apt-get -y install ninja-build + - name: Setup environment + env: + ACTIONS_ALLOW_UNSECURE_COMMANDS: true + run: | + # This is the hash of the commit for the PR + # when the action is triggered by PR, empty otherwise + COMMIT_ID=${{ github.event.pull_request.head.sha }} + # This is the hash of the commit when triggered by push + # but the hash of refs/pull//merge, which is different + # from the hash of the latest commit in the PR, that's + # why we try github.event.pull_request.head.sha first + COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} + BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) + VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }') + echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV + echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV + - uses: actions/cache@v4 + with: + path: downloads + key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}} + - name: Build targets (${{ matrix.id }}) + run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DVERSION_TYPE=dev -G Ninja .. && ninja ci + - name: Upload artifacts + uses: actions/upload-artifact@v4 + with: + name: ${{ env.BUILD_NAME }}.${{ matrix.id }} + path: ./build/*.hex + + build-SITL-Linux: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - name: Install dependencies + run: sudo apt-get update && sudo apt-get -y install ninja-build + - name: Setup environment + env: + ACTIONS_ALLOW_UNSECURE_COMMANDS: true + run: | + # This is the hash of the commit for the PR + # when the action is triggered by PR, empty otherwise + COMMIT_ID=${{ github.event.pull_request.head.sha }} + # This is the hash of the commit when triggered by push + # but the hash of refs/pull//merge, which is different + # from the hash of the latest commit in the PR, that's + # why we try github.event.pull_request.head.sha first + COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} + BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) + VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }') + echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV + echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV + - name: Build SITL + run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja -DVERSION_TYPE=dev .. && ninja + - name: Upload artifacts + uses: actions/upload-artifact@v4 + with: + name: sitl-${{ env.BUILD_NAME }}-Linux + path: ./build_SITL/*_SITL + + build-SITL-Mac: + runs-on: macos-latest + steps: + - uses: actions/checkout@v4 + - name: Install dependencies + run: | + brew install cmake ninja ruby + + - name: Setup environment + env: + ACTIONS_ALLOW_UNSECURE_COMMANDS: true + run: | + # This is the hash of the commit for the PR + # when the action is triggered by PR, empty otherwise + COMMIT_ID=${{ github.event.pull_request.head.sha }} + # This is the hash of the commit when triggered by push + # but the hash of refs/pull//merge, which is different + # from the hash of the latest commit in the PR, that's + # why we try github.event.pull_request.head.sha first + COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} + BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) + VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }') + echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV + echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV + - name: Build SITL + run: | + mkdir -p build_SITL && cd build_SITL + cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -DVERSION_TYPE=dev -G Ninja .. + ninja + + - name: Upload artifacts + uses: actions/upload-artifact@v4 + with: + name: sitl-${{ env.BUILD_NAME }}-MacOS + path: ./build_SITL/*_SITL + + build-SITL-Windows: + runs-on: windows-latest + defaults: + run: + shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}' + steps: + - uses: actions/checkout@v4 + - name: Setup Cygwin + uses: egor-tensin/setup-cygwin@v4 + with: + packages: cmake ruby ninja gcc-g++ + - name: Setup environment + env: + ACTIONS_ALLOW_UNSECURE_COMMANDS: true + run: | + # This is the hash of the commit for the PR + # when the action is triggered by PR, empty otherwise + COMMIT_ID=${{ github.event.pull_request.head.sha }} + # This is the hash of the commit when triggered by push + # but the hash of refs/pull//merge, which is different + # from the hash of the latest commit in the PR, that's + # why we try github.event.pull_request.head.sha first + COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} + BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) + VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }') + #echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV + #echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV + #echo "VERSION_TAG=-$(date '+%Y%m%d')" >> $GITHUB_ENV + echo "version=${VERSION}" >> $GITHUB_OUTPUT + - name: Build SITL + run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DVERSION_TYPE=dev -G Ninja .. && ninja + - name: Upload artifacts + uses: actions/upload-artifact@v4 + with: + name: sitl-${{ env.BUILD_NAME }}-WIN + path: ./build_SITL/*.exe + + + test: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - name: Install dependencies + run: sudo apt-get update && sudo apt-get -y install ninja-build + - name: Run Tests + run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check + + release: + needs: [build, build-SITL-Linux, build-SITL-Mac, build-SITL-Windows, test] + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - name: Get version + id: version + run: | + VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }') + echo "version=${VERSION}" >> $GITHUB_OUTPUT + - name: Get current date + id: date + run: echo "today=$(date '+%Y%m%d')" >> $GITHUB_OUTPUT + - name: download artifacts + uses: actions/download-artifact@v4 + with: + path: hexes + pattern: inav-* + merge-multiple: true + - name: download sitl linux + uses: actions/download-artifact@v4 + with: + path: resources/sitl/linux + pattern: sitl-*-Linux + merge-multiple: true + - name: download sitl windows + uses: actions/download-artifact@v4 + with: + path: resources/sitl/windows + pattern: sitl-*-WIN + merge-multiple: true + - name: download sitl mac + uses: actions/download-artifact@v4 + with: + path: resources/sitl/macos + pattern: sitl-*-MacOS + merge-multiple: true + - name: Consolidate sitl files + run: | + zip -r -9 sitl-resources.zip resources/ + - name: Upload release artifacts + uses: softprops/action-gh-release@v2 + with: + name: inav-${{ steps.version.outputs.version }}-dev-${{ steps.date.outputs.today }}-${{ github.run_number }}-${{ github.sha }} + tag_name: v${{ steps.version.outputs.version }}-${{ steps.date.outputs.today }}.${{ github.run_number }} + # To create release on a different repo, we need a token setup + token: ${{ secrets.NIGHTLY_TOKEN }} + repository: iNavFlight/inav-nightly + prerelease: true + draft: false + #generate_release_notes: true + make_latest: false + files: | + hexes/*.hex + sitl-resources.zip + body: | + ${{ steps.notes.outputs.notes }} + + ### Flashing + These are nightly builds and configuration settings can be added and removed often. Flashing with Full chip erase is strongly recommended to avoid issues. + Firmware related issues should be opened in the iNavflight/inav repository, not in inav-nightly. + + ### Repository: + ${{ github.repository }} ([link](${{ github.event.repository.html_url }})) + + ### Branch: + ${{ github.ref_name }} ([link](${{ github.event.repository.html_url }}/tree/${{ github.ref_name }})) + + ### Latest changeset: + ${{ github.event.head_commit.id }} ([link](${{ github.event.head_commit.url }})) + + ### Changes: + ${{ github.event.head_commit.message }} + diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml index 624a129c35d..edaaecdf3bb 100644 --- a/.github/workflows/docs.yml +++ b/.github/workflows/docs.yml @@ -14,7 +14,7 @@ jobs: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Install dependencies run: sudo apt-get update && sudo apt-get -y install python3-yaml - name: Check that Settings.md is up to date diff --git a/.github/workflows/non-code-change.yaml b/.github/workflows/non-code-change.yaml new file mode 100644 index 00000000000..5c30c6e6ead --- /dev/null +++ b/.github/workflows/non-code-change.yaml @@ -0,0 +1,25 @@ +name: Build firmware +# Don't enable CI on push, just on PR. If you +# are working on the main repo and want to trigger +# a CI build submit a draft PR. +on: + pull_request: + paths-ignore: + - 'src/**' + - '.github/**' + - 'cmake/**' + - 'lib/**' + - 'docs/Settings.md' + - 'CMakeLists.txt' + - '*.sh' + +jobs: + test: + #needs: [build] + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - name: Install dependencies + run: sudo apt-get update && sudo apt-get -y install ninja-build + - name: Run Tests + run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check diff --git a/.gitignore b/.gitignore index 0764d15e0c1..9b72fa8305a 100644 --- a/.gitignore +++ b/.gitignore @@ -1,10 +1,12 @@ *.o .DS_Store *~ +*.swp *.uvopt *.dep *.bak *.uvgui.* +*.ubx .project .settings .cproject @@ -16,6 +18,8 @@ startup_stm32f10x_md_gcc.s cov-int* /build/ /build_SITL/ +/[hs]itl/ +/ninja/ /obj/ /patches/ /tools/ diff --git a/.vimrc b/.vimrc index 547d37812cb..4808f6bb38d 100644 --- a/.vimrc +++ b/.vimrc @@ -5,5 +5,6 @@ set expandtab set bs=2 set sw=4 set ts=4 +syn on diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 6e7d914b25a..3a8d8d1c8ca 100755 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -3,24 +3,19 @@ { "name": "Linux", "includePath": [ - "${workspaceRoot}/src/main/**", - "${workspaceRoot}/lib/main/**", - "/usr/include/**" + "${workspaceRoot}", + "${workspaceRoot}/src/main/**" ], "browse": { "limitSymbolsToIncludedHeaders": false, "path": [ - "${workspaceRoot}/src/main/**", - "${workspaceRoot}/lib/main/**" + "${workspaceRoot}/**" ] }, - "intelliSenseMode": "linux-gcc-arm", + "intelliSenseMode": "msvc-x64", "cStandard": "c11", "cppStandard": "c++17", "defines": [ - "MCU_FLASH_SIZE 512", - "USE_NAV", - "NAV_FIXED_WING_LANDING", "USE_OSD", "USE_GYRO_NOTCH_1", "USE_GYRO_NOTCH_2", @@ -34,30 +29,13 @@ "USE_RPM_FILTER", "USE_GLOBAL_FUNCTIONS", "USE_DYNAMIC_FILTERS", - "USE_IMU_BNO055", - "USE_SECONDARY_IMU", "USE_DSHOT", "FLASH_SIZE 480", "USE_I2C_IO_EXPANDER", "USE_PCF8574", "USE_ESC_SENSOR", - "USE_PROGRAMMING_FRAMEWORK", - "USE_SERIALRX_GHST", - "USE_TELEMETRY_GHST", - "USE_CMS", - "USE_DJI_HD_OSD", - "USE_GYRO_KALMAN", - "USE_RANGEFINDER", - "USE_RATE_DYNAMICS", - "USE_SMITH_PREDICTOR", - "USE_ALPHA_BETA_GAMMA_FILTER", - "USE_MAG_VCM5883", - "USE_TELEMETRY_JETIEXBUS", - "USE_NAV", - "USE_SDCARD_SDIO", - "USE_SDCARD", - "USE_Q_TUNE", - "USE_GYRO_FFT_FILTER" + "USE_ADAPTIVE_FILTER", + "MCU_FLASH_SIZE 1024", ], "configurationProvider": "ms-vscode.cmake-tools" } diff --git a/CMakeLists.txt b/CMakeLists.txt index db8ec36897b..9b5f40f3337 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -79,6 +79,7 @@ set(COMMON_COMPILE_DEFINITIONS FC_VERSION_MAJOR=${CMAKE_PROJECT_VERSION_MAJOR} FC_VERSION_MINOR=${CMAKE_PROJECT_VERSION_MINOR} FC_VERSION_PATCH_LEVEL=${CMAKE_PROJECT_VERSION_PATCH} + FC_VERSION_TYPE="${VERSION_TYPE}" ) if (NOT SITL) diff --git a/cmake/at32.cmake b/cmake/at32.cmake index 54e178deb7b..bd6f1e28196 100644 --- a/cmake/at32.cmake +++ b/cmake/at32.cmake @@ -18,6 +18,7 @@ set(CMSIS_DSP_SRC BasicMathFunctions/arm_scale_f32.c BasicMathFunctions/arm_sub_f32.c BasicMathFunctions/arm_mult_f32.c + BasicMathFunctions/arm_offset_f32.c TransformFunctions/arm_rfft_fast_f32.c TransformFunctions/arm_cfft_f32.c TransformFunctions/arm_rfft_fast_init_f32.c @@ -26,6 +27,9 @@ set(CMSIS_DSP_SRC CommonTables/arm_common_tables.c ComplexMathFunctions/arm_cmplx_mag_f32.c StatisticsFunctions/arm_max_f32.c + StatisticsFunctions/arm_rms_f32.c + StatisticsFunctions/arm_std_f32.c + StatisticsFunctions/arm_mean_f32.c ) list(TRANSFORM CMSIS_DSP_SRC PREPEND "${CMSIS_DSP_DIR}/Source/") @@ -326,6 +330,11 @@ function(target_at32) math(EXPR hse_value "${hse_mhz} * 1000000") list(APPEND target_definitions "HSE_VALUE=${hse_value}") + + if (MSP_UART) + list(APPEND target_definitions "MSP_UART=${MSP_UART}") + endif() + if(args_COMPILE_DEFINITIONS) list(APPEND target_definitions ${args_COMPILE_DEFINITIONS}) endif() diff --git a/cmake/sitl.cmake b/cmake/sitl.cmake index ee43aa9a93a..39e6456830a 100644 --- a/cmake/sitl.cmake +++ b/cmake/sitl.cmake @@ -99,6 +99,10 @@ function (target_sitl name) math(EXPR hse_value "${hse_mhz} * 1000000") list(APPEND target_definitions "HSE_VALUE=${hse_value}") + if (MSP_UART) + list(APPEND target_definitions "MSP_UART=${MSP_UART}") + endif() + string(TOLOWER ${PROJECT_NAME} lowercase_project_name) set(binary_name ${lowercase_project_name}_${FIRMWARE_VERSION}_${name}) if(DEFINED BUILD_SUFFIX AND NOT "" STREQUAL "${BUILD_SUFFIX}") diff --git a/cmake/stm32.cmake b/cmake/stm32.cmake index f02185e9aff..091cf31fd5d 100644 --- a/cmake/stm32.cmake +++ b/cmake/stm32.cmake @@ -19,6 +19,7 @@ set(CMSIS_DSP_SRC BasicMathFunctions/arm_scale_f32.c BasicMathFunctions/arm_sub_f32.c BasicMathFunctions/arm_mult_f32.c + BasicMathFunctions/arm_offset_f32.c TransformFunctions/arm_rfft_fast_f32.c TransformFunctions/arm_cfft_f32.c TransformFunctions/arm_rfft_fast_init_f32.c @@ -27,6 +28,9 @@ set(CMSIS_DSP_SRC CommonTables/arm_common_tables.c ComplexMathFunctions/arm_cmplx_mag_f32.c StatisticsFunctions/arm_max_f32.c + StatisticsFunctions/arm_rms_f32.c + StatisticsFunctions/arm_std_f32.c + StatisticsFunctions/arm_mean_f32.c ) list(TRANSFORM CMSIS_DSP_SRC PREPEND "${CMSIS_DSP_DIR}/Source/") @@ -333,6 +337,11 @@ function(target_stm32) math(EXPR hse_value "${hse_mhz} * 1000000") list(APPEND target_definitions "HSE_VALUE=${hse_value}") + + if (MSP_UART) + list(APPEND target_definitions "MSP_UART=${MSP_UART}") + endif() + if(args_COMPILE_DEFINITIONS) list(APPEND target_definitions ${args_COMPILE_DEFINITIONS}) endif() diff --git a/docs/Battery.md b/docs/Battery.md index f6bdbd50391..e519c325410 100644 --- a/docs/Battery.md +++ b/docs/Battery.md @@ -201,7 +201,6 @@ Up to 3 battery profiles are supported. You can select the battery profile from - `vbat_max_cell_voltage` - `vbat_warning_cell_voltage` - `vbat_min_cell_voltage` -- `battery_capacity_unit` - `battery_capacity` - `battery_capacity_warning` - `battery_capacity_critical` @@ -253,7 +252,6 @@ feature BAT_PROF_AUTOSWITCH battery_profile 1 set bat_cells = 3 -set battery_capacity_unit = MAH set battery_capacity = 2200 set battery_capacity_warning = 440 set battery_capacity_critical = 220 @@ -262,7 +260,6 @@ set battery_capacity_critical = 220 battery_profile 2 set bat_cells = 4 -set battery_capacity_unit = MAH set battery_capacity = 1500 set battery_capacity_warning = 300 set battery_capacity_critical = 150 diff --git a/docs/Betaflight 4.3 compatible OSD.md b/docs/Betaflight 4.3 compatible OSD.md deleted file mode 100644 index 0e9644dae24..00000000000 --- a/docs/Betaflight 4.3 compatible OSD.md +++ /dev/null @@ -1,50 +0,0 @@ -# Betaflight 4.3 compatible MSP DisplayPort OSD (DJI O3 "Canvas Mode") - -INAV 6.0 includes a special mode for MSP DisplayPort that supports incomplete implementations of MSP DisplayPort that only support BetaFlight, like the DJI O3 Air Unit. INAV 6.1 expands this to include HD canvas sizes from BetaFlight 4.4. - -Different flight controllers have different OSD symbols and elements and require different fonts. BetaFlight's font is a single page and supports a maximum of 256 glyphs, INAV's font is currently 2 pages and supports up to 512 different glyphs. - -While there is some overlap between the glyphs in BetaFlight and INAV, it is not possible to perform a 1 to 1 mapping for all the them. In cases where there is no suitable glyph in the BetaFlight font, a question mark `?` will be displayed. - -This mode can be enabled by selecting BF43COMPAT or BFHDCOMPAT as video format in the OSD tab of the configurator or by typing the following command on the CLI: - -`set osd_video_system = BF43COMPAT` - -or - -`set osd_video_system = BFHDCOMPAT` - -## Limitations - -* Canvas size needs to be manually changed to HD on the Display menu in DJI's goggles (you may need a firmware update) and set as BFHDCOMPAT in the OSD tab of the configurator. -* Unsupported Glyphs show up as `?` - -## FAQ - -### I see a lot of `?` on my OSD. - -That is expected, when your INAV OSD widgets use glyphs that don't have a suitable mapping in BetaFlight's font. - -### Does it work with the G2 and Original Air Unit/Vista? - -Yes. - -### Is this a replacement for WTFOS? - -Not exactly. WTFOS is a full implementation of MSP-Displayport for rooted Air Unit/Vista/Googles V2 and actually works much better than BetaFlight compatibility mode, being able to display all INAV's glyphs. - -### Can INAV fix DJI's product? - -No. OSD renderinng happens on the googles/air unit side of things. Please ask DJI to fix their incomplete MSP DisplayPort implemenation. You can probably request it in [DJI's forum](https://forum.dji.com/forum.php?mod=forumdisplay&fid=129&filter=typeid&typeid=767). - -### BetaFlight X.Y now has more symbols, can you update INAV? - -Maybe. If a future version of BetaFlight includes more Glyphs that can be mapped into INAV it is fairly simple to add the mapping, but the problem with DJI's implemenation persists. Even if we update the mapping, if DJI does not update the fonts on their side the problem will persist. - -### Can you replace glyph `X` with text `x description`? - -While it might technically be possible to replace some glyphs with text in multiple cells, it will introduce a lot of complexity in the OSD rendering and configuration for something we hope is a temporary workaround. - -### Does DJI support Canvas Mode? - -Actually, no. What DJI calls Canvas Mode is actually MSP DisplayPort and is a character based OSD. diff --git a/docs/Broken USB recovery.md b/docs/Broken USB recovery.md new file mode 100644 index 00000000000..3406653b981 --- /dev/null +++ b/docs/Broken USB recovery.md @@ -0,0 +1,79 @@ +# Broken USB recovery + +It is possible to flash INAV without USB over UART 1 or 3. + +## Prerequisites: +- USB/UART adapter (FT232, CP2102, etc.) +- STM32 Cube Programmer (https://www.st.com/en/development-tools/stm32cubeprog.html) + +To gain access to the FC via Configurator, MSP must be activated on a UART as standard. Some FCs already have this enabled by default, if not a custom firmware must be created. + +The following targets have MSP activated on a UART by default: + +| Target | Standard MSP Port | +|-----------| ----------- | +| AOCODARCF4V3 | UART5 | +| ATOMRCF405NAVI_DELUXE | UART1 | +| FF_F35_LIGHTNING | UART1 | +| FLYCOLORF7V2 | UART4 | +| GEPRCF405_BT_HD | UART5* | +| GEPRCF722_BT_HD | UART4* | +| IFLIGHT_BLITZ_F7_AIO | UART1 | +| JHEMCUF405WING | UART6 | +| JHEMCUH743HD | UART4 | +| KAKUTEH7 | UART1 and UART2* | +| KAKUTEH7WING | UART6 | +| MAMBAF405_2022A | UART4 | +| MAMBAF405US | UART4 | +| MAMBAF722 | UART4 | +| MAMBAF722 APP | UART4*| +| MAMBAF722WING | UART4 | +| MAMBAF722_X8 | UART4 | +| MAMBAH743 | UART4* | +| MATEKF405SE | UART1 | +| NEUTRONRCH743BT | UART3* | +| SDMODELH7V1 | UART1 and UART2 | +| SKYSTARSH743HD | UART4 | +| SPEEDYBEEF4 | UART5* | +| SPEEDYBEEF405MINI | UART4* | +| SPEEDYBEEF405V3 | UART4* | +| SPEEDYBEEF405V4 | UART4* | +| SPEEDYBEEF405WING | UART6 | +| SPEEDYBEEF7 | UART6 | +| SPRACINGF4EVO | UART1 | +| TMOTORF7V2 | UART5 | + +(*) No Pads/Pins, Port is used interally (Bluetooth) + +## Custom firmware: + +If the FC does not have MSP activated on a UART by default or does not have a connector for it, a custom firmware must be built. +The following procedure describes the process under Windows 10/11: + +Please read [Building in Windows 2010 or 11 with Linux Subsystem](https://github.com/iNavFlight/inav/blob/master/docs/development/Building%20in%20Windows%2010%20or%2011%20with%20Linux%20Subsystem.md) +and follow the instructions up to "Building with Make". + +In the step 'prepare build environment' add the option `-DMSP_UART=SERIAL_PORT_USARTX` to `cmake` + +Replace the X in SERIAL_PORT_USARTX with the number of UART/serial port on which MSP is to be activated. + +Example: +For UART 2: `cmake -DMSP_UART=SERIAL_PORT_USART2 ..` +For UART 3: `cmake -DMSP_UART=SERIAL_PORT_USART3 ..` +etc. + +Build the firmware as described in the document above (`make [YOUR_TARGET]`). + +## Flashing via Uart: + +1. Disconnect ALL peripherals and the USB Cable from the FC. To power the FC use a battery or use the 5V provided from the USB/Serial Converter. +2. Connect UART 1 or 3 (other UARTS will not work) and GND to the USB/Serial converter (RX -> TX, TX -> RX) +3. Keep the boot/dfu button pressed +4. Switch on the FC / supply with power +5. Start STM32 CubeProgrammer and go to "Erasing & Programming", second option in the menu. +6. Select UART (blue dropdown field) and select the COM port of the USB/Serial adapter and press "Connect". The corresponding processor should now be displayed below. +7. Click on "Full flash erase". This is also necessary if you are flashing the same firmware version that was previously on the FC, otherwise MSP may not be activated on the UART. +8. Under "Download" load the previously created firmware (`INAV_X.X.X_[Your Target].hex`) or the standard firmware if UART is already activated there. The option "Verify programming" is optional but recommended. Make sure that "Skip flash erase while programming" is NOT activated. +9. Click "Start Programming" + +After the process is completed, switch the FC off and on again and then the Configurator can connect to the FC via USB/serial adapter and the previously configured UART. diff --git a/docs/Cli.md b/docs/Cli.md index b0cf7d20bfc..6a48244a13a 100644 --- a/docs/Cli.md +++ b/docs/Cli.md @@ -71,7 +71,7 @@ While connected to the CLI, all Logical Switches are temporarily disabled (5.1.0 | `batch` | Start or end a batch of commands | | `battery_profile` | Change battery profile | | `beeper` | Show/set beeper (buzzer) [usage](Buzzer.md) | -| `bind_rx` | Initiate binding for RX SPI or SRXL2 | +| `bind_rx` | Initiate binding for SRXL2 or CRSF receivers | | `blackbox` | Configure blackbox fields | | `bootlog` | Show boot events | | `color` | Configure colors | @@ -157,6 +157,8 @@ A shorter form is also supported to enable and disable a single function using ` | TELEMETRY_SMARTPORT_MASTER | 23 | 8388608 | | UNUSED | 24 | 16777216 | | MSP_DISPLAYPORT | 25 | 33554432 | +| GIMBAL_SERIAL | 26 | 67108864 | +| HEADTRACKER_SERIAL | 27 | 134217728 | Thus, to enable MSP and LTM on a port, one would use the function **value** of 17 (1 << 0)+(1<<4), aka 1+16, aka 17. diff --git a/docs/Profiles.md b/docs/Control Profiles.md similarity index 64% rename from docs/Profiles.md rename to docs/Control Profiles.md index 925de755f85..af41fed53b9 100644 --- a/docs/Profiles.md +++ b/docs/Control Profiles.md @@ -1,56 +1,59 @@ -# Profiles +# Control Profiles A profile is a set of configuration settings. -Currently three profiles are supported. The default profile is profile `1`. +Currently, INAV gives you three control profiles. The default control profile is `1`. -## Changing profiles +## Changing contorl profiles ### Stick Commands -Profiles can be selected using a GUI or the following stick combinations: +Control profiles can be selected using a GUI or the following stick combinations: -| Profile | Throttle | Yaw | Pitch | Roll | -| ------- | -------- | ----- | ------ | ------ | -| 1 | Down | Left | Middle | Left | -| 2 | Down | Left | Up | Middle | -| 3 | Down | Left | Middle | Right | +| Profile # | Throttle | Yaw | Pitch | Roll | +| -------- | -------- | ----- | ------ | ------ | +| 1 | Down | Left | Middle | Left | +| 2 | Down | Left | Up | Middle | +| 3 | Down | Left | Middle | Right | ### CLI -The CLI `profile` command can also be used to change profiles: +The CLI `control_profile` command can also be used to change control profiles: ``` -profile +control_profile ``` ### Programming (4.0.0 onwards) -You can change profiles using the programming frame work. This allows a lot of flexability in how you change profiles. +You can change control profiles using the programming frame work. This allows a lot of flexability in how you change profiles. For example, using a simple switch on channel 15. [![For example, using a simple switch](https://i.imgur.com/SS9CaaOl.png)](https://i.imgur.com/SS9CaaO.png) -Or using the speed to change profiles. In this example: -- when lower than 25 cm/s (basically not flying), profiles are not effected. -- Below 2682 cm/s (60 mph | 97 Km/h) use Profile 1 -- Above 5364 cm/s (120 mph | 193 Km/h) use Profile 3 -- Between 2683 and 5364 cm/s, use Profile 2 +Or using the speed to change control profiles. In this example: +- when lower than 25 cm/s (basically not flying), control profiles are not effected. +- Below 2682 cm/s (60 mph | 97 Km/h) use control profile 1 +- Above 5364 cm/s (120 mph | 193 Km/h) use control profile 3 +- Between 2683 and 5364 cm/s, use control profile 2 [![Using speed to change profiles](https://i.imgur.com/WjkuhhWl.png)](https://i.imgur.com/WjkuhhW.png) -#### Configurator use with profile changing logic. +> [!NOTE] +> From INAV 8.0, the programming framework operator is **Set Control Profile** and the **Flight** Operand is **Active Control Profile**. Pre-INAV 8.0, they were **Set Profile** and **Active Profile** respectively. -If you have logic conditions that change the profiles. You may find that if you manually change the profile using the drop down boxes in the top right of Configurator; that they switch back to a different profile. This is because the logic conditions are still running in the background. If this is the case, the simplest solutuion is to temporarily disable the switches that trigger the `set profile` operations. Remember to re-enable these switches after you have made your changes. +#### Configurator use with control profile changing logic. + +If you have logic conditions that change the profiles. You may find that if you manually change the control profile; using the drop down boxes in the top right of Configurator. That they switch back to a different control profile. This is because the logic conditions are still running in the background. If this is the case, the simplest solutuion is to temporarily disable the switches that trigger the `Set Control Profile` operations. Remember to re-enable these switches after you have made your changes. [![Disabled SET PROFILE switches](https://i.imgur.com/AeH9ll7l.png)](https://i.imgur.com/AeH9ll7.png) ## Profile Contents -The values contained within a profile can be seen by using the CLI `dump profile` command. +The values contained within a control profile can be seen by using the CLI `dump control_profile` command. e.g ``` -# dump profile +# dump control_profile -# profile -profile 1 +# control_profile +control_profile 1 set mc_p_pitch = 40 set mc_i_pitch = 30 diff --git a/docs/Controls.md b/docs/Controls.md index 3cc62b4e740..6dbc26df5fc 100644 --- a/docs/Controls.md +++ b/docs/Controls.md @@ -23,9 +23,9 @@ The stick positions are combined to activate different functions: | Function | Throttle | Yaw | Pitch | Roll | | ----------------------------- | -------- | ------- | ------ | ------ | -| Profile 1 | LOW | LOW | CENTER | LOW | -| Profile 2 | LOW | LOW | HIGH | CENTER | -| Profile 3 | LOW | LOW | CENTER | HIGH | +| Control Profile 1 | LOW | LOW | CENTER | LOW | +| Control Profile 2 | LOW | LOW | HIGH | CENTER | +| Control Profile 3 | LOW | LOW | CENTER | HIGH | | Battery profile 1 | HIGH | LOW | CENTER | LOW | | Battery profile 2 | HIGH | LOW | HIGH | CENTER | | Battery profile 3 | HIGH | LOW | CENTER | HIGH | diff --git a/docs/DJI compatible OSD.md b/docs/DJI compatible OSD.md new file mode 100644 index 00000000000..6af25670306 --- /dev/null +++ b/docs/DJI compatible OSD.md @@ -0,0 +1,50 @@ +# DJI compatible MSP DisplayPort OSD (DJI O3 "Canvas Mode") + +INAV 6.0 includes a special mode for MSP DisplayPort that supports DJI's incomplete implementations of MSP DisplayPort. This can be found on products like the DJI O3 Air Unit. INAV 6.1 expands this to include HD canvas sizes from BetaFlight 4.4. + +Different flight controller firmware have different OSD symbols and elements and require different fonts. BetaFlight's font is a single page and supports a maximum of 256 glyphs, INAV's font is currently 2 pages and supports up to 512 different glyphs. DJI's font is single page and based, but not the same as, BetaFlight's font. + +While there is some overlap between the glyphs in DJI and INAV, it is not possible to perform a 1 to 1 mapping for all the them. In cases where there is no suitable glyph in the DJI font, a question mark `?` will be displayed. + +This mode can be enabled by selecting DJI43COMPAT or DJIHDCOMPAT as video format in the OSD tab of the configurator or by typing the following command on the CLI: + +`set osd_video_system = DJI43COMPAT` + +or + +`set osd_video_system = DJIHDCOMPAT` + +## Limitations + +* Canvas size needs to be manually changed to HD on the Display menu in DJI's goggles (you may need a firmware update) and set as DJIHDCOMPAT in the OSD tab of the configurator. +* Unsupported Glyphs show up as `?` + +## FAQ + +### I see a lot of `?` on my OSD. + +That is expected. When your INAV OSD widgets use glyphs that don't have a suitable mapping in DJI's font. + +### Does it work with the G2 and Original Air Unit/Vista? + +Yes. + +### Is this a replacement for WTFOS? + +Not exactly. WTFOS is a full implementation of MSP-Displayport for rooted Air Unit/Vista/Googles V2 and actually works much better than DJI compatibility mode. It can use all of INAV's OSD elements as intended. If you have the option of WTFOS or DJI compatability mode. WTFOS is the best option. + +### Can INAV fix DJI's product? + +No. OSD renderinng happens on the googles/air unit side of things. Please ask DJI to fix their incomplete MSP DisplayPort implemenation. You can probably request it in [DJI's forum](https://forum.dji.com/forum.php?mod=forumdisplay&fid=129&filter=typeid&typeid=767). To see what you're missing out on with O3. Check out what WTFOS did with the original system. Not only could the pilots upload the fonts of their choosing (who doesn't want a cool SneakyFPV font on their OSD). But there were no problems supporting and firmware. Plus, there was even an option to save the OSD to a file and overlay that over your DVR video. If you're reading this far. Please recommend to DJI that they fix their product, to at least what was possible with WTFOS. + +### DJI's font now has more symbols, can you update INAV? + +Maybe. If a future version of DJI's font includes more Glyphs that can be mapped into INAV. It is fairly simple to add the mapping. However, the best solution would be full support of MSP DisplayPort by DJI. Then there will never be an issue with missing icons. As the latest INAV font would be able to be uploaded on to the goggles. + +### Can you replace glyph `X` with text `x description`? + +While it might technically be possible to replace some glyphs with text in multiple cells, it will introduce a lot of complexity in the OSD rendering and configuration for something we hope is a temporary workaround. + +### Does DJI support Canvas Mode? + +Actually, no. What DJI calls Canvas Mode is actually MSP DisplayPort and is a character based OSD. Currently, the only true implementaion of Canvas Mode is with FrSKY PixelOSD. This was found on some F722 flight controllers from Matek. diff --git a/docs/Programming Framework.md b/docs/Programming Framework.md index 9f95fdb25d5..4eb7744e54e 100644 --- a/docs/Programming Framework.md +++ b/docs/Programming Framework.md @@ -44,13 +44,13 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn | Operation ID | Name | Notes | |---------------|-------------------------------|-------| -| 0 | TRUE | Always evaluates as true | -| 1 | EQUAL | Evaluates `false` if `false` or `0` | -| 2 | GREATER_THAN | `true` if `Operand A` is a higher value than `Operand B` | -| 3 | LOWER_THAN | `true` if `Operand A` is a lower value than `Operand B` | -| 4 | LOW | `true` if `<1333` | -| 5 | MID | `true` if `>=1333 and <=1666` | -| 6 | HIGH | `true` if `>1666` | +| 0 | True | Always evaluates as true | +| 1 | Equal (A=B) | Evaluates `false` if `false` or `0` | +| 2 | Greater Than (A>B) | `true` if `Operand A` is a higher value than `Operand B` | +| 3 | Lower Than (A=1333 and <=1666` | +| 6 | High | `true` if `>1666` | | 7 | AND | `true` if `Operand A` and `Operand B` are the same value or both `true` | | 8 | OR | `true` if `Operand A` and/or `OperandB` is `true` | | 9 | XOR | `true` if `Operand A` or `Operand B` is `true`, but not both | @@ -58,105 +58,109 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn | 11 | NOR | `true` if `Operand A` and `Operand B` are both `false` | | 12 | NOT | The boolean opposite to `Operand A` | | 13 | Sticky | `Operand A` is the activation operator, `Operand B` is the deactivation operator. After the activation is `true`, the operator will return `true` until Operand B is evaluated as `true`| -| 14 | Basic: Add | Add `Operand A` to `Operand B` and returns the result | -| 15 | Basic: Subtract | Substract `Operand B` from `Operand A` and returns the result | -| 16 | Basic: Multiply | Multiply `Operand A` by `Operand B` and returns the result | -| 17 | Basic: Divide | Divide `Operand A` by `Operand B` and returns the result | +| 14 | Basic: Add | Add `Operand A` to `Operand B` and returns the result | +| 15 | Basic: Subtract | Substract `Operand B` from `Operand A` and returns the result | +| 16 | Basic: Multiply | Multiply `Operand A` by `Operand B` and returns the result | +| 17 | Basic: Divide | Divide `Operand A` by `Operand B` and returns the result | | 18 | Set GVAR | Store value from `Operand B` into the Global Variable addressed by `Operand A`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` | -| 19 | Increase GVAR | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` | -| 20 | Decrease GVAR | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` | +| 19 | Increase GVAR | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` | +| 20 | Decrease GVAR | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` | | 21 | Set IO Port | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` | -| 22 | OVERRIDE_ARMING_SAFETY | Allows the craft to arm on any angle even without GPS fix. WARNING: This bypasses all safety checks, even that the throttle is low, so use with caution. If you only want to check for certain conditions, such as arm without GPS fix. You will need to add logic conditions to check the throttle is low. | -| 23 | OVERRIDE_THROTTLE_SCALE | Override throttle scale to the value defined by operand. Operand type `0` and value `50` means throttle will be scaled by 50%. | -| 24 | SWAP_ROLL_YAW | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes | -| 25 | SET_VTX_POWER_LEVEL | Sets VTX power level. Accepted values are `0-3` for SmartAudio and `0-4` for Tramp protocol | -| 26 | INVERT_ROLL | Inverts ROLL axis input for PID/PIFF controller | -| 27 | INVERT_PITCH | Inverts PITCH axis input for PID/PIFF controller | -| 28 | INVERT_YAW | Inverts YAW axis input for PID/PIFF controller | -| 29 | OVERRIDE_THROTTLE | Override throttle value that is fed to the motors by mixer. Operand is scaled in us. `1000` means throttle cut, `1500` means half throttle | -| 30 | SET_VTX_BAND | Sets VTX band. Accepted values are `1-5` | -| 31 | SET_VTX_CHANNEL | Sets VTX channel. Accepted values are `1-8` | -| 32 | SET_OSD_LAYOUT | Sets OSD layout. Accepted values are `0-3` | -| 33 | Trigonometry: Sine | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` | -| 34 | Trigonometry: Cosine | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` | -| 35 | Trigonometry: Tangent | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` | -| 36 | MAP_INPUT | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled | -| 37 | MAP_OUTPUT | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled | -| 38 | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B`. Note operand A should normally be set as a "Value", NOT as "Get RC Channel"| -| 39 | SET_HEADING_TARGET | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. | -| 40 | Modulo | Modulo. Divide `Operand A` by `Operand B` and returns the remainder | -| 41 | LOITER_RADIUS_OVERRIDE | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. If the value is lower than the loiter radius set in the **Advanced Tuning**, that will be used. | -| 42 | SET_PROFILE | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change | -| 43 | Use Lowest Value | Finds the lowest value of `Operand A` and `Operand B` | -| 44 | Use Highest Value | Finds the highest value of `Operand A` and `Operand B` | -| 45 | FLIGHT_AXIS_ANGLE_OVERRIDE | Sets the target attitude angle for axis. In other words, when active, it enforces Angle mode (Heading Hold for Yaw) on this axis (Angle mode does not have to be active). `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the angle in degrees | -| 46 | FLIGHT_AXIS_RATE_OVERRIDE | Sets the target rate (rotation speed) for axis. `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the rate in degrees per second | -| 47 | EDGE | Momentarily true when triggered by `Operand A`. `Operand A` is the activation operator [`boolean`], `Operand B` _(Optional)_ is the time for the edge to stay active [ms]. After activation, operator will return `true` until the time in Operand B is reached. If a pure momentary edge is wanted. Just leave `Operand B` as the default `Value: 0` setting. | -| 48 | DELAY | Delays activation after being triggered. This will return `true` when `Operand A` _is_ true, and the delay time in `Operand B` [ms] has been exceeded. | -| 49 | TIMER | A simple on - off timer. `true` for the duration of `Operand A` [ms]. Then `false` for the duration of `Operand B` [ms]. | -| 50 | DELTA | This returns `true` when the value of `Operand A` has changed by the value of `Operand B` or greater within 100ms. | -| 51 | APPROX_EQUAL | `true` if `Operand B` is within 1% of `Operand A`. | -| 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)| +| 22 | Override Arming Safety | Allows the craft to arm on any angle even without GPS fix. WARNING: This bypasses all safety checks, even that the throttle is low, so use with caution. If you only want to check for certain conditions, such as arm without GPS fix. You will need to add logic conditions to check the throttle is low. | +| 23 | Override Throttle Scale | Override throttle scale to the value defined by operand. Operand type `0` and value `50` means throttle will be scaled by 50%. | +| 24 | Swap Roll & Yaw | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes | +| 25 | Set VTx Power Level | Sets VTX power level. Accepted values are `0-3` for SmartAudio and `0-4` for Tramp protocol | +| 26 | Invert Roll | Inverts ROLL axis input for PID/PIFF controller | +| 27 | Invert Pitch | Inverts PITCH axis input for PID/PIFF controller | +| 28 | Invert Yaw | Inverts YAW axis input for PID/PIFF controller | +| 29 | Override Throttlw | Override throttle value that is fed to the motors by mixer. Operand is scaled in us. `1000` means throttle cut, `1500` means half throttle | +| 30 | Set VTx Band | Sets VTX band. Accepted values are `1-5` | +| 31 | Set VTx Channel | Sets VTX channel. Accepted values are `1-8` | +| 32 | Set OSD Layout | Sets OSD layout. Accepted values are `0-3` | +| 33 | Trigonometry: Sine | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` | +| 34 | Trigonometry: Cosine | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` | +| 35 | Trigonometry: Tangent | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` | +| 36 | Map Input | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled | +| 37 | Map Output | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled | +| 38 | Override RC Channel | Overrides channel set by `Operand A` to value of `Operand B`. Note operand A should normally be set as a "Value", NOT as "Get RC Channel"| +| 39 | Set Heading Target | Sets heading-hold target to `Operand A`, in centidegrees. Value wraps-around. | +| 40 | Modulo | Modulo. Divide `Operand A` by `Operand B` and returns the remainder | +| 41 | Override Loiter Radius | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. Must be larger than the loiter radius set in the **Advanced Tuning**. | +| 42 | Set Control Profile | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change | +| 43 | Use Lowest Value | Finds the lowest value of `Operand A` and `Operand B` | +| 44 | Use Highest Value | Finds the highest value of `Operand A` and `Operand B` | +| 45 | Flight Axis Angle Override | Sets the target attitude angle for axis. In other words, when active, it enforces Angle mode (Heading Hold for Yaw) on this axis (Angle mode does not have to be active). `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the angle in degrees | +| 46 | Flight Axis Rate Override | Sets the target rate (rotation speed) for axis. `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the rate in degrees per second | +| 47 | Edge | Momentarily true when triggered by `Operand A`. `Operand A` is the activation operator [`boolean`], `Operand B` _(Optional)_ is the time for the edge to stay active [ms]. After activation, operator will return `true` until the time in Operand B is reached. If a pure momentary edge is wanted. Just leave `Operand B` as the default `Value: 0` setting. | +| 48 | Delay | Delays activation after being triggered. This will return `true` when `Operand A` _is_ true, and the delay time in `Operand B` [ms] has been exceeded. | +| 49 | Timer | A simple on - off timer. `true` for the duration of `Operand A` [ms]. Then `false` for the duration of `Operand B` [ms]. | +| 50 | Delta (|A| >= B) | This returns `true` when the value of `Operand A` has changed by the value of `Operand B` or greater within 100ms. | +| 51 | Approx Equals (A ~ B) | `true` if `Operand B` is within 1% of `Operand A`. | +| 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. | ### Operands | Operand Type | Name | Notes | |---------------|-----------------------|-------| -| 0 | VALUE | Value derived from `value` field | -| 1 | GET_RC_CHANNEL | `value` points to RC channel number, indexed from 1 | -| 2 | FLIGHT | `value` points to flight parameter table | -| 3 | FLIGHT_MODE | `value` points to flight modes table | -| 4 | LC | `value` points to other logic condition ID | -| 5 | GVAR | Value stored in Global Variable indexed by `value`. `GVAR 1` means: value in GVAR 1 | -| 5 | PID | Output of a Programming PID indexed by `value`. `PID 1` means: value in PID 1 | - -#### FLIGHT - -| Operand Value | Name | Notes | -|---------------|-------------------------------|-------| -| 0 | ARM_TIMER | in `seconds` | -| 1 | HOME_DISTANCE | in `meters` | -| 2 | TRIP_DISTANCE | in `meters` | -| 3 | RSSI | | -| 4 | VBAT | in `Volts * 100`, eg. `12.1V` is `1210` | -| 5 | CELL_VOLTAGE | in `Volts * 100`, eg. `12.1V` is `1210` | -| 6 | CURRENT | in `Amps * 100`, eg. `9A` is `900` | -| 7 | MAH_DRAWN | in `mAh` | -| 8 | GPS_SATS | | -| 9 | GROUD_SPEED | in `cm/s` | -| 10 | 3D_SPEED | in `cm/s` | -| 11 | AIR_SPEED | in `cm/s` | -| 12 | ALTITUDE | in `cm` | -| 13 | VERTICAL_SPEED | in `cm/s` | -| 14 | TROTTLE_POS | in `%` | -| 15 | ATTITUDE_ROLL | in `degrees` | -| 16 | ATTITUDE_PITCH | in `degrees` | -| 17 | IS_ARMED | boolean `0`/`1` | -| 18 | IS_AUTOLAUNCH | boolean `0`/`1` | -| 19 | IS_ALTITUDE_CONTROL | boolean `0`/`1` | -| 20 | IS_POSITION_CONTROL | boolean `0`/`1` | -| 21 | IS_EMERGENCY_LANDING | boolean `0`/`1` | -| 22 | IS_RTH | boolean `0`/`1` | -| 23 | IS_LANDING | boolean `0`/`1` | -| 24 | IS_FAILSAFE | boolean `0`/`1` | -| 25 | STABILIZED_ROLL | Roll PID controller output `[-500:500]` | -| 26 | STABILIZED_PITCH | Pitch PID controller output `[-500:500]` | -| 27 | STABILIZED_YAW | Yaw PID controller output `[-500:500]` | -| 28 | 3D HOME_DISTANCE | in `meters`, calculated from HOME_DISTANCE and ALTITUDE using Pythagorean theorem | -| 29 | CROSSFIRE LQ | Crossfire Link quality as returned by the CRSF protocol | -| 30 | CROSSFIRE SNR | Crossfire SNR as returned by the CRSF protocol | -| 31 | GPS_VALID | boolean `0`/`1`. True when the GPS has a valid 3D Fix | -| 32 | LOITER_RADIUS | The current loiter radius in cm. | -| 33 | ACTIVE_PROFILE | integer for the active config profile `[1..MAX_PROFILE_COUNT]` | -| 34 | BATT_CELLS | Number of battery cells detected | -| 35 | AGL_STATUS | boolean `1` when AGL can be trusted, `0` when AGL estimate can not be trusted | -| 36 | AGL | integer Above The Groud Altitude in `cm` | -| 37 | RANGEFINDER_RAW | integer raw distance provided by the rangefinder in `cm` | -| 38 | ACTIVE_MIXER_PROFILE | Which mixers are currently active (for vtol etc) | -| 39 | MIXER_TRANSITION_ACTIVE | Currently switching between mixers (quad to plane etc) | -| 40 | ATTITUDE_YAW | current heading (yaw) in `degrees` | -| 41 | FW Land Sate | integer `1` - `5`, indicates the status of the FW landing, 0 Idle, 1 Downwind, 2 Base Leg, 3 Final Approach, 4 Glide, 5 Flare | +| 0 | Value | Value derived from `value` field | +| 1 | Get RC Channel | `value` points to RC channel number, indexed from 1 | +| 2 | Flight | `value` points to **Flight** Parameters table | +| 3 | Flight Mode | `value` points to **Flight_Mode** table | +| 4 | Logic Condition | `value` points to other logic condition ID | +| 5 | Get Global Variable | Value stored in Global Variable indexed by `value`. `GVAR 1` means: value in GVAR 1 | +| 5 | Programming PID | Output of a Programming PID indexed by `value`. `PID 1` means: value in PID 1 | +| 6 | Waypoints | `value` points to the **Waypoint** parameter table | + +#### Flight Parameters + +| Operand Value | Name | Notes | +|---------------|---------------------------------------|-------| +| 0 | ARM Timer [s] | Time since armed in `seconds` | +| 1 | Home Distance [m] | distance from home in `meters` | +| 2 | Trip distance [m] | Trip distance in `meters` | +| 3 | RSSI | | +| 4 | Vbat [centi-Volt] [1V = 100] | VBAT Voltage in `Volts * 100`, eg. `12.1V` is `1210` | +| 5 | Cell voltage [centi-Volt] [1V = 100] | Average cell voltage in `Volts * 100`, eg. `12.1V` is `1210` | +| 6 | Current [centi-Amp] [1A = 100] | Current in `Amps * 100`, eg. `9A` is `900` | +| 7 | Current drawn [mAh] | Total used current in `mAh` | +| 8 | GPS Sats | | +| 9 | Ground speed [cm/s] | Ground speed in `cm/s` | +| 10 | 3D speed [cm/s] | 3D speed in `cm/s` | +| 11 | Air speed [cm/s] | Air speed in `cm/s` | +| 12 | Altitude [cm] | Altitude in `cm` | +| 13 | Vertical speed [cm/s] | Vertical speed in `cm/s` | +| 14 | Throttle position [%] | Throttle position in `%` | +| 15 | Roll [deg] | Roll attitude in `degrees` | +| 16 | Pitch [deg] | Pitch attitude in `degrees` | +| 17 | Is Armed | Is the system armed? boolean `0`/`1` | +| 18 | Is Autolaunch | Is auto launch active? boolean `0`/`1` | +| 19 | Is Controlling Altitude | Is altitude being controlled? boolean `0`/`1` | +| 20 | Is Controlling Position | Is the position being controlled? boolean `0`/`1` | +| 21 | Is Emergency Landing | Is the aircraft emergency landing? boolean `0`/`1` | +| 22 | Is RTH | Is RTH active? boolean `0`/`1` | +| 23 | Is Landing | Is the aircaft automatically landing? boolean `0`/`1` | +| 24 | Is Failsafe | Is the flight controller in a failsafe? boolean `0`/`1` | +| 25 | Stabilized Roll | Roll PID controller output `[-500:500]` | +| 26 | Stabilized Pitch | Pitch PID controller output `[-500:500]` | +| 27 | Stabilized Yaw | Yaw PID controller output `[-500:500]` | +| 28 | 3D home distance [m] | 3D distance to home in `meters`. Calculated from Home distance and Altitude using Pythagorean theorem | +| 29 | CRSF LQ | Link quality as returned by the CRSF protocol | +| 30 | CRSF SNR | SNR as returned by the CRSF protocol | +| 31 | GPS Valid Fix | Boolean `0`/`1`. True when the GPS has a valid 3D Fix | +| 32 | Loiter Radius [cm] | The current loiter radius in cm. | +| 33 | Active Control Profile | Integer for the active config profile `[1..MAX_PROFILE_COUNT]` | +| 34 | Battery cells | Number of battery cells detected | +| 35 | AGL status [0/1] | Boolean `1` when AGL can be trusted, `0` when AGL estimate can not be trusted | +| 36 | AGL [cm] | Integer altitude above The Groud Altitude in `cm` | +| 37 | Rangefinder [cm] | Integer raw distance provided by the rangefinder in `cm` | +| 38 | Active Mixer Profile | Which mixer is currently active (for vtol etc) | +| 39 | Mixer Transition Active | Boolean `0`/`1`. Are we currently switching between mixers (quad to plane etc) | +| 40 | Yaw [deg] | Current heading (yaw) in `degrees` | +| 41 | FW Land Sate | Integer `1` - `5`, indicates the status of the FW landing, 0 Idle, 1 Downwind, 2 Base Leg, 3 Final Approach, 4 Glide, 5 Flare | +| 42 | Current battery profile | The active battery profile. Integer `[1..MAX_PROFILE_COUNT]` | #### FLIGHT_MODE @@ -164,22 +168,22 @@ The flight mode operands return `true` when the mode is active. These are modes | Operand Value | Name | Notes | |---------------|-------------------|-------| -| 0 | FAILSAFE | `true` when a **Failsafe** state has been triggered. | -| 1 | MANUAL | `true` when you are in the **Manual** flight mode. | +| 0 | Failsafe | `true` when a **Failsafe** state has been triggered. | +| 1 | Manual | `true` when you are in the **Manual** flight mode. | | 2 | RTH | `true` when you are in the **Return to Home** flight mode. | -| 3 | POSHOLD | `true` when you are in the **Position Hold** or **Loiter** flight modes. | -| 4 | CRUISE | `true` when you are in the **Cruise** flight mode. | -| 5 | ALTHOLD | `true` when you the **Altitude Hold** flight mode modifier is active. | -| 6 | ANGLE | `true` when you are in the **Angle** flight mode. | -| 7 | HORIZON | `true` when you are in the **Horizon** flight mode. | -| 8 | AIR | `true` when you the **Airmode** flight mode modifier is active. | -| 9 | USER1 | `true` when the **USER 1** mode is active. | -| 10 | USER2 | `true` when the **USER 2** mode is active. | -| 11 | COURSE_HOLD | `true` when you are in the **Course Hold** flight mode. | -| 12 | USER3 | `true` when the **USER 3** mode is active. | -| 13 | USER4 | `true` when the **USER 4** mode is active. | -| 14 | ACRO | `true` when you are in the **Acro** flight mode. | -| 15 | WAYPOINT_MISSION | `true` when you are in the **WP Mission** flight mode. | +| 3 | Position Hold | `true` when you are in the **Position Hold** or **Loiter** flight modes. | +| 4 | Cruise | `true` when you are in the **Cruise** flight mode. | +| 5 | Altitude Hold | `true` when you the **Altitude Hold** flight mode modifier is active. | +| 6 | Angle | `true` when you are in the **Angle** flight mode. | +| 7 | Horizon | `true` when you are in the **Horizon** flight mode. | +| 8 | Air | `true` when you the **Airmode** flight mode modifier is active. | +| 9 | USER 1 | `true` when the **USER 1** mode is active. | +| 10 | USER 2 | `true` when the **USER 2** mode is active. | +| 11 | Course Hold | `true` when you are in the **Course Hold** flight mode. | +| 12 | USER 3 | `true` when the **USER 3** mode is active. | +| 13 | USER 4 | `true` when the **USER 4** mode is active. | +| 14 | Acro | `true` when you are in the **Acro** flight mode. | +| 15 | Waypoint Mission | `true` when you are in the **WP Mission** flight mode. | #### WAYPOINTS @@ -335,5 +339,3 @@ choose *value* and enter the channel number. Choosing "get RC value" is a common which does something other than what you probably want. ![screenshot of override an RC channel with a value](./assets/images/ipf_set_get_rc_channel.png) - - diff --git a/docs/Rangefinder.md b/docs/Rangefinder.md index 095a6f0df33..b53ae439b7e 100644 --- a/docs/Rangefinder.md +++ b/docs/Rangefinder.md @@ -21,6 +21,22 @@ Following rangefinders are supported: * 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/Settings.md b/docs/Settings.md index 7ed9437ced1..f5c246d0871 100644 --- a/docs/Settings.md +++ b/docs/Settings.md @@ -1302,13 +1302,33 @@ Fixed-wing rate stabilisation I-gain for YAW --- -### fw_iterm_limit_stick_position +### fw_iterm_lock_engage_threshold -Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. `0` mean stick is in center position, `1` means it is fully deflected to either side +Defines error rate (in percents of max rate) when Iterm Lock is engaged when sticks are release. Iterm Lock will stay active until error drops below this number | Default | Min | Max | | --- | --- | --- | -| 0.5 | 0 | 1 | +| 10 | 5 | 25 | + +--- + +### fw_iterm_lock_rate_threshold + +Defines rate percentage when full P I and D attenuation should happen. 100 disables Iterm Lock for P and D term + +| Default | Min | Max | +| --- | --- | --- | +| 40 | 10 | 100 | + +--- + +### fw_iterm_lock_time_max_ms + +Defines max time in milliseconds for how long ITerm Lock will shut down Iterm after sticks are release + +| Default | Min | Max | +| --- | --- | --- | +| 500 | 100 | 1000 | --- @@ -1442,6 +1462,86 @@ Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solv --- +### gimbal_pan_channel + +Gimbal pan rc channel index. 0 is no channel. + +| Default | Min | Max | +| --- | --- | --- | +| 0 | 0 | 32 | + +--- + +### gimbal_pan_trim + +Trim gimbal pan center position. + +| Default | Min | Max | +| --- | --- | --- | +| 0 | -500 | 500 | + +--- + +### gimbal_roll_channel + +Gimbal roll rc channel index. 0 is no channel. + +| Default | Min | Max | +| --- | --- | --- | +| 0 | 0 | 32 | + +--- + +### gimbal_roll_trim + +Trim gimbal roll center position. + +| Default | Min | Max | +| --- | --- | --- | +| 0 | -500 | 500 | + +--- + +### gimbal_sensitivity + +Gimbal sensitivity is similar to gain and will affect how quickly the gimbal will react. + +| Default | Min | Max | +| --- | --- | --- | +| 0 | -16 | 15 | + +--- + +### gimbal_serial_single_uart + +Gimbal serial and headtracker device share same UART. FC RX goes to headtracker device, FC TX goes to gimbal. + +| Default | Min | Max | +| --- | --- | --- | +| OFF | OFF | ON | + +--- + +### gimbal_tilt_channel + +Gimbal tilt rc channel index. 0 is no channel. + +| Default | Min | Max | +| --- | --- | --- | +| 0 | 0 | 32 | + +--- + +### gimbal_tilt_trim + +Trim gimbal tilt center position. + +| Default | Min | Max | +| --- | --- | --- | +| 0 | -500 | 500 | + +--- + ### gps_auto_baud Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS @@ -1562,6 +1662,76 @@ For developer ground test use. Disables motors, sets heading status = Trusted on --- +### gyro_adaptive_filter_hpf_hz + +High pass filter cutoff frequency + +| Default | Min | Max | +| --- | --- | --- | +| 10 | 1 | 50 | + +--- + +### gyro_adaptive_filter_integrator_threshold_high + +High threshold for adaptive filter integrator + +| Default | Min | Max | +| --- | --- | --- | +| 4 | 1 | 10 | + +--- + +### gyro_adaptive_filter_integrator_threshold_low + +Low threshold for adaptive filter integrator + +| Default | Min | Max | +| --- | --- | --- | +| -2 | -10 | 0 | + +--- + +### gyro_adaptive_filter_max_hz + +Maximum frequency for adaptive filter + +| Default | Min | Max | +| --- | --- | --- | +| 150 | 0 | 505 | + +--- + +### gyro_adaptive_filter_min_hz + +Minimum frequency for adaptive filter + +| Default | Min | Max | +| --- | --- | --- | +| 50 | 0 | 250 | + +--- + +### gyro_adaptive_filter_std_lpf_hz + +Standard deviation low pass filter cutoff frequency + +| Default | Min | Max | +| --- | --- | --- | +| 2 | 0 | 10 | + +--- + +### gyro_adaptive_filter_target + +Target value for adaptive filter + +| Default | Min | Max | +| --- | --- | --- | +| 3.5 | 1 | 6 | + +--- + ### gyro_anti_aliasing_lpf_hz Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz @@ -1602,33 +1772,33 @@ Minimum frequency of the gyro Dynamic LPF --- -### gyro_main_lpf_hz +### gyro_filter_mode -Software based gyro main lowpass filter. Value is cutoff frequency (Hz) +Specifies the type of the software LPF of the gyro signals. | Default | Min | Max | | --- | --- | --- | -| 60 | 0 | 500 | +| STATIC | | | --- -### gyro_to_use +### gyro_main_lpf_hz -On multi-gyro targets, allows to choose which gyro to use. 0 = first gyro, 1 = second gyro +Software based gyro main lowpass filter. Value is cutoff frequency (Hz) | Default | Min | Max | | --- | --- | --- | -| 0 | 0 | 2 | +| 60 | 0 | 500 | --- -### gyro_use_dyn_lpf +### gyro_to_use -Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position. +On multi-gyro targets, allows to choose which gyro to use. 0 = first gyro, 1 = second gyro | Default | Min | Max | | --- | --- | --- | -| OFF | OFF | ON | +| 0 | 0 | 2 | --- @@ -1682,6 +1852,46 @@ This setting limits yaw rotation rate that HEADING_HOLD controller can request f --- +### headtracker_pan_ratio + +Head pan movement vs camera movement ratio + +| Default | Min | Max | +| --- | --- | --- | +| 1 | 0 | 5 | + +--- + +### headtracker_roll_ratio + +Head roll movement vs camera movement ratio + +| Default | Min | Max | +| --- | --- | --- | +| 1 | 0 | 5 | + +--- + +### headtracker_tilt_ratio + +Head tilt movement vs camera movement ratio + +| Default | Min | Max | +| --- | --- | --- | +| 1 | 0 | 5 | + +--- + +### headtracker_type + +Type of headtrackr dervice + +| Default | Min | Max | +| --- | --- | --- | +| NONE | | | + +--- + ### hott_alarm_sound_interval Battery alarm delay in seconds for Hott telemetry @@ -1812,16 +2022,6 @@ 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_w_acc_bias Weight for accelerometer drift estimation @@ -2358,7 +2558,7 @@ Maximum inclination in level (angle) mode (PITCH axis). 100=10° | Default | Min | Max | | --- | --- | --- | -| 300 | 100 | 900 | +| 450 | 100 | 900 | --- @@ -2368,7 +2568,7 @@ Maximum inclination in level (angle) mode (ROLL axis). 100=10° | Default | Min | Max | | --- | --- | --- | -| 300 | 100 | 900 | +| 450 | 100 | 900 | --- @@ -2718,7 +2918,7 @@ Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no speci | Default | Min | Max | | --- | --- | --- | -| 300 | 10 | 2000 | +| 500 | 10 | 2000 | --- @@ -2772,6 +2972,26 @@ 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 @@ -2928,7 +3148,7 @@ Forward acceleration threshold for bungee launch or throw launch [cm/s/s], 1G = | Default | Min | Max | | --- | --- | --- | -| 1863 | 1500 | 20000 | +| 1863 | 1350 | 20000 | --- @@ -3374,7 +3594,7 @@ Defines at what altitude the descent velocity should start to be `nav_land_minal ### nav_landing_bump_detection -Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and currently only works for multirotors. +Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and GPS and currently only works for multirotors (Note: will work during Failsafe without need for a GPS). | Default | Min | Max | | --- | --- | --- | @@ -3388,7 +3608,7 @@ Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mod | Default | Min | Max | | --- | --- | --- | -| 500 | 10 | 2000 | +| 750 | 10 | 2000 | --- @@ -3448,7 +3668,7 @@ Maximum banking angle (deg) that multicopter navigation is allowed to set. Machi | Default | Min | Max | | --- | --- | --- | -| 30 | 15 | 45 | +| 35 | 15 | 45 | --- @@ -3552,6 +3772,16 @@ Multicopter hover throttle hint for altitude controller. Should be set to approx --- +### nav_mc_inverted_crash_detection + +Setting a value > 0 enables inverted crash detection for multirotors. It will auto disarm in situations where the multirotor has crashed inverted on the ground and can't be manually disarmed due to loss of control or for some other reason. When enabled this setting defines the additional number of seconds before disarm beyond a minimum fixed time delay of 3s. Requires a barometer to work. + +| Default | Min | Max | +| --- | --- | --- | +| 0 | 0 | 15 | + +--- + ### nav_mc_manual_climb_rate Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] @@ -4392,6 +4622,16 @@ Value under which the OSD axis g force indicators will blink (g) --- +### osd_highlight_djis_missing_font_symbols + +Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes. + +| Default | Min | Max | +| --- | --- | --- | +| ON | OFF | ON | + +--- + ### osd_home_position_arm_screen Should home position coordinates be displayed on the arming screen. @@ -4732,6 +4972,16 @@ Number of leading digits removed from plus code. Removing 2, 4 and 6 digits requ --- +### osd_radar_peers_display_time + +Time in seconds to display next peer + +| Default | Min | Max | +| --- | --- | --- | +| 3 | 1 | 10 | + +--- + ### osd_right_sidebar_scroll Scroll type for the right sidebar 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 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/readme.md b/readme.md index a70c42d4c86..53710d519aa 100644 --- a/readme.md +++ b/readme.md @@ -6,6 +6,10 @@ > INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards. +# ICM426xx IMUs PSA + +> The filtering settings for the ICM426xx has changed to match what is used by Ardupilot and Betaflight in INAV 7.1. When upgrading from older versions you may need to recalibrate the Accelerometer and if you are not using INAV's default tune you may also want to check if the tune is still good. + ![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png) # PosHold, Navigation and RTH without compass PSA @@ -51,7 +55,6 @@ Fly safe, fly smart with INAV 7.1 and a compass by your side! * SmartAudio and IRC Tramp VTX support * Telemetry: SmartPort, FPort, MAVlink, LTM, CRSF * Multi-color RGB LED Strip support -* 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. @@ -119,5 +122,13 @@ Before creating new issues please check to see if there is an existing one, sear Please refer to the development section in the [docs/development](https://github.com/iNavFlight/inav/tree/master/docs/development) folder. +Nightly builds are available for testing on the following links: + +https://github.com/iNavFlight/inav-nightly/releases + +https://github.com/iNavFlight/inav-configurator-nightly/releases + ## INAV Releases https://github.com/iNavFlight/inav/releases + + diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt index cba13db687e..2e2b6cb2b20 100755 --- a/src/main/CMakeLists.txt +++ b/src/main/CMakeLists.txt @@ -1,3 +1,4 @@ + main_sources(COMMON_SRC main.c @@ -176,6 +177,10 @@ main_sources(COMMON_SRC drivers/flash_m25p16.h drivers/flash_w25n01g.c drivers/flash_w25n01g.h + drivers/gimbal_common.h + drivers/gimbal_common.c + drivers/headtracker_common.h + drivers/headtracker_common.c drivers/io.c drivers/io.h drivers/io_pcf8574.c @@ -345,6 +350,8 @@ main_sources(COMMON_SRC flight/dynamic_lpf.h flight/ez_tune.c flight/ez_tune.h + flight/adaptive_filter.c + flight/adaptive_filter.h io/adsb.c io/beeper.c @@ -353,6 +360,10 @@ main_sources(COMMON_SRC io/servo_sbus.h io/frsky_osd.c io/frsky_osd.h + io/gimbal_serial.c + io/gimbal_serial.h + io/headtracker_msp.c + io/headtracker_msp.h io/osd_dji_hd.c io/osd_dji_hd.h io/lights.c @@ -485,6 +496,8 @@ 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 @@ -497,8 +510,8 @@ main_sources(COMMON_SRC io/displayport_max7456.h io/displayport_msp.c io/displayport_msp.h - io/displayport_msp_bf_compat.c - io/displayport_msp_bf_compat.h + io/displayport_msp_dji_compat.c + io/displayport_msp_dji_compat.h io/displayport_oled.c io/displayport_oled.h io/displayport_msp_osd.c diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index b16f03de775..419b7b4add4 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -402,12 +402,21 @@ static const blackboxSimpleFieldDefinition_t blackboxGpsHFields[] = { // Rarely-updated fields static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = { + /* "flightModeFlags" renamed internally to more correct ref of rcModeFlags, since it logs rc boxmode selections, + * but name kept for external compatibility reasons. + * "activeFlightModeFlags" logs actual active flight modes rather than rc boxmodes. + * 'active' should at least distinguish it from the existing "flightModeFlags" */ + + {"activeWpNumber", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, {"flightModeFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, + {"flightModeFlags2", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, + {"activeFlightModeFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, {"stateFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, {"failsafePhase", -1, UNSIGNED, PREDICT(0), ENCODING(TAG2_3S32)}, {"rxSignalReceived", -1, UNSIGNED, PREDICT(0), ENCODING(TAG2_3S32)}, {"rxFlightChannelsValid", -1, UNSIGNED, PREDICT(0), ENCODING(TAG2_3S32)}, + {"rxUpdateRate", -1, UNSIGNED, PREDICT(PREVIOUS), ENCODING(UNSIGNED_VB)}, {"hwHealthStatus", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, {"powerSupplyImpedance", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, @@ -436,8 +445,6 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = { {"escRPM", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, {"escTemperature", -1, SIGNED, PREDICT(PREVIOUS), ENCODING(SIGNED_VB)}, #endif - {"rxUpdateRate", -1, UNSIGNED, PREDICT(PREVIOUS), ENCODING(UNSIGNED_VB)}, - {"activeWpNumber", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, }; typedef enum BlackboxState { @@ -533,7 +540,9 @@ typedef struct blackboxGpsState_s { // This data is updated really infrequently: typedef struct blackboxSlowState_s { - uint32_t flightModeFlags; // extend this data size (from uint16_t) + uint32_t rcModeFlags; + uint32_t rcModeFlags2; + uint32_t activeFlightModeFlags; uint32_t stateFlags; uint8_t failsafePhase; bool rxSignalReceived; @@ -566,7 +575,7 @@ extern boxBitmask_t rcModeActivationMask; static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED; static uint32_t blackboxLastArmingBeep = 0; -static uint32_t blackboxLastFlightModeFlags = 0; +static uint32_t blackboxLastRcModeFlags = 0; static struct { uint32_t headerIndex; @@ -1260,7 +1269,10 @@ static void writeSlowFrame(void) blackboxWrite('S'); - blackboxWriteUnsignedVB(slowHistory.flightModeFlags); + blackboxWriteUnsignedVB(slowHistory.activeWpNumber); + blackboxWriteUnsignedVB(slowHistory.rcModeFlags); + blackboxWriteUnsignedVB(slowHistory.rcModeFlags2); + blackboxWriteUnsignedVB(slowHistory.activeFlightModeFlags); blackboxWriteUnsignedVB(slowHistory.stateFlags); /* @@ -1271,6 +1283,8 @@ static void writeSlowFrame(void) values[2] = slowHistory.rxFlightChannelsValid ? 1 : 0; blackboxWriteTag2_3S32(values); + blackboxWriteUnsignedVB(slowHistory.rxUpdateRate); + blackboxWriteUnsignedVB(slowHistory.hwHealthStatus); blackboxWriteUnsignedVB(slowHistory.powerSupplyImpedance); @@ -1296,8 +1310,6 @@ static void writeSlowFrame(void) blackboxWriteUnsignedVB(slowHistory.escRPM); blackboxWriteSignedVB(slowHistory.escTemperature); #endif - blackboxWriteUnsignedVB(slowHistory.rxUpdateRate); - blackboxWriteUnsignedVB(slowHistory.activeWpNumber); blackboxSlowFrameIterationTimer = 0; } @@ -1307,21 +1319,21 @@ 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)) { - slow->flightModeFlags |= (1 << BOXANGLE); - } + slow->activeWpNumber = getActiveWpNumber(); + + slow->rcModeFlags = rcModeActivationMask.bits[0]; // first 32 bits of boxId_e + slow->rcModeFlags2 = rcModeActivationMask.bits[1]; // remaining bits of boxId_e + + // Also log Nav auto enabled flight modes rather than just those selected by boxmode if (navigationGetHeadingControlState() == NAV_HEADING_CONTROL_AUTO) { - slow->flightModeFlags |= (1 << BOXHEADINGHOLD); - } - if (navigationRequiresTurnAssistance()) { - slow->flightModeFlags |= (1 << BOXTURNASSIST); + slow->rcModeFlags |= (1 << BOXHEADINGHOLD); } + slow->activeFlightModeFlags = flightModeFlags; slow->stateFlags = stateFlags; slow->failsafePhase = failsafePhase(); slow->rxSignalReceived = rxIsReceivingSignal(); slow->rxFlightChannelsValid = rxAreFlightChannelsValid(); + slow->rxUpdateRate = getRcUpdateFrequency(); slow->hwHealthStatus = (getHwGyroStatus() << 2 * 0) | // Pack hardware health status into a bit field. (getHwAccelerometerStatus() << 2 * 1) | // Use raw hardwareSensorStatus_e values and pack them using 2 bits per value (getHwCompassStatus() << 2 * 2) | // Report GYRO in 2 lowest bits, then ACC, COMPASS, BARO, GPS, RANGEFINDER and PITOT @@ -1373,9 +1385,6 @@ static void loadSlowState(blackboxSlowState_t *slow) slow->escRPM = escSensor->rpm; slow->escTemperature = escSensor->temperature; #endif - - slow->rxUpdateRate = getRcUpdateFrequency(); - slow->activeWpNumber = getActiveWpNumber(); } /** @@ -1492,7 +1501,7 @@ void blackboxStart(void) * it finally plays the beep for this arming event. */ blackboxLastArmingBeep = getArmingBeepTimeMicros(); - memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags)); // record startup status + memcpy(&blackboxLastRcModeFlags, &rcModeActivationMask, sizeof(blackboxLastRcModeFlags)); // record startup status blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE); } @@ -2017,10 +2026,10 @@ static void blackboxCheckAndLogArmingBeep(void) static void blackboxCheckAndLogFlightMode(void) { // Use != so that we can still detect a change if the counter wraps - if (memcmp(&rcModeActivationMask, &blackboxLastFlightModeFlags, sizeof(blackboxLastFlightModeFlags))) { + if (memcmp(&rcModeActivationMask, &blackboxLastRcModeFlags, sizeof(blackboxLastRcModeFlags))) { flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags - eventData.lastFlags = blackboxLastFlightModeFlags; - memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags)); + eventData.lastFlags = blackboxLastRcModeFlags; + memcpy(&blackboxLastRcModeFlags, &rcModeActivationMask, sizeof(blackboxLastRcModeFlags)); memcpy(&eventData.flags, &rcModeActivationMask, sizeof(eventData.flags)); blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *)&eventData); } 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/build/debug.h b/src/main/build/debug.h index 3a09da50daf..fea424b9005 100644 --- a/src/main/build/debug.h +++ b/src/main/build/debug.h @@ -21,6 +21,8 @@ #include #include +#include "platform.h" + #define DEBUG32_VALUE_COUNT 8 extern int32_t debug[DEBUG32_VALUE_COUNT]; extern uint8_t debugMode; @@ -72,5 +74,13 @@ typedef enum { DEBUG_RATE_DYNAMICS, DEBUG_LANDING, DEBUG_POS_EST, + DEBUG_ADAPTIVE_FILTER, + DEBUG_HEADTRACKING, DEBUG_COUNT } debugType_e; + +#ifdef SITL_BUILD +#define SD(X) (X) +#else +#define SD(X) +#endif diff --git a/src/main/build/version.h b/src/main/build/version.h index 49ec81d1b11..583cdd82dd8 100644 --- a/src/main/build/version.h +++ b/src/main/build/version.h @@ -18,8 +18,12 @@ #define STR_HELPER(x) #x #define STR(x) STR_HELPER(x) #define FC_VERSION_STRING STR(FC_VERSION_MAJOR) "." STR(FC_VERSION_MINOR) "." STR(FC_VERSION_PATCH_LEVEL) +#ifndef FC_VERSION_TYPE +#define FC_VERSION_TYPE "" +#endif #define FC_FIRMWARE_NAME "INAV" + #define MW_VERSION 231 extern const char* const compilerVersion; diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c index f8c75ab4801..5fd9df7d973 100644 --- a/src/main/cms/cms_menu_imu.c +++ b/src/main/cms/cms_menu_imu.c @@ -222,6 +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), 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/log.c b/src/main/common/log.c index 20faa4a53db..49eb5a8b985 100644 --- a/src/main/common/log.c +++ b/src/main/common/log.c @@ -20,11 +20,12 @@ #include #include -#if defined(SEMIHOSTING) +#if defined(SEMIHOSTING) || defined(SITL_BUILD) #include #endif #include "build/version.h" +#include "build/debug.h" #include "drivers/serial.h" #include "drivers/time.h" @@ -125,6 +126,7 @@ static void logPrint(const char *buf, size_t size) fputc(buf[ii], stdout); } #endif + SD(printf("%s\n", buf)); if (logPort) { // Send data via UART (if configured & connected - a safeguard against zombie VCP) if (serialIsConnected(logPort)) { diff --git a/src/main/common/maths.c b/src/main/common/maths.c index 1bc61ae4c36..993634d902d 100644 --- a/src/main/common/maths.c +++ b/src/main/common/maths.c @@ -123,6 +123,15 @@ int32_t wrap_18000(int32_t angle) return angle; } +int16_t wrap_180(int16_t angle) +{ + if (angle > 180) + angle -= 360; + if (angle < -180) + angle += 360; + return angle; +} + int32_t wrap_36000(int32_t angle) { if (angle >= 36000) @@ -516,9 +525,25 @@ bool sensorCalibrationSolveForScale(sensorCalibrationState_t * state, float resu return sensorCalibrationValidateResult(result); } +float gaussian(const float x, const float mu, const float sigma) { + return exp(-pow((double)(x - mu), 2) / (2 * pow((double)sigma, 2))); +} + float bellCurve(const float x, const float curveWidth) { - return powf(M_Ef, -sq(x) / (2.0f * sq(curveWidth))); + return gaussian(x, 0.0f, curveWidth); +} + +/** + * @brief Calculate the attenuation of a value using a Gaussian function. + * Retuns 1 for input 0 and ~0 for input width. + * @param input The input value. + * @param width The width of the Gaussian function. + * @return The attenuation of the input value. +*/ +float attenuation(const float input, const float width) { + const float sigma = width / 2.35482f; // Approximately width / sqrt(2 * ln(2)) + return gaussian(input, 0.0f, sigma); } float fast_fsqrtf(const float value) { diff --git a/src/main/common/maths.h b/src/main/common/maths.h index f3f2fd62746..b8d3803613f 100644 --- a/src/main/common/maths.h +++ b/src/main/common/maths.h @@ -166,6 +166,7 @@ int scaleRange(int x, int srcMin, int srcMax, int destMin, int destMax); float scaleRangef(float x, float srcMin, float srcMax, float destMin, float destMax); int32_t wrap_18000(int32_t angle); +int16_t wrap_180(int16_t angle); int32_t wrap_36000(int32_t angle); int32_t quickMedianFilter3(int32_t * v); @@ -195,6 +196,8 @@ float acos_approx(float x); void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count); float bellCurve(const float x, const float curveWidth); +float attenuation(const float input, const float width); +float gaussian(const float x, const float mu, const float sigma); float fast_fsqrtf(const float value); float calc_length_pythagorean_2D(const float firstElement, const float secondElement); float calc_length_pythagorean_3D(const float firstElement, const float secondElement, const float thirdElement); 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/config/parameter_group_ids.h b/src/main/config/parameter_group_ids.h index 822e85f137a..b4062201c72 100644 --- a/src/main/config/parameter_group_ids.h +++ b/src/main/config/parameter_group_ids.h @@ -126,7 +126,10 @@ #define PG_FW_AUTOLAND_CONFIG 1036 #define PG_FW_AUTOLAND_APPROACH_CONFIG 1037 #define PG_OSD_CUSTOM_ELEMENTS_CONFIG 1038 -#define PG_INAV_END PG_OSD_CUSTOM_ELEMENTS_CONFIG +#define PG_GIMBAL_CONFIG 1039 +#define PG_GIMBAL_SERIAL_CONFIG 1040 +#define PG_HEADTRACKER_CONFIG 1041 +#define PG_INAV_END PG_HEADTRACKER_CONFIG // OSD configuration (subject to change) //#define PG_OSD_FONT_CONFIG 2047 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/gimbal_common.c b/src/main/drivers/gimbal_common.c new file mode 100644 index 00000000000..e03e7fd9ddd --- /dev/null +++ b/src/main/drivers/gimbal_common.c @@ -0,0 +1,139 @@ +/* + * This file is part of INAV. + * + * 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 INAV. If not, see . + */ + +#include "platform.h" + +#ifdef USE_SERIAL_GIMBAL + +#include +#include +#include + +#include +#include + +#include "common/time.h" + +#include "fc/cli.h" + +#include "drivers/gimbal_common.h" +#include "rx/rx.h" + +#include "settings_generated.h" + + +PG_REGISTER_WITH_RESET_TEMPLATE(gimbalConfig_t, gimbalConfig, PG_GIMBAL_CONFIG, 1); + +PG_RESET_TEMPLATE(gimbalConfig_t, gimbalConfig, + .panChannel = SETTING_GIMBAL_PAN_CHANNEL_DEFAULT, + .tiltChannel = SETTING_GIMBAL_TILT_CHANNEL_DEFAULT, + .rollChannel = SETTING_GIMBAL_ROLL_CHANNEL_DEFAULT, + .sensitivity = SETTING_GIMBAL_SENSITIVITY_DEFAULT, + .panTrim = SETTING_GIMBAL_PAN_TRIM_DEFAULT, + .tiltTrim = SETTING_GIMBAL_TILT_TRIM_DEFAULT, + .rollTrim = SETTING_GIMBAL_ROLL_TRIM_DEFAULT +); + +static gimbalDevice_t *commonGimbalDevice = NULL; + +void gimbalCommonInit(void) +{ +} + +void gimbalCommonSetDevice(gimbalDevice_t *gimbalDevice) +{ + SD(fprintf(stderr, "[GIMBAL]: device added %p\n", gimbalDevice)); + commonGimbalDevice = gimbalDevice; +} + +gimbalDevice_t *gimbalCommonDevice(void) +{ + return commonGimbalDevice; +} + +void gimbalCommonProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTimeUs) +{ + if (gimbalDevice && gimbalDevice->vTable->process && gimbalCommonIsReady(gimbalDevice)) { + gimbalDevice->vTable->process(gimbalDevice, currentTimeUs); + } +} + +gimbalDevType_e gimbalCommonGetDeviceType(gimbalDevice_t *gimbalDevice) +{ + if (!gimbalDevice || !gimbalDevice->vTable->getDeviceType) { + return GIMBAL_DEV_UNKNOWN; + } + + return gimbalDevice->vTable->getDeviceType(gimbalDevice); +} + +bool gimbalCommonIsReady(gimbalDevice_t *gimbalDevice) +{ + if (gimbalDevice && gimbalDevice->vTable->isReady) { + return gimbalDevice->vTable->isReady(gimbalDevice); + } + return false; +} + +#ifdef GIMBAL_UNIT_TEST +void taskUpdateGimbal(timeUs_t currentTimeUs) +{ +} +#else +void taskUpdateGimbal(timeUs_t currentTimeUs) +{ + if (cliMode) { + return; + } + + gimbalDevice_t *gimbalDevice = gimbalCommonDevice(); + + if(gimbalDevice) { + gimbalCommonProcess(gimbalDevice, currentTimeUs); + } +} +#endif + +// TODO: check if any gimbal types are enabled +bool gimbalCommonIsEnabled(void) +{ + return true; +} + + +bool gimbalCommonHtrkIsEnabled(void) +{ + const gimbalDevice_t *dev = gimbalCommonDevice(); + if(dev && dev->vTable->hasHeadTracker) { + bool ret = dev->vTable->hasHeadTracker(dev); + return ret; + } + + return false; +} + + +int16_t gimbalCommonGetPanPwm(const gimbalDevice_t *gimbalDevice) +{ + if (gimbalDevice && gimbalDevice->vTable->getGimbalPanPWM) { + return gimbalDevice->vTable->getGimbalPanPWM(gimbalDevice); + } + + return gimbalDevice ? gimbalDevice->currentPanPWM : PWM_RANGE_MIDDLE + gimbalConfig()->panTrim; +} + +#endif \ No newline at end of file diff --git a/src/main/drivers/gimbal_common.h b/src/main/drivers/gimbal_common.h new file mode 100644 index 00000000000..879e81116a0 --- /dev/null +++ b/src/main/drivers/gimbal_common.h @@ -0,0 +1,104 @@ +/* + * This file is part of INAV. + * + * 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 INAV. If not, see . + */ + +#pragma once + +#include "platform.h" + +#ifdef USE_SERIAL_GIMBAL + +#include + +#include "config/feature.h" +#include "common/time.h" + +#ifdef __cplusplus +extern "C" { +#endif + +typedef enum { + GIMBAL_DEV_UNSUPPORTED = 0, + GIMBAL_DEV_SERIAL, + GIMBAL_DEV_UNKNOWN=0xFF +} gimbalDevType_e; + + +struct gimbalVTable_s; + +typedef struct gimbalDevice_s { + const struct gimbalVTable_s *vTable; + int16_t currentPanPWM; +} gimbalDevice_t; + +// {set,get}BandAndChannel: band and channel are 1 origin +// {set,get}PowerByIndex: 0 = Power OFF, 1 = device dependent +// {set,get}PitMode: 0 = OFF, 1 = ON + +typedef struct gimbalVTable_s { + void (*process)(gimbalDevice_t *gimbalDevice, timeUs_t currentTimeUs); + gimbalDevType_e (*getDeviceType)(const gimbalDevice_t *gimbalDevice); + bool (*isReady)(const gimbalDevice_t *gimbalDevice); + bool (*hasHeadTracker)(const gimbalDevice_t *gimbalDevice); + int16_t (*getGimbalPanPWM)(const gimbalDevice_t *gimbalDevice); +} gimbalVTable_t; + + +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; +} gimbalConfig_t; + +PG_DECLARE(gimbalConfig_t, gimbalConfig); + +typedef enum { + GIMBAL_MODE_FOLLOW = 0, + GIMBAL_MODE_TILT_LOCK = (1<<0), + GIMBAL_MODE_ROLL_LOCK = (1<<1), + GIMBAL_MODE_PAN_LOCK = (1<<2), +} gimbal_htk_mode_e; + +#define GIMBAL_MODE_DEFAULT GIMBAL_MODE_FOLLOW +#define GIMBAL_MODE_TILT_ROLL_LOCK (GIMBAL_MODE_TILT_LOCK | GIMBAL_MODE_ROLL_LOCK) +#define GIMBAL_MODE_PAN_TILT_ROLL_LOCK (GIMBAL_MODE_TILT_LOCK | GIMBAL_MODE_ROLL_LOCK | GIMBAL_MODE_PAN_LOCK) + +void gimbalCommonInit(void); +void gimbalCommonSetDevice(gimbalDevice_t *gimbalDevice); +gimbalDevice_t *gimbalCommonDevice(void); + +// VTable functions +void gimbalCommonProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTimeUs); +gimbalDevType_e gimbalCommonGetDeviceType(gimbalDevice_t *gimbalDevice); +bool gimbalCommonIsReady(gimbalDevice_t *gimbalDevice); + + +void taskUpdateGimbal(timeUs_t currentTimeUs); + +bool gimbalCommonIsEnabled(void); +bool gimbalCommonHtrkIsEnabled(void); + +int16_t gimbalCommonGetPanPwm(const gimbalDevice_t *gimbalDevice); + +#ifdef __cplusplus +} +#endif + +#endif \ No newline at end of file diff --git a/src/main/drivers/headtracker_common.c b/src/main/drivers/headtracker_common.c new file mode 100644 index 00000000000..feec581da8a --- /dev/null +++ b/src/main/drivers/headtracker_common.c @@ -0,0 +1,193 @@ +/* + * This file is part of INAV. + * + * 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 INAV. If not, see . + */ + +#include "platform.h" + +#ifdef USE_HEADTRACKER + +#include +#include +#include +#include + +#include +#include + +#include "settings_generated.h" + +#include "common/time.h" +#include "common/maths.h" + +#include "drivers/time.h" + +#include "fc/cli.h" + +#include "rx/rx.h" + +#include "drivers/headtracker_common.h" + +PG_REGISTER_WITH_RESET_TEMPLATE(headTrackerConfig_t, headTrackerConfig, PG_HEADTRACKER_CONFIG, 1); + +PG_RESET_TEMPLATE(headTrackerConfig_t, headTrackerConfig, + .devType = SETTING_HEADTRACKER_TYPE_DEFAULT, + .pan_ratio = SETTING_HEADTRACKER_PAN_RATIO_DEFAULT, + .tilt_ratio = SETTING_HEADTRACKER_TILT_RATIO_DEFAULT, + .roll_ratio = SETTING_HEADTRACKER_ROLL_RATIO_DEFAULT, +); + +static headTrackerDevice_t *commonHeadTrackerDevice = NULL; + +void headTrackerCommonInit(void) +{ +} + +void headTrackerCommonSetDevice(headTrackerDevice_t *headTrackerDevice) +{ + SD(fprintf(stderr, "[headTracker]: device added %p\n", headTrackerDevice)); + commonHeadTrackerDevice = headTrackerDevice; +} + +headTrackerDevice_t *headTrackerCommonDevice(void) +{ + return commonHeadTrackerDevice; +} + +void headTrackerCommonProcess(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs) +{ + if (headTrackerDevice && headTrackerDevice->vTable->process && headTrackerCommonIsReady(headTrackerDevice)) { + headTrackerDevice->vTable->process(headTrackerDevice, currentTimeUs); + } +} + +headTrackerDevType_e headTrackerCommonGetDeviceType(const headTrackerDevice_t *headTrackerDevice) +{ + if (!headTrackerDevice || !headTrackerDevice->vTable->getDeviceType) { + return HEADTRACKER_UNKNOWN; + } + + return headTrackerDevice->vTable->getDeviceType(headTrackerDevice); +} + +bool headTrackerCommonIsReady(const headTrackerDevice_t *headTrackerDevice) +{ + if (headTrackerDevice && headTrackerDevice->vTable->isReady) { + return headTrackerDevice->vTable->isReady(headTrackerDevice); + } + return false; +} + +int headTrackerCommonGetPan(const headTrackerDevice_t *headTrackerDevice) +{ + if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getPan) { + return headTrackerDevice->vTable->getPan(headTrackerDevice); + } + + return constrain((headTrackerDevice->pan * headTrackerConfig()->pan_ratio) + 0.5f, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX); +} + +int headTrackerCommonGetTilt(const headTrackerDevice_t *headTrackerDevice) +{ + if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getTilt) { + return headTrackerDevice->vTable->getTilt(headTrackerDevice); + } + + return constrain((headTrackerDevice->tilt * headTrackerConfig()->tilt_ratio) + 0.5f, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX); +} + +int headTrackerCommonGetRoll(const headTrackerDevice_t *headTrackerDevice) +{ + if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getRoll) { + return headTrackerDevice->vTable->getRollPWM(headTrackerDevice); + } + + return constrain((headTrackerDevice->roll * headTrackerConfig()->roll_ratio) + 0.5f, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX); +} + +int headTracker2PWM(int value) +{ + return constrain(scaleRange(value, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX, PWM_RANGE_MIN, PWM_RANGE_MAX), PWM_RANGE_MIN, PWM_RANGE_MAX); +} + +int headTrackerCommonGetPanPWM(const headTrackerDevice_t *headTrackerDevice) +{ + if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getPanPWM) { + return headTrackerDevice->vTable->getPanPWM(headTrackerDevice); + } + + return headTracker2PWM(headTrackerCommonGetPan(headTrackerDevice)); +} + +int headTrackerCommonGetTiltPWM(const headTrackerDevice_t *headTrackerDevice) +{ + if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getTiltPWM) { + return headTrackerDevice->vTable->getTiltPWM(headTrackerDevice); + } + + return headTracker2PWM(headTrackerCommonGetTilt(headTrackerDevice)); +} + +int headTrackerCommonGetRollPWM(const headTrackerDevice_t *headTrackerDevice) +{ + if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getRollPWM) { + return headTrackerDevice->vTable->getRollPWM(headTrackerDevice); + } + + return headTracker2PWM(headTrackerCommonGetRoll(headTrackerDevice)); +} + + +#ifdef headTracker_UNIT_TEST +void taskUpdateHeadTracker(timeUs_t currentTimeUs) +{ +} +#else +void taskUpdateHeadTracker(timeUs_t currentTimeUs) +{ + if (cliMode) { + return; + } + + headTrackerDevice_t *headTrackerDevice = headTrackerCommonDevice(); + + if(headTrackerDevice) { + headTrackerCommonProcess(headTrackerDevice, currentTimeUs); + } +} + +// TODO: check if any headTracker types are enabled +bool headTrackerCommonIsEnabled(void) +{ + if (commonHeadTrackerDevice && headTrackerCommonIsReady(commonHeadTrackerDevice)) { + return true; + } + + return false; +} + +bool headTrackerCommonIsValid(const headTrackerDevice_t *dev) { + if(dev && dev->vTable && dev->vTable->isValid) { + return dev->vTable->isValid(dev); + } + + return micros() < dev->expires; +} + + +#endif + + +#endif \ No newline at end of file diff --git a/src/main/drivers/headtracker_common.h b/src/main/drivers/headtracker_common.h new file mode 100644 index 00000000000..8c177e3e0f0 --- /dev/null +++ b/src/main/drivers/headtracker_common.h @@ -0,0 +1,115 @@ +/* + * This file is part of INAV. + * + * 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 INAV. If not, see . + */ + +#pragma once + +#include "platform.h" + +#define MAX_HEADTRACKER_DATA_AGE_US HZ2US(25) +#define HEADTRACKER_RANGE_MIN -2048 +#define HEADTRACKER_RANGE_MAX 2047 + +#ifdef USE_HEADTRACKER + +#include + +#include "common/time.h" + +#include "drivers/time.h" + +#include "config/feature.h" + + +#ifdef __cplusplus +extern "C" { +#endif + +typedef enum { + HEADTRACKER_NONE = 0, + HEADTRACKER_SERIAL = 1, + HEADTRACKER_MSP = 2, + HEADTRACKER_UNKNOWN = 0xFF +} headTrackerDevType_e; + + +struct headTrackerVTable_s; + +typedef struct headTrackerDevice_s { + const struct headTrackerVTable_s *vTable; + int pan; + int tilt; + int roll; + timeUs_t expires; +} headTrackerDevice_t; + +// {set,get}BandAndChannel: band and channel are 1 origin +// {set,get}PowerByIndex: 0 = Power OFF, 1 = device dependent +// {set,get}PitMode: 0 = OFF, 1 = ON + +typedef struct headTrackerVTable_s { + void (*process)(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs); + headTrackerDevType_e (*getDeviceType)(const headTrackerDevice_t *headTrackerDevice); + bool (*isReady)(const headTrackerDevice_t *headTrackerDevice); + bool (*isValid)(const headTrackerDevice_t *headTrackerDevice); + int (*getPanPWM)(const headTrackerDevice_t *headTrackerDevice); + int (*getTiltPWM)(const headTrackerDevice_t *headTrackerDevice); + int (*getRollPWM)(const headTrackerDevice_t *headTrackerDevice); + int (*getPan)(const headTrackerDevice_t *headTrackerDevice); + int (*getTilt)(const headTrackerDevice_t *headTrackerDevice); + int (*getRoll)(const headTrackerDevice_t *headTrackerDevice); +} headTrackerVTable_t; + + +typedef struct headTrackerConfig_s { + headTrackerDevType_e devType; + float pan_ratio; + float tilt_ratio; + float roll_ratio; +} headTrackerConfig_t; + +PG_DECLARE(headTrackerConfig_t, headTrackerConfig); + +void headTrackerCommonInit(void); +void headTrackerCommonSetDevice(headTrackerDevice_t *headTrackerDevice); +headTrackerDevice_t *headTrackerCommonDevice(void); + +// VTable functions +void headTrackerCommonProcess(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs); +headTrackerDevType_e headTrackerCommonGetDeviceType(const headTrackerDevice_t *headTrackerDevice); +bool headTrackerCommonIsReady(const headTrackerDevice_t *headtrackerDevice); +bool headTrackerCommonIsValid(const headTrackerDevice_t *headtrackerDevice); + +// Scaled value, constrained to PWM_RANGE_MIN~PWM_RANGE_MAX +int headTrackerCommonGetPanPWM(const headTrackerDevice_t *headTrackerDevice); +int headTrackerCommonGetTiltPWM(const headTrackerDevice_t *headTrackerDevice); +int headTrackerCommonGetRollPWM(const headTrackerDevice_t *headTrackerDevice); + +// Scaled value, constrained to -2048~2047 +int headTrackerCommonGetPan(const headTrackerDevice_t *headTrackerDevice); +int headTrackerCommonGetTilt(const headTrackerDevice_t *headTrackerDevice); +int headTrackerCommonGetRoll(const headTrackerDevice_t *headTrackerDevice); + +void taskUpdateHeadTracker(timeUs_t currentTimeUs); + +bool headtrackerCommonIsEnabled(void); + + +#ifdef __cplusplus +} +#endif + +#endif \ No newline at end of file diff --git a/src/main/drivers/light_ws2811strip.c b/src/main/drivers/light_ws2811strip.c index cb56a7fe79a..fe5f405d032 100644 --- a/src/main/drivers/light_ws2811strip.c +++ b/src/main/drivers/light_ws2811strip.c @@ -124,6 +124,10 @@ void ws2811LedStripInit(void) { const timerHardware_t * timHw = timerGetByTag(IO_TAG(WS2811_PIN), TIM_USE_ANY); + if (!(timHw->usageFlags & TIM_USE_LED)) { // Check if it has not been reassigned + timHw = timerGetByUsageFlag(TIM_USE_LED); // Get first pin marked as LED + } + if (timHw == NULL) { return; } @@ -133,14 +137,14 @@ void ws2811LedStripInit(void) return; } - ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN)); + ws2811IO = IOGetByTag(timHw->tag); //IOGetByTag(IO_TAG(WS2811_PIN)); IOInit(ws2811IO, OWNER_LED_STRIP, RESOURCE_OUTPUT, 0); IOConfigGPIOAF(ws2811IO, IOCFG_AF_PP_FAST, timHw->alternateFunction); - if ( ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_LOW ) { + if (ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_LOW) { ledConfigurePWM(); *timerCCR(ws2811TCH) = 0; - } else if ( ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_HIGH ) { + } else if (ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_HIGH) { ledConfigurePWM(); *timerCCR(ws2811TCH) = 100; } else { diff --git a/src/main/drivers/osd.h b/src/main/drivers/osd.h index e9ae4d5ef3f..a8b0bbc8e42 100644 --- a/src/main/drivers/osd.h +++ b/src/main/drivers/osd.h @@ -49,8 +49,8 @@ typedef enum { VIDEO_SYSTEM_HDZERO, VIDEO_SYSTEM_DJIWTF, VIDEO_SYSTEM_AVATAR, - VIDEO_SYSTEM_BFCOMPAT, - VIDEO_SYSTEM_BFCOMPAT_HD + VIDEO_SYSTEM_DJICOMPAT, + VIDEO_SYSTEM_DJICOMPAT_HD } videoSystem_e; typedef enum { diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h index 91cdcbb5f6b..90c0bc97131 100644 --- a/src/main/drivers/osd_symbols.h +++ b/src/main/drivers/osd_symbols.h @@ -44,9 +44,9 @@ #define SYM_DBM 0x13 // 019 dBm #define SYM_SNR 0x14 // 020 SNR -#define SYM_AH_DIRECTION_UP 0x15 // 021 Arrow up AHI -#define SYM_AH_DIRECTION_DOWN 0x16 // 022 Arrow down AHI -#define SYM_DIRECTION 0x17 // 023 to 030, directional little arrows +#define SYM_AH_DECORATION_UP 0x15 // 021 Arrow up AHI +#define SYM_AH_DECORATION_DOWN 0x16 // 022 Arrow down AHI +#define SYM_DECORATION 0x17 // 023 to 030, directional little arrows #define SYM_VOLT 0x1F // 031 VOLTS #define SYM_MAH 0x99 // 153 mAh diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c index 0486eb5ac19..5ed17d7bb9a 100644 --- a/src/main/drivers/pwm_mapping.c +++ b/src/main/drivers/pwm_mapping.c @@ -47,13 +47,14 @@ enum { MAP_TO_NONE, MAP_TO_MOTOR_OUTPUT, MAP_TO_SERVO_OUTPUT, + MAP_TO_LED_OUTPUT }; typedef struct { int maxTimMotorCount; int maxTimServoCount; - const timerHardware_t * timMotors[MAX_PWM_OUTPUT_PORTS]; - const timerHardware_t * timServos[MAX_PWM_OUTPUT_PORTS]; + const timerHardware_t * timMotors[MAX_PWM_OUTPUTS]; + const timerHardware_t * timServos[MAX_PWM_OUTPUTS]; } timMotorServoHardware_t; static pwmInitError_e pwmInitError = PWM_INIT_ERROR_NONE; @@ -167,10 +168,16 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw) #if defined(USE_LED_STRIP) if (feature(FEATURE_LED_STRIP)) { - const timerHardware_t * ledTimHw = timerGetByTag(IO_TAG(WS2811_PIN), TIM_USE_ANY); - if (ledTimHw != NULL && timHw->tim == ledTimHw->tim) { - return true; + for (int i = 0; i < timerHardwareCount; i++) { + if (timHw->tim == timerHardware[i].tim && timerHardware[i].usageFlags & TIM_USE_LED) { + return true; + } } + + //const timerHardware_t * ledTimHw = timerGetByTag(IO_TAG(WS2811_PIN), TIM_USE_ANY); + //if (ledTimHw != NULL && timHw->tim == ledTimHw->tim) { + // return true; + //} } #endif @@ -213,16 +220,16 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw) static void timerHardwareOverride(timerHardware_t * timer) { switch (timerOverrides(timer2id(timer->tim))->outputMode) { case OUTPUT_MODE_MOTORS: - if (TIM_IS_SERVO(timer->usageFlags)) { - timer->usageFlags &= ~TIM_USE_SERVO; - timer->usageFlags |= TIM_USE_MOTOR; - } + timer->usageFlags &= ~(TIM_USE_SERVO|TIM_USE_LED); + timer->usageFlags |= TIM_USE_MOTOR; break; case OUTPUT_MODE_SERVOS: - if (TIM_IS_MOTOR(timer->usageFlags)) { - timer->usageFlags &= ~TIM_USE_MOTOR; - timer->usageFlags |= TIM_USE_SERVO; - } + timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_LED); + timer->usageFlags |= TIM_USE_SERVO; + break; + case OUTPUT_MODE_LED: + timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_SERVO); + timer->usageFlags |= TIM_USE_LED; break; } } @@ -335,6 +342,8 @@ void pwmBuildTimerOutputList(timMotorServoHardware_t * timOutputs, bool isMixerU type = MAP_TO_SERVO_OUTPUT; } else if (TIM_IS_MOTOR(timHw->usageFlags) && !pwmHasServoOnTimer(timOutputs, timHw->tim)) { type = MAP_TO_MOTOR_OUTPUT; + } else if (TIM_IS_LED(timHw->usageFlags) && !pwmHasMotorOnTimer(timOutputs, timHw->tim) && !pwmHasServoOnTimer(timOutputs, timHw->tim)) { + type = MAP_TO_LED_OUTPUT; } switch(type) { @@ -348,6 +357,10 @@ void pwmBuildTimerOutputList(timMotorServoHardware_t * timOutputs, bool isMixerU timOutputs->timServos[timOutputs->maxTimServoCount++] = timHw; pwmClaimTimer(timHw->tim, timHw->usageFlags); break; + case MAP_TO_LED_OUTPUT: + timHw->usageFlags &= TIM_USE_LED; + pwmClaimTimer(timHw->tim, timHw->usageFlags); + break; default: break; } diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h index e9b3a0f9573..cfb96afadbf 100644 --- a/src/main/drivers/pwm_mapping.h +++ b/src/main/drivers/pwm_mapping.h @@ -53,6 +53,11 @@ typedef enum { SERVO_TYPE_SBUS_PWM } servoProtocolType_e; +typedef enum { + PIN_LABEL_NONE = 0, + PIN_LABEL_LED +} pinLabel_e; + typedef enum { PWM_INIT_ERROR_NONE = 0, PWM_INIT_ERROR_TOO_MANY_MOTORS, diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c index d48f38679e9..faa9cd373d9 100644 --- a/src/main/drivers/pwm_output.c +++ b/src/main/drivers/pwm_output.c @@ -98,7 +98,7 @@ typedef struct { bool requestTelemetry; } pwmOutputMotor_t; -static DMA_RAM pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUT_PORTS]; +static DMA_RAM pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUTS]; static pwmOutputMotor_t motors[MAX_MOTORS]; static motorPwmProtocolTypes_e initMotorProtocol; @@ -142,7 +142,7 @@ static void pwmOutConfigTimer(pwmOutputPort_t * p, TCH_t * tch, uint32_t hz, uin static pwmOutputPort_t *pwmOutAllocatePort(void) { - if (allocatedOutputPortCount >= MAX_PWM_OUTPUT_PORTS) { + if (allocatedOutputPortCount >= MAX_PWM_OUTPUTS) { LOG_ERROR(PWM, "Attempt to allocate PWM output beyond MAX_PWM_OUTPUT_PORTS"); return NULL; } diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h index b3c0fa6be0e..1041ace04fa 100644 --- a/src/main/drivers/pwm_output.h +++ b/src/main/drivers/pwm_output.h @@ -20,6 +20,12 @@ #include "drivers/io_types.h" #include "drivers/time.h" + +#if defined(WS2811_PIN) +#define MAX_PWM_OUTPUTS (MAX_PWM_OUTPUT_PORTS + 1) +#else +#define MAX_PWM_OUTPUTS (MAX_PWM_OUTPUT_PORTS) +#endif typedef enum { DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20, DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21, 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/timer.h b/src/main/drivers/timer.h index a207aff0c56..d87e0400d52 100644 --- a/src/main/drivers/timer.h +++ b/src/main/drivers/timer.h @@ -113,9 +113,9 @@ typedef enum { TIM_USE_MOTOR = (1 << 2), // Motor output TIM_USE_SERVO = (1 << 3), // Servo output TIM_USE_MC_CHNFW = (1 << 4), // Deprecated and not used after removal of CHANNEL_FORWARDING feature - //TIM_USE_FW_MOTOR = (1 << 5), // We no longer differentiate mc from fw on pwm allocation - //TIM_USE_FW_SERVO = (1 << 6), - TIM_USE_LED = (1 << 24), + //TIM_USE_FW_MOTOR = (1 << 5), // We no longer differentiate mc from fw on pwm allocation + //TIM_USE_FW_SERVO = (1 << 6), + TIM_USE_LED = (1 << 24), // Remapping needs to be in the lower 8 bits. TIM_USE_BEEPER = (1 << 25), } timerUsageFlag_e; @@ -123,6 +123,7 @@ typedef enum { #define TIM_IS_MOTOR(flags) ((flags) & TIM_USE_MOTOR) #define TIM_IS_SERVO(flags) ((flags) & TIM_USE_SERVO) +#define TIM_IS_LED(flags) ((flags) & TIM_USE_LED) #define TIM_IS_MOTOR_ONLY(flags) (TIM_IS_MOTOR(flags) && !TIM_IS_SERVO(flags)) #define TIM_IS_SERVO_ONLY(flags) (!TIM_IS_MOTOR(flags) && TIM_IS_SERVO(flags)) diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c index 48345583412..0d54cab4398 100644 --- a/src/main/fc/cli.c +++ b/src/main/fc/cli.c @@ -104,6 +104,7 @@ bool cliMode = false; #include "rx/rx.h" #include "rx/spektrum.h" #include "rx/srxl2.h" +#include "rx/crsf.h" #include "scheduler/scheduler.h" @@ -163,6 +164,7 @@ static const char * outputModeNames[] = { "AUTO", "MOTORS", "SERVOS", + "LED", NULL }; @@ -292,7 +294,7 @@ static void cliPutp(void *p, char ch) typedef enum { DUMP_MASTER = (1 << 0), - DUMP_PROFILE = (1 << 1), + DUMP_CONTROL_PROFILE = (1 << 1), DUMP_BATTERY_PROFILE = (1 << 2), DUMP_MIXER_PROFILE = (1 << 3), DUMP_ALL = (1 << 4), @@ -1171,7 +1173,7 @@ 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) { @@ -2821,6 +2823,8 @@ static void cliTimerOutputMode(char *cmdline) mode = OUTPUT_MODE_MOTORS; } else if(!sl_strcasecmp("SERVOS", tok)) { mode = OUTPUT_MODE_SERVOS; + } else if(!sl_strcasecmp("LED", tok)) { + mode = OUTPUT_MODE_LED; } else { cliShowParseError(); return; @@ -3221,6 +3225,12 @@ void cliRxBind(char *cmdline){ srxl2Bind(); cliPrint("Binding SRXL2 receiver..."); break; +#endif +#if defined(USE_SERIALRX_CRSF) + case SERIALRX_CRSF: + crsfBind(); + cliPrint("Binding CRSF receiver..."); + break; #endif } } @@ -3333,30 +3343,30 @@ static void cliPlaySound(char *cmdline) beeper(beeperModeForTableIndex(i)); } -static void cliProfile(char *cmdline) +static void cliControlProfile(char *cmdline) { // CLI profile index is 1-based if (isEmpty(cmdline)) { - cliPrintLinef("profile %d", getConfigProfile() + 1); + cliPrintLinef("control_profile %d", getConfigProfile() + 1); return; } else { const int i = fastA2I(cmdline) - 1; if (i >= 0 && i < MAX_PROFILE_COUNT) { setConfigProfileAndWriteEEPROM(i); - cliProfile(""); + cliControlProfile(""); } } } -static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask) +static void cliDumpControlProfile(uint8_t profileIndex, uint8_t dumpMask) { if (profileIndex >= MAX_PROFILE_COUNT) { // Faulty values return; } setConfigProfile(profileIndex); - cliPrintHashLine("profile"); - cliPrintLinef("profile %d\r\n", getConfigProfile() + 1); + cliPrintHashLine("control_profile"); + cliPrintLinef("control_profile %d\r\n", getConfigProfile() + 1); dumpAllValues(PROFILE_VALUE, dumpMask); dumpAllValues(CONTROL_RATE_VALUE, dumpMask); dumpAllValues(EZ_TUNE_VALUE, dumpMask); @@ -3659,13 +3669,14 @@ static void cliStatus(char *cmdline) char buf[MAX(FORMATTED_DATE_TIME_BUFSIZE, SETTING_MAX_NAME_LENGTH)]; dateTime_t dt; - cliPrintLinef("%s/%s %s %s / %s (%s)", + cliPrintLinef("%s/%s %s %s / %s (%s) %s", FC_FIRMWARE_NAME, targetName, FC_VERSION_STRING, buildDate, buildTime, - shortGitRevision + shortGitRevision, + FC_VERSION_TYPE ); cliPrintLinef("GCC-%s", compilerVersion @@ -3903,13 +3914,14 @@ static void cliVersion(char *cmdline) { UNUSED(cmdline); - cliPrintLinef("# %s/%s %s %s / %s (%s)", + cliPrintLinef("# %s/%s %s %s / %s (%s) %s", FC_FIRMWARE_NAME, targetName, FC_VERSION_STRING, buildDate, buildTime, - shortGitRevision + shortGitRevision, + FC_VERSION_TYPE ); cliPrintLinef("# GCC-%s", compilerVersion @@ -3978,12 +3990,12 @@ static void printConfig(const char *cmdline, bool doDiff) const char *options; if ((options = checkCommand(cmdline, "master"))) { dumpMask = DUMP_MASTER; // only - } else if ((options = checkCommand(cmdline, "profile"))) { - dumpMask = DUMP_PROFILE; // only - } else if ((options = checkCommand(cmdline, "battery_profile"))) { - dumpMask = DUMP_BATTERY_PROFILE; // only + } else if ((options = checkCommand(cmdline, "control_profile"))) { + dumpMask = DUMP_CONTROL_PROFILE; // only } else if ((options = checkCommand(cmdline, "mixer_profile"))) { dumpMask = DUMP_MIXER_PROFILE; // only + } else if ((options = checkCommand(cmdline, "battery_profile"))) { + dumpMask = DUMP_BATTERY_PROFILE; // only } else if ((options = checkCommand(cmdline, "all"))) { dumpMask = DUMP_ALL; // all profiles and rates } else { @@ -3994,16 +4006,16 @@ static void printConfig(const char *cmdline, bool doDiff) dumpMask = dumpMask | DO_DIFF; } - const int currentProfileIndexSave = getConfigProfile(); - const int currentBatteryProfileIndexSave = getConfigBatteryProfile(); + const int currentControlProfileIndexSave = getConfigProfile(); const int currentMixerProfileIndexSave = getConfigMixerProfile(); + const int currentBatteryProfileIndexSave = getConfigBatteryProfile(); backupConfigs(); // reset all configs to defaults to do differencing resetConfigs(); // restore the profile indices, since they should not be reset for proper comparison - setConfigProfile(currentProfileIndexSave); - setConfigBatteryProfile(currentBatteryProfileIndexSave); + setConfigProfile(currentControlProfileIndexSave); setConfigMixerProfile(currentMixerProfileIndexSave); + setConfigBatteryProfile(currentBatteryProfileIndexSave); if (checkCommand(options, "showdefaults")) { dumpMask = dumpMask | SHOW_DEFAULTS; // add default values as comments for changed values @@ -4125,25 +4137,25 @@ static void printConfig(const char *cmdline, bool doDiff) if (dumpMask & DUMP_ALL) { // dump all profiles - const int currentProfileIndexSave = getConfigProfile(); - const int currentBatteryProfileIndexSave = getConfigBatteryProfile(); + const int currentControlProfileIndexSave = getConfigProfile(); const int currentMixerProfileIndexSave = getConfigMixerProfile(); + const int currentBatteryProfileIndexSave = getConfigBatteryProfile(); + for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) { + cliDumpControlProfile(ii, dumpMask); + } for (int ii = 0; ii < MAX_MIXER_PROFILE_COUNT; ++ii) { cliDumpMixerProfile(ii, dumpMask); } - for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) { - cliDumpProfile(ii, dumpMask); - } for (int ii = 0; ii < MAX_BATTERY_PROFILE_COUNT; ++ii) { cliDumpBatteryProfile(ii, dumpMask); } - setConfigProfile(currentProfileIndexSave); - setConfigBatteryProfile(currentBatteryProfileIndexSave); + setConfigProfile(currentControlProfileIndexSave); setConfigMixerProfile(currentMixerProfileIndexSave); + setConfigBatteryProfile(currentBatteryProfileIndexSave); cliPrintHashLine("restore original profile selection"); + cliPrintLinef("control_profile %d", currentControlProfileIndexSave + 1); cliPrintLinef("mixer_profile %d", currentMixerProfileIndexSave + 1); - cliPrintLinef("profile %d", currentProfileIndexSave + 1); cliPrintLinef("battery_profile %d", currentBatteryProfileIndexSave + 1); #ifdef USE_CLI_BATCH @@ -4151,18 +4163,19 @@ static void printConfig(const char *cmdline, bool doDiff) #endif } else { // dump just the current profiles + cliDumpControlProfile(getConfigProfile(), dumpMask); cliDumpMixerProfile(getConfigMixerProfile(), dumpMask); - cliDumpProfile(getConfigProfile(), dumpMask); cliDumpBatteryProfile(getConfigBatteryProfile(), dumpMask); } } + + if (dumpMask & DUMP_CONTROL_PROFILE) { + cliDumpControlProfile(getConfigProfile(), dumpMask); + } + if (dumpMask & DUMP_MIXER_PROFILE) { cliDumpMixerProfile(getConfigMixerProfile(), dumpMask); } - - if (dumpMask & DUMP_PROFILE) { - cliDumpProfile(getConfigProfile(), dumpMask); - } if (dumpMask & DUMP_BATTERY_PROFILE) { cliDumpBatteryProfile(getConfigBatteryProfile(), dumpMask); @@ -4276,9 +4289,9 @@ const clicmd_t cmdTable[] = { CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults), CLI_COMMAND_DEF("dfu", "DFU mode on reboot", NULL, cliDfu), CLI_COMMAND_DEF("diff", "list configuration changes from default", - "[master|battery_profile|profile|rates|all] {showdefaults}", cliDiff), + "[master|battery_profile|control_profile|mixer_profile|rates|all] {showdefaults}", cliDiff), CLI_COMMAND_DEF("dump", "dump configuration", - "[master|battery_profile|profile|rates|all] {showdefaults}", cliDump), + "[master|battery_profile|control_profile|mixer_profile|rates|all] {showdefaults}", cliDump), #ifdef USE_RX_ELERES CLI_COMMAND_DEF("eleres_bind", NULL, NULL, cliEleresBind), #endif // USE_RX_ELERES @@ -4319,12 +4332,9 @@ const clicmd_t cmdTable[] = { CLI_COMMAND_DEF("msc", "switch into msc mode", NULL, cliMsc), #endif CLI_COMMAND_DEF("play_sound", NULL, "[]\r\n", cliPlaySound), - CLI_COMMAND_DEF("profile", "change profile", - "[]", cliProfile), - CLI_COMMAND_DEF("battery_profile", "change battery profile", - "[]", cliBatteryProfile), - CLI_COMMAND_DEF("mixer_profile", "change mixer profile", - "[]", cliMixerProfile), + CLI_COMMAND_DEF("control_profile", "change control profile", "[]", cliControlProfile), + CLI_COMMAND_DEF("mixer_profile", "change mixer profile", "[]", cliMixerProfile), + CLI_COMMAND_DEF("battery_profile", "change battery profile", "[]", cliBatteryProfile), CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource), CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange), #if defined(USE_SAFE_HOME) diff --git a/src/main/fc/config.c b/src/main/fc/config.c index c9a50c60a25..dc249df059b 100755 --- a/src/main/fc/config.c +++ b/src/main/fc/config.c @@ -190,6 +190,18 @@ uint32_t getGyroLooptime(void) void validateAndFixConfig(void) { + +#ifdef USE_ADAPTIVE_FILTER + // gyroConfig()->adaptiveFilterMinHz has to be at least 5 units lower than gyroConfig()->gyro_main_lpf_hz + if (gyroConfig()->adaptiveFilterMinHz + 5 > gyroConfig()->gyro_main_lpf_hz) { + gyroConfigMutable()->adaptiveFilterMinHz = gyroConfig()->gyro_main_lpf_hz - 5; + } + //gyroConfig()->adaptiveFilterMaxHz has to be at least 5 units higher than gyroConfig()->gyro_main_lpf_hz + if (gyroConfig()->adaptiveFilterMaxHz - 5 < gyroConfig()->gyro_main_lpf_hz) { + gyroConfigMutable()->adaptiveFilterMaxHz = gyroConfig()->gyro_main_lpf_hz + 5; + } +#endif + if (accelerometerConfig()->acc_notch_cutoff >= accelerometerConfig()->acc_notch_hz) { accelerometerConfigMutable()->acc_notch_hz = 0; } @@ -284,6 +296,14 @@ void createDefaultConfig(void) featureSet(FEATURE_AIRMODE); targetConfiguration(); + +#ifdef MSP_UART + int port = findSerialPortIndexByIdentifier(MSP_UART); + if (port) { + serialConfigMutable()->portConfigs[port].functionMask = FUNCTION_MSP; + serialConfigMutable()->portConfigs[port].msp_baudrateIndex = BAUD_115200; + } +#endif } void resetConfigs(void) diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c index bede8929fea..da40f9149f5 100644 --- a/src/main/fc/fc_core.c +++ b/src/main/fc/fc_core.c @@ -342,6 +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 @@ -700,7 +704,7 @@ void processRx(timeUs_t currentTimeUs) } /* Turn assistant mode */ - if (IS_RC_MODE_ACTIVE(BOXTURNASSIST)) { + if (IS_RC_MODE_ACTIVE(BOXTURNASSIST) || navigationRequiresTurnAssistance()) { ENABLE_FLIGHT_MODE(TURN_ASSISTANT); } else { DISABLE_FLIGHT_MODE(TURN_ASSISTANT); @@ -896,7 +900,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs) } #if defined(SITL_BUILD) - if (lockMainPID()) { + if (ARMING_FLAG(SIMULATOR_MODE_HITL) || lockMainPID()) { #endif gyroFilter(); diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index 2839a338f22..e9ed6efe4c1 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -53,6 +53,8 @@ #include "drivers/exti.h" #include "drivers/io.h" #include "drivers/flash.h" +#include "drivers/gimbal_common.h" +#include "drivers/headtracker_common.h" #include "drivers/light_led.h" #include "drivers/nvic.h" #include "drivers/osd.h" @@ -60,7 +62,6 @@ #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" @@ -108,6 +109,8 @@ #include "io/displayport_msp_osd.h" #include "io/displayport_srxl.h" #include "io/flashfs.h" +#include "io/gimbal_serial.h" +#include "io/headtracker_msp.h" #include "io/gps.h" #include "io/ledstrip.h" #include "io/osd.h" @@ -147,6 +150,10 @@ #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 @@ -223,6 +230,10 @@ void init(void) flashDeviceInitialized = flashInit(); #endif +#if defined(SITL_BUILD) + serialProxyInit(); +#endif + initEEPROM(); ensureEEPROMContainsValidData(); suspendRxSignal(); @@ -680,6 +691,23 @@ void init(void) initDShotCommands(); #endif +#ifdef USE_SERIAL_GIMBAL + gimbalCommonInit(); + // Needs to be called before gimbalSerialHeadTrackerInit + gimbalSerialInit(); +#endif + +#ifdef USE_HEADTRACKER + headTrackerCommonInit(); +#ifdef USE_HEADTRACKER_SERIAL + // Needs to be called after gimbalSerialInit + gimbalSerialHeadTrackerInit(); +#endif +#ifdef USE_HEADTRACKER_MSP + mspHeadTrackerInit(); +#endif +#endif + // Latch active features AGAIN since some may be modified by init(). latchActiveFeatures(); motorControlEnable = true; diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 59f2fc0d21e..8427f94b9c4 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -97,6 +97,7 @@ #include "io/vtx.h" #include "io/vtx_string.h" #include "io/gps_private.h" //for MSP_SIMULATOR +#include "io/headtracker_msp.h" #include "io/osd/custom_elements.h" @@ -110,6 +111,8 @@ #include "rx/rx.h" #include "rx/msp.h" +#include "rx/srxl2.h" +#include "rx/crsf.h" #include "scheduler/scheduler.h" @@ -857,7 +860,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU32(dst, currentBatteryProfile->capacity.value); sbufWriteU32(dst, currentBatteryProfile->capacity.warning); sbufWriteU32(dst, currentBatteryProfile->capacity.critical); - sbufWriteU8(dst, currentBatteryProfile->capacity.unit); + sbufWriteU8(dst, batteryMetersConfig()->capacity_unit); break; case MSP2_INAV_MISC2: @@ -896,7 +899,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU32(dst, currentBatteryProfile->capacity.value); sbufWriteU32(dst, currentBatteryProfile->capacity.warning); sbufWriteU32(dst, currentBatteryProfile->capacity.critical); - sbufWriteU8(dst, currentBatteryProfile->capacity.unit); + sbufWriteU8(dst, batteryMetersConfig()->capacity_unit); break; #ifdef USE_GPS @@ -1030,6 +1033,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF case MSP_MIXER: sbufWriteU8(dst, 3); // mixerMode no longer supported, send 3 (QuadX) as fallback break; + case MSP_RX_CONFIG: sbufWriteU8(dst, rxConfig()->serialrx_provider); @@ -1110,7 +1114,7 @@ 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); @@ -1337,9 +1341,9 @@ 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); @@ -1576,6 +1580,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF } break; + // Obsolete, replaced by MSP2_INAV_OUTPUT_MAPPING_EXT2 case MSP2_INAV_OUTPUT_MAPPING_EXT: for (uint8_t i = 0; i < timerHardwareCount; ++i) if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM))) { @@ -1584,10 +1589,36 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF #else sbufWriteU8(dst, timer2id(timerHardware[i].tim)); #endif + // usageFlags is u32, cuts out the higher 24bits sbufWriteU8(dst, timerHardware[i].usageFlags); } break; + case MSP2_INAV_OUTPUT_MAPPING_EXT2: + { + #if !defined(SITL_BUILD) && defined(WS2811_PIN) + ioTag_t led_tag = IO_TAG(WS2811_PIN); + #endif + for (uint8_t i = 0; i < timerHardwareCount; ++i) + + if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM))) { + #if defined(SITL_BUILD) + sbufWriteU8(dst, i); + #else + sbufWriteU8(dst, timer2id(timerHardware[i].tim)); + #endif + sbufWriteU32(dst, timerHardware[i].usageFlags); + #if defined(SITL_BUILD) || !defined(WS2811_PIN) + sbufWriteU8(dst, 0); + #else + // Extra label to help identify repurposed PINs. + // Eventually, we can try to add more labels for PPM pins, etc. + sbufWriteU8(dst, timerHardware[i].tag == led_tag ? PIN_LABEL_LED : PIN_LABEL_NONE); + #endif + } + } + break; + case MSP2_INAV_MC_BRAKING: #ifdef USE_MR_BRAKING_MODE sbufWriteU16(dst, navConfig()->mc.braking_speed_threshold); @@ -2055,13 +2086,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) currentBatteryProfileMutable->capacity.value = sbufReadU32(src); currentBatteryProfileMutable->capacity.warning = sbufReadU32(src); currentBatteryProfileMutable->capacity.critical = sbufReadU32(src); - currentBatteryProfileMutable->capacity.unit = sbufReadU8(src); + batteryMetersConfigMutable()->capacity_unit = sbufReadU8(src); if ((batteryMetersConfig()->voltageSource != BAT_VOLTAGE_RAW) && (batteryMetersConfig()->voltageSource != BAT_VOLTAGE_SAG_COMP)) { batteryMetersConfigMutable()->voltageSource = BAT_VOLTAGE_RAW; return MSP_RESULT_ERROR; } - if ((currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MAH) && (currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MWH)) { - currentBatteryProfileMutable->capacity.unit = BAT_CAPACITY_UNIT_MAH; + if ((batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MAH) && (batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MWH)) { + batteryMetersConfigMutable()->capacity_unit = BAT_CAPACITY_UNIT_MAH; return MSP_RESULT_ERROR; } } else @@ -2094,13 +2125,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) currentBatteryProfileMutable->capacity.value = sbufReadU32(src); currentBatteryProfileMutable->capacity.warning = sbufReadU32(src); currentBatteryProfileMutable->capacity.critical = sbufReadU32(src); - currentBatteryProfileMutable->capacity.unit = sbufReadU8(src); + batteryMetersConfigMutable()->capacity_unit = sbufReadU8(src); if ((batteryMetersConfig()->voltageSource != BAT_VOLTAGE_RAW) && (batteryMetersConfig()->voltageSource != BAT_VOLTAGE_SAG_COMP)) { batteryMetersConfigMutable()->voltageSource = BAT_VOLTAGE_RAW; return MSP_RESULT_ERROR; } - if ((currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MAH) && (currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MWH)) { - currentBatteryProfileMutable->capacity.unit = BAT_CAPACITY_UNIT_MAH; + if ((batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MAH) && (batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MWH)) { + batteryMetersConfigMutable()->capacity_unit = BAT_CAPACITY_UNIT_MAH; return MSP_RESULT_ERROR; } } else @@ -2400,12 +2431,16 @@ 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); @@ -2735,7 +2770,7 @@ 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 @@ -2856,7 +2891,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) } else return MSP_RESULT_ERROR; break; - + case MSP_SET_FAILSAFE_CONFIG: if (dataSize == 20) { failsafeConfigMutable()->failsafe_delay = sbufReadU8(src); @@ -2949,7 +2984,7 @@ 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; @@ -3239,7 +3274,7 @@ 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; @@ -3300,12 +3335,12 @@ 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 @@ -3328,6 +3363,26 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) break; + case MSP2_BETAFLIGHT_BIND: + if (rxConfig()->receiverType == RX_TYPE_SERIAL) { + switch (rxConfig()->serialrx_provider) { + default: + return MSP_RESULT_ERROR; + #if defined(USE_SERIALRX_SRXL2) + case SERIALRX_SRXL2: + srxl2Bind(); + break; + #endif + #if defined(USE_SERIALRX_CRSF) + case SERIALRX_CRSF: + crsfBind(); + break; + #endif + } + } else { + return MSP_RESULT_ERROR; + } + break; default: return MSP_RESULT_ERROR; @@ -3599,7 +3654,7 @@ 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()) { @@ -3805,7 +3860,7 @@ 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; @@ -3900,7 +3955,7 @@ 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; @@ -3908,7 +3963,7 @@ 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; @@ -3939,7 +3994,7 @@ 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); } } @@ -4014,8 +4069,8 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu *ret = MSP_RESULT_ERROR; } break; -#endif - +#endif + default: // Not handled return false; @@ -4025,7 +4080,8 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu static mspResult_e mspProcessSensorCommand(uint16_t cmdMSP, sbuf_t *src) { - UNUSED(src); + int dataSize = sbufBytesRemaining(src); + UNUSED(dataSize); switch (cmdMSP) { #if defined(USE_RANGEFINDER_MSP) @@ -4063,6 +4119,12 @@ static mspResult_e mspProcessSensorCommand(uint16_t cmdMSP, sbuf_t *src) mspPitotmeterReceiveNewData(sbufPtr(src)); break; #endif + +#if (defined(USE_HEADTRACKER) && defined(USE_HEADTRACKER_MSP)) + case MSP2_SENSOR_HEADTRACKER: + mspHeadTrackerReceiverNewData(sbufPtr(src), dataSize); + break; +#endif } return MSP_RESULT_NO_REPLY; diff --git a/src/main/fc/fc_msp_box.c b/src/main/fc/fc_msp_box.c index 2745f7e041b..a20a23e0b24 100644 --- a/src/main/fc/fc_msp_box.c +++ b/src/main/fc/fc_msp_box.c @@ -43,6 +43,9 @@ #include "telemetry/telemetry.h" +#include "drivers/gimbal_common.h" +#include "drivers/headtracker_common.h" + #define BOX_SUFFIX ';' #define BOX_SUFFIX_LEN 1 @@ -102,6 +105,10 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = { { .boxId = BOXMIXERPROFILE, .boxName = "MIXER PROFILE 2", .permanentId = 62 }, { .boxId = BOXMIXERTRANSITION, .boxName = "MIXER TRANSITION", .permanentId = 63 }, { .boxId = BOXANGLEHOLD, .boxName = "ANGLE HOLD", .permanentId = 64 }, + { .boxId = BOXGIMBALTLOCK, .boxName = "GIMBAL LEVEL TILT", .permanentId = 65 }, + { .boxId = BOXGIMBALRLOCK, .boxName = "GIMBAL LEVEL ROLL", .permanentId = 66 }, + { .boxId = BOXGIMBALCENTER, .boxName = "GIMBAL CENTER", .permanentId = 67 }, + { .boxId = BOXGIMBALHTRK, .boxName = "GIMBAL HEADTRACKER", .permanentId = 68 }, { .boxId = CHECKBOX_ITEM_COUNT, .boxName = NULL, .permanentId = 0xFF } }; @@ -215,7 +222,7 @@ void initActiveBoxIds(void) bool navReadyAltControl = getHwBarometerStatus() != HW_SENSOR_NONE; #ifdef USE_GPS - navReadyAltControl = navReadyAltControl || (feature(FEATURE_GPS) && (STATE(AIRPLANE) || positionEstimationConfig()->use_gps_no_baro)); + navReadyAltControl = navReadyAltControl || feature(FEATURE_GPS); const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning; bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS); @@ -358,6 +365,19 @@ void initActiveBoxIds(void) ADD_ACTIVE_BOX(BOXMIXERPROFILE); ADD_ACTIVE_BOX(BOXMIXERTRANSITION); #endif + +#ifdef USE_SERIAL_GIMBAL + if (gimbalCommonIsEnabled()) { + ADD_ACTIVE_BOX(BOXGIMBALTLOCK); + ADD_ACTIVE_BOX(BOXGIMBALRLOCK); + ADD_ACTIVE_BOX(BOXGIMBALCENTER); + } +#endif +#ifdef USE_HEADTRACKER + if(headTrackerConfig()->devType != HEADTRACKER_NONE) { + ADD_ACTIVE_BOX(BOXGIMBALHTRK); + } +#endif } #define IS_ENABLED(mask) ((mask) == 0 ? 0 : 1) @@ -431,6 +451,21 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags) CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXMIXERTRANSITION)), BOXMIXERTRANSITION); #endif CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXANGLEHOLD)), BOXANGLEHOLD); + +#ifdef USE_SERIAL_GIMBAL + if(IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)) { + CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)), BOXGIMBALCENTER); +#ifdef USE_HEADTRACKER + } else if (headTrackerCommonIsReady(headTrackerCommonDevice()) && IS_RC_MODE_ACTIVE(BOXGIMBALHTRK)) { + CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGIMBALHTRK)), BOXGIMBALHTRK); +#endif + } else { + CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGIMBALTLOCK) && !IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)), BOXGIMBALTLOCK); + CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGIMBALRLOCK) && !IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)), BOXGIMBALRLOCK); + CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGIMBALHTRK) && !IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)), BOXGIMBALRLOCK); + } +#endif + memset(mspBoxModeFlags, 0, sizeof(boxBitmask_t)); for (uint32_t i = 0; i < activeBoxIdCount; i++) { if (activeBoxes[activeBoxIds[i]]) { diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c index 246d65c0a7e..6918b9a6dab 100755 --- a/src/main/fc/fc_tasks.c +++ b/src/main/fc/fc_tasks.c @@ -34,6 +34,8 @@ #include "drivers/serial.h" #include "drivers/stack_check.h" #include "drivers/pwm_mapping.h" +#include "drivers/gimbal_common.h" +#include "drivers/headtracker_common.h" #include "fc/cli.h" #include "fc/config.h" @@ -51,6 +53,7 @@ #include "flight/rpm_filter.h" #include "flight/servos.h" #include "flight/wind_estimator.h" +#include "flight/adaptive_filter.h" #include "navigation/navigation.h" @@ -93,6 +96,10 @@ #include "config/feature.h" +#if defined(SITL_BUILD) +#include "target/SITL/serial_proxy.h" +#endif + void taskHandleSerial(timeUs_t currentTimeUs) { UNUSED(currentTimeUs); @@ -421,6 +428,26 @@ void fcTasksInit(void) #if defined(USE_SMARTPORT_MASTER) setTaskEnabled(TASK_SMARTPORT_MASTER, true); #endif + +#ifdef USE_SERIAL_GIMBAL + setTaskEnabled(TASK_GIMBAL, true); +#endif + +#ifdef USE_HEADTRACKER + setTaskEnabled(TASK_HEADTRACKER, true); +#endif + +#ifdef USE_ADAPTIVE_FILTER + setTaskEnabled(TASK_ADAPTIVE_FILTER, ( + gyroConfig()->gyroFilterMode == GYRO_FILTER_MODE_ADAPTIVE && + gyroConfig()->adaptiveFilterMinHz > 0 && + gyroConfig()->adaptiveFilterMaxHz > 0 + )); +#endif + +#if defined(SITL_BUILD) + serialProxyStart(); +#endif } cfTask_t cfTasks[TASK_COUNT] = { @@ -672,4 +699,31 @@ cfTask_t cfTasks[TASK_COUNT] = { .desiredPeriod = TASK_PERIOD_HZ(TASK_AUX_RATE_HZ), // 100Hz @10ms .staticPriority = TASK_PRIORITY_HIGH, }, +#ifdef USE_ADAPTIVE_FILTER + [TASK_ADAPTIVE_FILTER] = { + .taskName = "ADAPTIVE_FILTER", + .taskFunc = adaptiveFilterTask, + .desiredPeriod = TASK_PERIOD_HZ(ADAPTIVE_FILTER_RATE_HZ), // 100Hz @10ms + .staticPriority = TASK_PRIORITY_LOW, + }, +#endif + +#ifdef USE_SERIAL_GIMBAL + [TASK_GIMBAL] = { + .taskName = "GIMBAL", + .taskFunc = taskUpdateGimbal, + .desiredPeriod = TASK_PERIOD_HZ(50), + .staticPriority = TASK_PRIORITY_MEDIUM, + }, +#endif + +#ifdef USE_HEADTRACKER + [TASK_HEADTRACKER] = { + .taskName = "HEADTRACKER", + .taskFunc = taskUpdateHeadTracker, + .desiredPeriod = TASK_PERIOD_HZ(50), + .staticPriority = TASK_PRIORITY_MEDIUM, + }, +#endif + }; diff --git a/src/main/fc/rc_modes.c b/src/main/fc/rc_modes.c index 741308755ca..b593bddcc6a 100755 --- a/src/main/fc/rc_modes.c +++ b/src/main/fc/rc_modes.c @@ -114,7 +114,6 @@ void processAirmode(void) { } else if (STATE(MULTIROTOR)) { processAirmodeMultirotor(); } - } bool isUsingNavigationModes(void) @@ -122,6 +121,21 @@ bool isUsingNavigationModes(void) return isUsingNAVModes; } +bool isFwAutoModeActive(boxId_e mode) +{ + /* Sets activation priority of fixed wing auto tune/trim modes: Autotune -> Autotrim -> Autolevel */ + + if (mode == BOXAUTOTUNE) { + return IS_RC_MODE_ACTIVE(BOXAUTOTUNE); + } else if (mode == BOXAUTOTRIM) { + return IS_RC_MODE_ACTIVE(BOXAUTOTRIM) && !IS_RC_MODE_ACTIVE(BOXAUTOTUNE); + } else if (mode == BOXAUTOLEVEL) { + return IS_RC_MODE_ACTIVE(BOXAUTOLEVEL) && !IS_RC_MODE_ACTIVE(BOXAUTOTUNE) && !IS_RC_MODE_ACTIVE(BOXAUTOTRIM); + } + + return false; +} + bool IS_RC_MODE_ACTIVE(boxId_e boxId) { return bitArrayGet(rcModeActivationMask.bits, boxId); diff --git a/src/main/fc/rc_modes.h b/src/main/fc/rc_modes.h index 04aea681bc9..2e972d1b304 100644 --- a/src/main/fc/rc_modes.h +++ b/src/main/fc/rc_modes.h @@ -78,9 +78,13 @@ typedef enum { BOXCHANGEMISSION = 50, BOXBEEPERMUTE = 51, BOXMULTIFUNCTION = 52, - BOXMIXERPROFILE = 53, - BOXMIXERTRANSITION = 54, + BOXMIXERPROFILE = 53, + BOXMIXERTRANSITION = 54, BOXANGLEHOLD = 55, + BOXGIMBALTLOCK = 56, + BOXGIMBALRLOCK = 57, + BOXGIMBALCENTER = 58, + BOXGIMBALHTRK = 59, CHECKBOX_ITEM_COUNT } boxId_e; @@ -140,3 +144,4 @@ bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range); void updateActivatedModes(void); void updateUsedModeActivationConditionFlags(void); +bool isFwAutoModeActive(boxId_e mode); diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml index 604385d3d63..d8f15f0921c 100644 --- a/src/main/fc/settings.yaml +++ b/src/main/fc/settings.yaml @@ -5,7 +5,7 @@ tables: 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", "TERARANGER_EVO"] + 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"] @@ -83,7 +83,7 @@ tables: values: ["NONE", "AGL", "FLOW_RAW", "FLOW", "ALWAYS", "SAG_COMP_VOLTAGE", "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC", "NAV_YAW", "PCF8574", "DYN_GYRO_LPF", "AUTOLEVEL", "ALTITUDE", - "AUTOTRIM", "AUTOTUNE", "RATE_DYNAMICS", "LANDING", "POS_EST"] + "AUTOTRIM", "AUTOTUNE", "RATE_DYNAMICS", "LANDING", "POS_EST", "ADAPTIVE_FILTER", "HEADTRACKER" ] - name: aux_operator values: ["OR", "AND"] enum: modeActivationOperator_e @@ -191,6 +191,12 @@ tables: - name: led_pin_pwm_mode values: ["SHARED_LOW", "SHARED_HIGH", "LOW", "HIGH"] enum: led_pin_pwm_mode_e + - name: gyro_filter_mode + values: ["STATIC", "DYNAMIC", "ADAPTIVE"] + enum: gyroFilterType_e + - name: headtracker_dev_type + values: ["NONE", "SERIAL", "MSP"] + enum: headTrackerDevType_e constants: RPYL_PID_MIN: 0 @@ -226,11 +232,11 @@ groups: field: gyro_main_lpf_hz min: 0 max: 500 - - 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 - field: useDynamicLpf - type: bool + - name: gyro_filter_mode + description: "Specifies the type of the software LPF of the gyro signals." + default_value: "STATIC" + field: gyroFilterMode + table: gyro_filter_mode - name: gyro_dyn_lpf_min_hz description: "Minimum frequency of the gyro Dynamic LPF" default_value: 200 @@ -330,6 +336,55 @@ groups: field: gravity_cmss_cal min: 0 max: 2000 + - name: gyro_adaptive_filter_target + description: "Target value for adaptive filter" + default_value: 3.5 + field: adaptiveFilterTarget + min: 1 + max: 6 + condition: USE_ADAPTIVE_FILTER + - name: gyro_adaptive_filter_min_hz + description: "Minimum frequency for adaptive filter" + default_value: 50 + field: adaptiveFilterMinHz + min: 0 + max: 250 + condition: USE_ADAPTIVE_FILTER + - name: gyro_adaptive_filter_max_hz + description: "Maximum frequency for adaptive filter" + default_value: 150 + field: adaptiveFilterMaxHz + min: 0 + max: 505 + condition: USE_ADAPTIVE_FILTER + - name: gyro_adaptive_filter_std_lpf_hz + description: "Standard deviation low pass filter cutoff frequency" + default_value: 2 + field: adaptiveFilterStdLpfHz + min: 0 + max: 10 + condition: USE_ADAPTIVE_FILTER + - name: gyro_adaptive_filter_hpf_hz + description: "High pass filter cutoff frequency" + default_value: 10 + field: adaptiveFilterHpfHz + min: 1 + max: 50 + condition: USE_ADAPTIVE_FILTER + - name: gyro_adaptive_filter_integrator_threshold_high + description: "High threshold for adaptive filter integrator" + default_value: 4 + field: adaptiveFilterIntegratorThresholdHigh + min: 1 + max: 10 + condition: USE_ADAPTIVE_FILTER + - name: gyro_adaptive_filter_integrator_threshold_low + description: "Low threshold for adaptive filter integrator" + default_value: -2 + field: adaptiveFilterIntegratorThresholdLow + min: -10 + max: 0 + condition: USE_ADAPTIVE_FILTER - name: PG_ADC_CHANNEL_CONFIG type: adcChannelConfig_t @@ -890,6 +945,12 @@ groups: condition: USE_ADC min: 0 max: 65535 + - name: battery_capacity_unit + description: "Unit used for `battery_capacity`, `battery_capacity_warning` and `battery_capacity_critical` [MAH/MWH] (milliAmpere hour / milliWatt hour)." + default_value: "MAH" + field: capacity_unit + table: bat_capacity_unit + type: uint8_t - name: current_meter_scale description: "This sets the output voltage to current scaling for the current sensor in 0.1 mV/A steps. 400 is 40mV/A such as the ACS756 sensor outputs. 183 is the setting for the uberdistro with a 0.25mOhm shunt." default_value: :target @@ -996,12 +1057,6 @@ groups: field: capacity.critical min: 0 max: 4294967295 - - name: battery_capacity_unit - description: "Unit used for `battery_capacity`, `battery_capacity_warning` and `battery_capacity_critical` [MAH/MWH] (milliAmpere hour / milliWatt hour)." - default_value: "MAH" - field: capacity.unit - table: bat_capacity_unit - type: uint8_t - name: controlrate_profile description: "Control rate profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control rate profile" default_value: 0 @@ -1891,13 +1946,13 @@ groups: max: RPYL_PID_MAX - name: max_angle_inclination_rll description: "Maximum inclination in level (angle) mode (ROLL axis). 100=10°" - default_value: 300 + default_value: 450 field: max_angle_inclination[FD_ROLL] min: 100 max: 900 - name: max_angle_inclination_pit description: "Maximum inclination in level (angle) mode (PITCH axis). 100=10°" - default_value: 300 + default_value: 450 field: max_angle_inclination[FD_PITCH] min: 100 max: 900 @@ -1934,12 +1989,6 @@ groups: field: fixedWingCoordinatedPitchGain min: 0 max: 2 - - name: fw_iterm_limit_stick_position - description: "Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. `0` mean stick is in center position, `1` means it is fully deflected to either side" - default_value: 0.5 - field: fixedWingItermLimitOnStickPosition - min: 0 - max: 1 - name: fw_yaw_iterm_freeze_bank_angle description: "Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled." default_value: 0 @@ -2075,6 +2124,12 @@ 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 @@ -2227,6 +2282,24 @@ groups: field: fixedWingLevelTrimGain min: 0 max: 20 + - name: fw_iterm_lock_time_max_ms + description: Defines max time in milliseconds for how long ITerm Lock will shut down Iterm after sticks are release + default_value: 500 + field: fwItermLockTimeMaxMs + min: 100 + max: 1000 + - name: fw_iterm_lock_rate_threshold + description: Defines rate percentage when full P I and D attenuation should happen. 100 disables Iterm Lock for P and D term + field: fwItermLockRateLimit + default_value: 40 + min: 10 + max: 100 + - name: fw_iterm_lock_engage_threshold + description: Defines error rate (in percents of max rate) when Iterm Lock is engaged when sticks are release. Iterm Lock will stay active until error drops below this number + default_value: 10 + min: 5 + max: 25 + field: fwItermLockEngageThreshold - name: PG_PID_AUTOTUNE_CONFIG type: pidAutotuneConfig_t @@ -2265,10 +2338,6 @@ groups: field: gravity_calibration_tolerance min: 0 max: 255 - - name: inav_use_gps_no_baro - field: use_gps_no_baro - type: bool - default_value: OFF - 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 @@ -2301,7 +2370,7 @@ groups: 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 @@ -2397,10 +2466,16 @@ groups: min: 1 max: 15 - name: nav_landing_bump_detection - description: "Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and currently only works for multirotors." + description: "Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and GPS and currently only works for multirotors (Note: will work during Failsafe without need for a GPS)." default_value: OFF field: general.flags.landing_bump_detection type: bool + - name: nav_mc_inverted_crash_detection + description: "Setting a value > 0 enables inverted crash detection for multirotors. It will auto disarm in situations where the multirotor has crashed inverted on the ground and can't be manually disarmed due to loss of control or for some other reason. When enabled this setting defines the additional number of seconds before disarm beyond a minimum fixed time delay of 3s. Requires a barometer to work." + default_value: 0 + field: mc.inverted_crash_detection + min: 0 + max: 15 - name: nav_mc_althold_throttle description: "If set to STICK the FC remembers the throttle stick position when enabling ALTHOLD and treats it as the neutral midpoint for holding altitude. If set to MID_STICK or HOVER the neutral midpoint is set to the mid stick position or the hover throttle position respectively." default_value: "STICK" @@ -2476,7 +2551,7 @@ groups: table: nav_fw_wp_turn_smoothing - name: nav_auto_speed description: "Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no specific WP speed set. [Multirotor only]" - default_value: 300 + default_value: 500 field: general.auto_speed min: 10 max: 2000 @@ -2494,7 +2569,7 @@ groups: max: 2000 - name: nav_manual_speed description: "Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]" - default_value: 500 + default_value: 750 field: general.max_manual_speed min: 10 max: 2000 @@ -2670,7 +2745,7 @@ groups: max: 120 - name: nav_mc_bank_angle description: "Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude" - default_value: 30 + default_value: 35 field: mc.max_bank_angle min: 15 max: 45 @@ -2771,6 +2846,12 @@ 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 @@ -2846,7 +2927,7 @@ groups: 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: 1500 + min: 1350 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]" @@ -3405,6 +3486,12 @@ groups: min: 1 max: 10 default_value: 3 + - name: osd_radar_peers_display_time + description: "Time in seconds to display next peer " + field: radar_peers_display_time + min: 1 + max: 10 + default_value: 3 - name: osd_hud_wp_disp description: "How many navigation waypoints are displayed, set to 0 (zero) to disable. As sample, if set to 2, and you just passed the 3rd waypoint of the mission, you'll see markers for the 4th waypoint (marked 1) and the 5th waypoint (marked 2)" default_value: 0 @@ -3440,7 +3527,6 @@ groups: min: 8 max: 11 default_value: 9 - - name: osd_adsb_distance_warning description: "Distance in meters of ADSB aircraft that is displayed" default_value: 20000 @@ -3465,7 +3551,6 @@ groups: min: 0 max: 64000 type: uint16_t - - name: osd_estimations_wind_compensation description: "Use wind estimation for remaining flight time/distance estimation" default_value: ON @@ -3478,12 +3563,10 @@ groups: 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" default_value: OFF type: bool - - name: osd_plus_code_digits description: "Numer of plus code digits before shortening with `osd_plus_code_short`. Precision at the equator: 10=13.9x13.9m; 11=2.8x3.5m; 12=56x87cm; 13=11x22cm." field: plus_code_digits @@ -3495,213 +3578,186 @@ groups: field: plus_code_short default_value: "0" table: osd_plus_code_short - - name: osd_ahi_style description: "Sets OSD Artificial Horizon style \"DEFAULT\" or \"LINE\" for the FrSky Graphical OSD." field: ahi_style default_value: "DEFAULT" table: osd_ahi_style type: uint8_t - - name: osd_force_grid field: force_grid type: bool default_value: OFF description: Force OSD to work in grid mode even if the OSD device supports pixel level access (mainly used for development) - - name: osd_ahi_bordered field: ahi_bordered type: bool description: Shows a border/corners around the AHI region (pixel OSD only) default_value: OFF - - name: osd_ahi_width field: ahi_width max: 255 description: AHI width in pixels (pixel OSD only) default_value: 132 - - name: osd_ahi_height field: ahi_height max: 255 description: AHI height in pixels (pixel OSD only) default_value: 162 - - name: osd_ahi_vertical_offset field: ahi_vertical_offset min: -128 max: 127 description: AHI vertical offset from center (pixel OSD only) default_value: -18 - - name: osd_sidebar_horizontal_offset field: sidebar_horizontal_offset min: -128 max: 127 default_value: 0 description: Sidebar horizontal offset from default position. Positive values move the sidebars closer to the edges. - - name: osd_left_sidebar_scroll_step field: left_sidebar_scroll_step max: 255 default_value: 0 description: How many units each sidebar step represents. 0 means the default value for the scroll type. - - name: osd_right_sidebar_scroll_step field: right_sidebar_scroll_step max: 255 default_value: 0 description: Same as left_sidebar_scroll_step, but for the right sidebar - - name: osd_sidebar_height field: sidebar_height min: 0 max: 5 default_value: 3 description: Height of sidebars in rows. 0 leaves only the level indicator arrows (Not for pixel OSD) - - name: osd_ahi_pitch_interval field: ahi_pitch_interval min: 0 max: 30 default_value: 0 description: Draws AHI at increments of the set pitch interval over the full pitch range. AHI line is drawn with ends offset when pitch first exceeds interval with offset increasing with increasing pitch. Offset direction changes between climb and dive. Set to 0 to disable (Not for pixel OSD) - - name: osd_home_position_arm_screen type: bool default_value: ON description: Should home position coordinates be displayed on the arming screen. - - name: osd_pan_servo_index description: Index of the pan servo, used to adjust osd home heading direction based on camera pan. Note that this feature does not work with continiously rotating servos. field: pan_servo_index min: 0 max: 16 default_value: 0 - - name: osd_pan_servo_pwm2centideg description: Centidegrees of pan servo rotation us PWM signal. A servo with 180 degrees of rotation from 1000 to 2000 us PWM typically needs `18` for this setting. Change sign to inverse direction. field: pan_servo_pwm2centideg default_value: 0 min: -36 max: 36 - - name: osd_pan_servo_offcentre_warning description: Degrees either side of the pan servo centre; where it is assumed camera is wanted to be facing forwards, but isn't at 0. If in this range and not 0 for longer than 10 seconds, the pan servo offset OSD element will blink. 0 means the warning is disabled. field: pan_servo_offcentre_warning min: 0 max: 45 default_value: 10 - - name: osd_pan_servo_indicator_show_degrees description: Show the degress of offset from centre on the pan servo OSD display element. field: pan_servo_indicator_show_degrees type: bool default_value: OFF - - name: osd_esc_rpm_precision description: Number of characters used to display the RPM value. field: esc_rpm_precision min: 3 max: 6 default_value: 3 - - name: osd_mah_precision description: Number of digits used for mAh precision. Currently used by mAh Used and Battery Remaining Capacity field: mAh_precision min: 4 max: 6 default_value: 4 - - name: osd_use_pilot_logo description: Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511 field: use_pilot_logo type: bool default_value: OFF - - name: osd_inav_to_pilot_logo_spacing description: The space between the INAV and pilot logos, if `osd_use_pilot_logo` is `ON`. This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen. field: inav_to_pilot_logo_spacing min: 0 max: 20 default_value: 8 - - name: osd_arm_screen_display_time description: Amount of time to display the arm screen [ms] field: arm_screen_display_time min: 1000 max: 5000 default_value: 1500 - - name: osd_switch_indicator_zero_name description: "Character to use for OSD switch incicator 0." field: osd_switch_indicator0_name type: string max: 5 default_value: "FLAP" - - name: osd_switch_indicator_one_name description: "Character to use for OSD switch incicator 1." field: osd_switch_indicator1_name type: string max: 5 default_value: "GEAR" - - name: osd_switch_indicator_two_name description: "Character to use for OSD switch incicator 2." field: osd_switch_indicator2_name type: string max: 5 default_value: "CAM" - - name: osd_switch_indicator_three_name description: "Character to use for OSD switch incicator 3." field: osd_switch_indicator3_name type: string max: 5 default_value: "LIGT" - - name: osd_switch_indicator_zero_channel description: "RC Channel to use for OSD switch indicator 0." field: osd_switch_indicator0_channel min: 5 max: MAX_SUPPORTED_RC_CHANNEL_COUNT default_value: 5 - - name: osd_switch_indicator_one_channel description: "RC Channel to use for OSD switch indicator 1." field: osd_switch_indicator1_channel min: 5 max: MAX_SUPPORTED_RC_CHANNEL_COUNT default_value: 5 - - name: osd_switch_indicator_two_channel description: "RC Channel to use for OSD switch indicator 2." field: osd_switch_indicator2_channel min: 5 max: MAX_SUPPORTED_RC_CHANNEL_COUNT default_value: 5 - - name: osd_switch_indicator_three_channel description: "RC Channel to use for OSD switch indicator 3." field: osd_switch_indicator3_channel min: 5 max: MAX_SUPPORTED_RC_CHANNEL_COUNT default_value: 5 - - name: osd_switch_indicators_align_left description: "Align text to left of switch indicators" field: osd_switch_indicators_align_left type: bool default_value: ON - - name: osd_system_msg_display_time description: System message display cycle time for multiple messages (milliseconds). field: system_msg_display_time default_value: 1000 min: 500 max: 5000 - + - name: osd_highlight_djis_missing_font_symbols + description: Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes. + field: highlight_djis_missing_characters + default_value: ON + type: bool - name: PG_OSD_COMMON_CONFIG type: osdCommonConfig_t headers: ["io/osd_common.h"] @@ -4114,7 +4170,7 @@ 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 @@ -4157,3 +4213,92 @@ groups: field: maxTailwind min: 0 max: 3000 + - name: PG_GIMBAL_CONFIG + type: gimbalConfig_t + headers: ["drivers/gimbal_common.h"] + condition: USE_SERIAL_GIMBAL + members: + - name: gimbal_pan_channel + description: "Gimbal pan rc channel index. 0 is no channel." + default_value: 0 + field: panChannel + min: 0 + max: 32 + - name: gimbal_roll_channel + description: "Gimbal roll rc channel index. 0 is no channel." + default_value: 0 + field: rollChannel + min: 0 + max: 32 + - name: gimbal_tilt_channel + description: "Gimbal tilt rc channel index. 0 is no channel." + default_value: 0 + field: tiltChannel + min: 0 + max: 32 + - name: gimbal_sensitivity + description: "Gimbal sensitivity is similar to gain and will affect how quickly the gimbal will react." + default_value: 0 + field: sensitivity + min: -16 + max: 15 + - name: gimbal_pan_trim + field: panTrim + description: "Trim gimbal pan center position." + default_value: 0 + min: -500 + max: 500 + - name: gimbal_tilt_trim + field: tiltTrim + description: "Trim gimbal tilt center position." + default_value: 0 + min: -500 + max: 500 + - name: gimbal_roll_trim + field: rollTrim + description: "Trim gimbal roll center position." + default_value: 0 + min: -500 + max: 500 + - name: PG_GIMBAL_SERIAL_CONFIG + type: gimbalSerialConfig_t + headers: ["io/gimbal_serial.h"] + condition: USE_SERIAL_GIMBAL + members: + - name: gimbal_serial_single_uart + description: "Gimbal serial and headtracker device share same UART. FC RX goes to headtracker device, FC TX goes to gimbal." + type: bool + default_value: OFF + field: singleUart + - name: PG_HEADTRACKER_CONFIG + type: headTrackerConfig_t + headers: ["drivers/headtracker_common.h"] + condition: USE_HEADTRACKER + members: + - name: headtracker_type + description: "Type of headtrackr dervice" + default_value: "NONE" + field: devType + type: uint8_t + table: headtracker_dev_type + - name: headtracker_pan_ratio + description: "Head pan movement vs camera movement ratio" + type: float + default_value: 1 + field: pan_ratio + min: 0 + max: 5 + - name: headtracker_tilt_ratio + description: "Head tilt movement vs camera movement ratio" + type: float + default_value: 1 + field: tilt_ratio + min: 0 + max: 5 + - name: headtracker_roll_ratio + description: "Head roll movement vs camera movement ratio" + type: float + default_value: 1 + field: roll_ratio + min: 0 + max: 5 \ No newline at end of file diff --git a/src/main/flight/adaptive_filter.c b/src/main/flight/adaptive_filter.c new file mode 100644 index 00000000000..4770e9763ab --- /dev/null +++ b/src/main/flight/adaptive_filter.c @@ -0,0 +1,190 @@ +/* + * 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 "platform.h" + +#ifdef USE_ADAPTIVE_FILTER + +#include +#include "flight/adaptive_filter.h" +#include "arm_math.h" +#include +#include "common/maths.h" +#include "common/axis.h" +#include "common/filter.h" +#include "build/debug.h" +#include "fc/config.h" +#include "fc/runtime_config.h" +#include "fc/rc_controls.h" +#include "sensors/gyro.h" + +STATIC_FASTRAM float32_t adaptiveFilterSamples[XYZ_AXIS_COUNT][ADAPTIVE_FILTER_BUFFER_SIZE]; +STATIC_FASTRAM uint8_t adaptiveFilterSampleIndex = 0; + +STATIC_FASTRAM pt1Filter_t stdFilter[XYZ_AXIS_COUNT]; +STATIC_FASTRAM pt1Filter_t hpfFilter[XYZ_AXIS_COUNT]; + +/* + We want to run adaptive filter only when UAV is commanded to stay stationary + Any rotation request on axis will add noise that we are not interested in as it will + automatically cause LPF frequency to be lowered +*/ +STATIC_FASTRAM float axisAttenuationFactor[XYZ_AXIS_COUNT]; + +STATIC_FASTRAM uint8_t adaptiveFilterInitialized = 0; +STATIC_FASTRAM uint8_t hpfFilterInitialized = 0; + +//Defines if current, min and max values for the filter were set and filter is ready to work +STATIC_FASTRAM uint8_t targetsSet = 0; +STATIC_FASTRAM float currentLpf; +STATIC_FASTRAM float initialLpf; +STATIC_FASTRAM float minLpf; +STATIC_FASTRAM float maxLpf; + +STATIC_FASTRAM float adaptiveFilterIntegrator; +STATIC_FASTRAM float adaptiveIntegratorTarget; + +/** + * This function is called at pid rate, so has to be initialized at PID loop frequency +*/ +void adaptiveFilterPush(const flight_dynamics_index_t index, const float value) { + + if (!hpfFilterInitialized) { + //Initialize the filter + for (flight_dynamics_index_t axis = 0; axis < XYZ_AXIS_COUNT; axis++) { + pt1FilterInit(&hpfFilter[axis], gyroConfig()->adaptiveFilterHpfHz, US2S(getLooptime())); + } + hpfFilterInitialized = 1; + } + + //Apply high pass filter, we are not interested in slowly changing values, only noise + const float filteredGyro = value - pt1FilterApply(&hpfFilter[index], value); + + //Push new sample to the buffer so later we can compute RMS and other measures + adaptiveFilterSamples[index][adaptiveFilterSampleIndex] = filteredGyro; + adaptiveFilterSampleIndex = (adaptiveFilterSampleIndex + 1) % ADAPTIVE_FILTER_BUFFER_SIZE; +} + +void adaptiveFilterPushRate(const flight_dynamics_index_t index, const float rate, const uint8_t configRate) { + const float maxRate = configRate * 10.0f; + axisAttenuationFactor[index] = scaleRangef(fabsf(rate), 0.0f, maxRate, 1.0f, 0.0f); + axisAttenuationFactor[index] = constrainf(axisAttenuationFactor[index], 0.0f, 1.0f); +} + +void adaptiveFilterResetIntegrator(void) { + adaptiveFilterIntegrator = 0.0f; +} + +void adaptiveFilterSetDefaultFrequency(int lpf, int min, int max) { + currentLpf = lpf; + minLpf = min; + maxLpf = max; + initialLpf = currentLpf; + + targetsSet = 1; +} + +void adaptiveFilterTask(timeUs_t currentTimeUs) { + + //If we don't have current, min and max values for the filter, we can't run it yet + if (!targetsSet) { + return; + } + + static timeUs_t previousUpdateTimeUs = 0; + + //Initialization procedure, filter setup etc. + if (!adaptiveFilterInitialized) { + adaptiveIntegratorTarget = 3.5f; + previousUpdateTimeUs = currentTimeUs; + + //Initialize the filter + for (flight_dynamics_index_t axis = 0; axis < XYZ_AXIS_COUNT; axis++) { + pt1FilterInit(&stdFilter[axis], gyroConfig()->adaptiveFilterStdLpfHz, 1.0f / ADAPTIVE_FILTER_RATE_HZ); + } + adaptiveFilterInitialized = 1; + } + + //If not armed, leave this routine but reset integrator and set default LPF + if (!ARMING_FLAG(ARMED)) { + currentLpf = initialLpf; + adaptiveFilterResetIntegrator(); + gyroUpdateDynamicLpf(currentLpf); + return; + } + + //Do not run adaptive filter when throttle is low + if (rcCommand[THROTTLE] < 1200) { + return; + } + + //Prepare time delta to normalize time factor of the integrator + const float dT = US2S(currentTimeUs - previousUpdateTimeUs); + previousUpdateTimeUs = currentTimeUs; + + float combinedStd = 0.0f; + + //Compute RMS for each axis + for (flight_dynamics_index_t axis = 0; axis < XYZ_AXIS_COUNT; axis++) { + + //Copy axis samples to a temporary buffer + float32_t tempBuffer[ADAPTIVE_FILTER_BUFFER_SIZE]; + + //Copute STD from buffer using arm_std_f32 + float32_t std; + memcpy(tempBuffer, adaptiveFilterSamples[axis], sizeof(adaptiveFilterSamples[axis])); + arm_std_f32(tempBuffer, ADAPTIVE_FILTER_BUFFER_SIZE, &std); + + const float filteredStd = pt1FilterApply(&stdFilter[axis], std); + const float error = filteredStd - adaptiveIntegratorTarget; + const float adjustedError = error * axisAttenuationFactor[axis]; + const float timeAdjustedError = adjustedError * dT; + + //Put into integrator + adaptiveFilterIntegrator += timeAdjustedError; + + combinedStd += std; + } + + if (adaptiveFilterIntegrator > gyroConfig()->adaptiveFilterIntegratorThresholdHigh) { + //In this case there is too much noise, we need to lower the LPF frequency + currentLpf = constrainf(currentLpf - 1.0f, minLpf, maxLpf); + gyroUpdateDynamicLpf(currentLpf); + adaptiveFilterResetIntegrator(); + } else if (adaptiveFilterIntegrator < gyroConfig()->adaptiveFilterIntegratorThresholdLow) { + //In this case there is too little noise, we can to increase the LPF frequency + currentLpf = constrainf(currentLpf + 1.0f, minLpf, maxLpf); + gyroUpdateDynamicLpf(currentLpf); + adaptiveFilterResetIntegrator(); + } + + combinedStd /= XYZ_AXIS_COUNT; + + DEBUG_SET(DEBUG_ADAPTIVE_FILTER, 0, combinedStd * 1000.0f); + DEBUG_SET(DEBUG_ADAPTIVE_FILTER, 1, adaptiveFilterIntegrator * 10.0f); + DEBUG_SET(DEBUG_ADAPTIVE_FILTER, 2, currentLpf); +} + + +#endif /* USE_ADAPTIVE_FILTER */ \ No newline at end of file diff --git a/src/main/flight/adaptive_filter.h b/src/main/flight/adaptive_filter.h new file mode 100644 index 00000000000..c8696a91f8a --- /dev/null +++ b/src/main/flight/adaptive_filter.h @@ -0,0 +1,35 @@ +/* + * 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 "common/axis.h" +#include "common/time.h" + +#define ADAPTIVE_FILTER_BUFFER_SIZE 64 +#define ADAPTIVE_FILTER_RATE_HZ 100 + +void adaptiveFilterPush(const flight_dynamics_index_t index, const float value); +void adaptiveFilterPushRate(const flight_dynamics_index_t index, const float rate, const uint8_t configRate); +void adaptiveFilterResetIntegrator(void); +void adaptiveFilterSetDefaultFrequency(int lpf, int min, int max); +void adaptiveFilterTask(timeUs_t currentTimeUs); diff --git a/src/main/flight/dynamic_lpf.c b/src/main/flight/dynamic_lpf.c index 0e5b4f6ef28..2c10613ede7 100644 --- a/src/main/flight/dynamic_lpf.c +++ b/src/main/flight/dynamic_lpf.c @@ -37,7 +37,7 @@ static float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLp void dynamicLpfGyroTask(void) { - if (!gyroConfig()->useDynamicLpf) { + if (gyroConfig()->gyroFilterMode != GYRO_FILTER_MODE_DYNAMIC) { return; } diff --git a/src/main/flight/ez_tune.c b/src/main/flight/ez_tune.c index 4bde5b645e8..e67e3fe9b47 100644 --- a/src/main/flight/ez_tune.c +++ b/src/main/flight/ez_tune.c @@ -109,7 +109,7 @@ void ezTuneUpdate(void) { #endif //Disable dynamic LPF - gyroConfigMutable()->useDynamicLpf = 0; + gyroConfigMutable()->gyroFilterMode = GYRO_FILTER_MODE_STATIC; //Setup PID controller diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c index 2a32dbbd12c..24896663dce 100644 --- a/src/main/flight/failsafe.c +++ b/src/main/flight/failsafe.c @@ -84,7 +84,7 @@ PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig, .failsafe_mission_delay = SETTING_FAILSAFE_MISSION_DELAY_DEFAULT, // Time delay before Failsafe activated during WP mission (s) #ifdef USE_GPS_FIX_ESTIMATION .failsafe_gps_fix_estimation_delay = SETTING_FAILSAFE_GPS_FIX_ESTIMATION_DELAY_DEFAULT, // Time delay before Failsafe activated when GPS Fix estimation is allied -#endif +#endif ); typedef enum { @@ -350,16 +350,16 @@ static failsafeProcedure_e failsafeChooseFailsafeProcedure(void) } } - // Inhibit Failsafe if emergency landing triggered manually - if (posControl.flags.manualEmergLandActive) { + // Inhibit Failsafe if emergency landing triggered manually or if landing is detected + if (posControl.flags.manualEmergLandActive || STATE(LANDING_DETECTED)) { return FAILSAFE_PROCEDURE_NONE; } // Craft is closer than minimum failsafe procedure distance (if set to non-zero) // GPS must also be working, and home position set if (failsafeConfig()->failsafe_min_distance > 0 && - ((sensors(SENSOR_GPS) && STATE(GPS_FIX)) -#ifdef USE_GPS_FIX_ESTIMATION + ((sensors(SENSOR_GPS) && STATE(GPS_FIX)) +#ifdef USE_GPS_FIX_ESTIMATION || STATE(GPS_ESTIMATED_FIX) #endif ) && STATE(GPS_FIX_HOME)) { @@ -429,8 +429,8 @@ void failsafeUpdateState(void) #ifdef USE_GPS_FIX_ESTIMATION if ( checkGPSFixFailsafe() ) { reprocessState = true; - } else -#endif + } else +#endif if (!receivingRxDataAndNotFailsafeMode) { if ((failsafeConfig()->failsafe_throttle_low_delay && (millis() > failsafeState.throttleLowPeriod)) || STATE(NAV_MOTOR_STOP_OR_IDLE)) { // JustDisarm: throttle was LOW for at least 'failsafe_throttle_low_delay' seconds or waiting for launch @@ -499,7 +499,7 @@ void failsafeUpdateState(void) } else if (failsafeChooseFailsafeProcedure() != FAILSAFE_PROCEDURE_NONE) { // trigger new failsafe procedure if changed failsafeState.phase = FAILSAFE_RX_LOSS_DETECTED; reprocessState = true; - } + } #ifdef USE_GPS_FIX_ESTIMATION else { if ( checkGPSFixFailsafe() ) { diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c index d2a073f26ee..716b48d7aa4 100644 --- a/src/main/flight/mixer.c +++ b/src/main/flight/mixer.c @@ -728,7 +728,7 @@ bool areMotorsRunning(void) return false; } -uint16_t getMaxThrottle() { +uint16_t getMaxThrottle(void) { static uint16_t throttle = 0; diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h index 0d40fdc11ec..8af82173069 100644 --- a/src/main/flight/mixer.h +++ b/src/main/flight/mixer.h @@ -48,7 +48,8 @@ typedef enum { typedef enum { OUTPUT_MODE_AUTO = 0, OUTPUT_MODE_MOTORS, - OUTPUT_MODE_SERVOS + OUTPUT_MODE_SERVOS, + OUTPUT_MODE_LED } outputMode_e; typedef struct motorAxisCorrectionLimits_s { 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 2a9a3407842..f1b2f567812 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -47,6 +47,7 @@ #include "flight/rpm_filter.h" #include "flight/kalman.h" #include "flight/smith_predictor.h" +#include "flight/adaptive_filter.h" #include "io/gps.h" @@ -65,6 +66,14 @@ #include "programming/logic_condition.h" +typedef struct { + float aP; + float aI; + float aD; + float aFF; + timeMs_t targetOverThresholdTimeMs; +} fwPidAttenuation_t; + typedef struct { uint8_t axis; float kP; // Proportional gain @@ -106,6 +115,8 @@ typedef struct { pt3Filter_t rateTargetFilter; smithPredictor_t smithPredictor; + + fwPidAttenuation_t attenuation; } pidState_t; STATIC_FASTRAM bool pidFiltersConfigured = false; @@ -154,10 +165,9 @@ 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; static EXTENDED_FASTRAM bool restartAngleHoldMode = true; static EXTENDED_FASTRAM bool angleHoldIsLevel = false; @@ -169,7 +179,7 @@ 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, 7); +PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 9); PG_RESET_TEMPLATE(pidProfile_t, pidProfile, .bank_mc = { @@ -230,9 +240,9 @@ 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] = { @@ -268,7 +278,6 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile, .fixedWingReferenceAirspeed = SETTING_FW_REFERENCE_AIRSPEED_DEFAULT, .fixedWingCoordinatedYawGain = SETTING_FW_TURN_ASSIST_YAW_GAIN_DEFAULT, .fixedWingCoordinatedPitchGain = SETTING_FW_TURN_ASSIST_PITCH_GAIN_DEFAULT, - .fixedWingItermLimitOnStickPosition = SETTING_FW_ITERM_LIMIT_STICK_POSITION_DEFAULT, .fixedWingYawItermBankFreeze = SETTING_FW_YAW_ITERM_FREEZE_BANK_ANGLE_DEFAULT, .navVelXyDTermLpfHz = SETTING_NAV_MC_VEL_XY_DTERM_LPF_HZ_DEFAULT, @@ -298,11 +307,15 @@ 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, .smithPredictorFilterHz = SETTING_SMITH_PREDICTOR_LPF_HZ_DEFAULT, #endif + .fwItermLockTimeMaxMs = SETTING_FW_ITERM_LOCK_TIME_MAX_MS_DEFAULT, + .fwItermLockRateLimit = SETTING_FW_ITERM_LOCK_RATE_THRESHOLD_DEFAULT, + .fwItermLockEngageThreshold = SETTING_FW_ITERM_LOCK_ENGAGE_THRESHOLD_DEFAULT, ); bool pidInitFilters(void) @@ -669,19 +682,6 @@ static void pidApplySetpointRateLimiting(pidState_t *pidState, flight_dynamics_i } } -bool isFixedWingItermLimitActive(float stickPosition) -{ - /* - * Iterm anti windup whould be active only when pilot controls the rotation - * velocity directly, not when ANGLE or HORIZON are used - */ - if (levelingEnabled) { - return false; - } - - return fabsf(stickPosition) > pidProfile()->fixedWingItermLimitOnStickPosition; -} - static float pTermProcess(pidState_t *pidState, float rateError, float dT) { float newPTerm = rateError * pidState->kP; @@ -744,41 +744,81 @@ 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 fwRateAttenuation(pidState_t *pidState, const float rateTarget, const float rateError) { + const float maxRate = currentControlRateProfile->stabilized.rates[pidState->axis] * 10.0f; + + const float dampingFactor = attenuation(rateTarget, maxRate * pidProfile()->fwItermLockRateLimit / 100.0f); + + /* + * Iterm damping is applied (down to 0) when: + * abs(error) > 10% rate and sticks were moved in the last 500ms (hard stop at this mark) + + * itermAttenuation = MIN(curve(setpoint), (abs(error) > 10%) && (sticks were deflected in 500ms) ? 0 : 1) + */ + + //If error is greater than 10% or max rate + const bool errorThresholdReached = fabsf(rateError) > maxRate * pidProfile()->fwItermLockEngageThreshold / 100.0f; + + //If stick (setpoint) was moved above threshold in the last 500ms + if (fabsf(rateTarget) > maxRate * 0.2f) { + pidState->attenuation.targetOverThresholdTimeMs = millis(); + } + + //If error is below threshold, we no longer track time for lock mechanism + if (!errorThresholdReached) { + pidState->attenuation.targetOverThresholdTimeMs = 0; + } + + pidState->attenuation.aI = MIN(dampingFactor, (errorThresholdReached && (millis() - pidState->attenuation.targetOverThresholdTimeMs) < pidProfile()->fwItermLockTimeMaxMs) ? 0.0f : 1.0f); + + //P & D damping factors are always the same and based on current damping factor + pidState->attenuation.aP = dampingFactor; + pidState->attenuation.aD = dampingFactor; + + if (pidState->axis == FD_ROLL) { + DEBUG_SET(DEBUG_ALWAYS, 0, pidState->attenuation.aP * 1000); + DEBUG_SET(DEBUG_ALWAYS, 1, pidState->attenuation.aI * 1000); + DEBUG_SET(DEBUG_ALWAYS, 2, pidState->attenuation.aD * 1000); + } +} + +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); - const float newDTerm = dTermProcess(pidState, rateTarget, dT, dT_inv); + + fwRateAttenuation(pidState, rateTarget, rateError); + + const float newPTerm = pTermProcess(pidState, rateError, dT) * pidState->attenuation.aP; + const float newDTerm = dTermProcess(pidState, rateTarget, dT, dT_inv) * pidState->attenuation.aD; const float newFFTerm = rateTarget * pidState->kFF; /* * Integral should be updated only if axis Iterm is not frozen */ if (!pidState->itermFreezeActive) { - pidState->errorGyroIf += rateError * pidState->kI * dT; + pidState->errorGyroIf += rateError * pidState->kI * dT * pidState->attenuation.aI; } applyItermLimiting(pidState); - const uint16_t limit = getPidSumLimit(axis); + const uint16_t limit = getPidSumLimit(pidState->axis); if (pidProfile()->pidItermLimitPercent != 0){ float itermLimit = limit * pidProfile()->pidItermLimitPercent * 0.01f; pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -itermLimit, +itermLimit); } - axisPID[axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf + newDTerm, -limit, +limit); + 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 } @@ -786,16 +826,16 @@ 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, -limit, +limit)); + 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; @@ -818,10 +858,10 @@ 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); @@ -835,13 +875,13 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid */ const float newCDTerm = rateTargetDeltaFiltered * pidState->kCD; - const uint16_t limit = getPidSumLimit(axis); + 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, -limit, +limit); - float itermErrorRate = applyItermRelax(axis, rateTarget, rateError); + float itermErrorRate = applyItermRelax(pidState->axis, rateTarget, rateError); #ifdef USE_ANTIGRAVITY itermErrorRate *= iTermAntigravityGain; @@ -859,14 +899,14 @@ 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; @@ -1046,11 +1086,9 @@ static void pidApplyFpvCameraAngleMix(pidState_t *pidState, uint8_t fpvCameraAng void checkItermLimitingActive(pidState_t *pidState) { - bool shouldActivate; - if (usedPidControllerType == PID_TYPE_PIFF) { - shouldActivate = isFixedWingItermLimitActive(pidState->stickPosition); - } else - { + bool shouldActivate = false; + + if (usedPidControllerType == PID_TYPE_PID) { shouldActivate = mixerIsOutputSaturated(); //just in case, since it is already managed by itermWindupPointPercent } @@ -1062,7 +1100,7 @@ void checkItermFreezingActive(pidState_t *pidState, flight_dynamics_index_t axis if (usedPidControllerType == PID_TYPE_PIFF && pidProfile()->fixedWingYawItermBankFreeze != 0 && axis == FD_YAW) { // Do not allow yaw I-term to grow when bank angle is too large float bankAngle = DECIDEGREES_TO_DEGREES(attitude.values.roll); - if (fabsf(bankAngle) > pidProfile()->fixedWingYawItermBankFreeze && !(FLIGHT_MODE(AUTO_TUNE) || FLIGHT_MODE(TURN_ASSISTANT) || navigationRequiresTurnAssistance())){ + if (fabsf(bankAngle) > pidProfile()->fixedWingYawItermBankFreeze && !(FLIGHT_MODE(AUTO_TUNE) || FLIGHT_MODE(TURN_ASSISTANT))) { pidState->itermFreezeActive = true; } else { @@ -1168,6 +1206,10 @@ void FAST_CODE pidController(float dT) // Limit desired rate to something gyro can measure reliably pidState[axis].rateTarget = constrainf(rateTarget, -GYRO_SATURATION_LIMIT, +GYRO_SATURATION_LIMIT); + +#ifdef USE_ADAPTIVE_FILTER + adaptiveFilterPushRate(axis, pidState[axis].rateTarget, currentControlRateProfile->stabilized.rates[axis]); +#endif #ifdef USE_GYRO_KALMAN gyroKalmanUpdateSetpoint(axis, pidState[axis].rateTarget); @@ -1180,7 +1222,6 @@ void FAST_CODE pidController(float dT) // Step 3: Run control for ANGLE_MODE, HORIZON_MODE and ANGLEHOLD_MODE const float horizonRateMagnitude = FLIGHT_MODE(HORIZON_MODE) ? calcHorizonRateMagnitude() : 0.0f; - levelingEnabled = false; angleHoldIsLevel = false; for (uint8_t axis = FD_ROLL; axis <= FD_PITCH; axis++) { @@ -1200,14 +1241,13 @@ void FAST_CODE pidController(float dT) // Apply the Level PID controller pidLevel(angleTarget, &pidState[axis], axis, horizonRateMagnitude, dT); canUseFpvCameraMix = false; // FPVANGLEMIX is incompatible with ANGLE/HORIZON - levelingEnabled = true; } else { restartAngleHoldMode = true; } } // Apply Turn Assistance - if ((FLIGHT_MODE(TURN_ASSISTANT) || navigationRequiresTurnAssistance()) && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) { + if (FLIGHT_MODE(TURN_ASSISTANT) && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) { float bankAngleTarget = DECIDEGREES_TO_RADIANS(pidRcCommandToAngle(rcCommand[FD_ROLL], pidProfile()->max_angle_inclination[FD_ROLL])); float pitchAngleTarget = DECIDEGREES_TO_RADIANS(pidRcCommandToAngle(rcCommand[FD_PITCH], pidProfile()->max_angle_inclination[FD_PITCH])); pidTurnAssistant(pidState, bankAngleTarget, pitchAngleTarget); @@ -1230,7 +1270,7 @@ 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); } } @@ -1345,7 +1385,7 @@ pidBank_t * pidBankMutable(void) { bool isFixedWingLevelTrimActive(void) { - return IS_RC_MODE_ACTIVE(BOXAUTOLEVEL) && !areSticksDeflected() && + return isFwAutoModeActive(BOXAUTOLEVEL) && !areSticksDeflected() && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && !FLIGHT_MODE(SOARING_MODE) && !FLIGHT_MODE(MANUAL_MODE) && !navigationIsControllingAltitude() && !(navCheckActiveAngleHoldAxis() == FD_PITCH && !angleHoldIsLevel); @@ -1369,7 +1409,7 @@ void updateFixedWingLevelTrim(timeUs_t currentTimeUs) previousArmingState = ARMING_FLAG(ARMED); // return if not active or disarmed - if (!IS_RC_MODE_ACTIVE(BOXAUTOLEVEL) || !ARMING_FLAG(ARMED)) { + if (!isFwAutoModeActive(BOXAUTOLEVEL) || !ARMING_FLAG(ARMED)) { return; } diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h index e088ccffadf..26aeb86990d 100644 --- a/src/main/flight/pid.h +++ b/src/main/flight/pid.h @@ -121,7 +121,6 @@ typedef struct pidProfile_s { float fixedWingReferenceAirspeed; // Reference tuning airspeed for the airplane - the speed for which PID gains are tuned float fixedWingCoordinatedYawGain; // This is the gain of the yaw rate required to keep the yaw rate consistent with the turn rate for a coordinated turn. float fixedWingCoordinatedPitchGain; // This is the gain of the pitch rate to keep the pitch angle constant during coordinated turns. - float fixedWingItermLimitOnStickPosition; //Do not allow Iterm to grow when stick position is above this point uint16_t fixedWingYawItermBankFreeze; // Freeze yaw Iterm when bank angle is more than this many degrees float navVelXyDTermLpfHz; @@ -149,11 +148,19 @@ typedef struct pidProfile_s { float fixedWingLevelTrim; float fixedWingLevelTrimGain; + + uint8_t fwAltControlResponseFactor; #ifdef USE_SMITH_PREDICTOR float smithPredictorStrength; float smithPredictorDelay; uint16_t smithPredictorFilterHz; #endif + + + uint16_t fwItermLockTimeMaxMs; + uint8_t fwItermLockRateLimit; + uint8_t fwItermLockEngageThreshold; + } pidProfile_t; typedef struct pidAutotuneConfig_s { diff --git a/src/main/flight/pid_autotune.c b/src/main/flight/pid_autotune.c index af6896f4233..c4be8101bc4 100755 --- a/src/main/flight/pid_autotune.c +++ b/src/main/flight/pid_autotune.c @@ -40,6 +40,7 @@ #include "fc/config.h" #include "fc/controlrate_profile.h" #include "fc/rc_controls.h" +#include "fc/rc_modes.h" #include "fc/rc_adjustments.h" #include "fc/runtime_config.h" #include "fc/settings.h" @@ -130,7 +131,7 @@ void autotuneStart(void) void autotuneUpdateState(void) { - if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE) && STATE(AIRPLANE) && ARMING_FLAG(ARMED)) { + if (isFwAutoModeActive(BOXAUTOTUNE) && STATE(AIRPLANE) && ARMING_FLAG(ARMED)) { if (!FLIGHT_MODE(AUTO_TUNE)) { autotuneStart(); ENABLE_FLIGHT_MODE(AUTO_TUNE); @@ -202,7 +203,7 @@ void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRa if ((tuneCurrent[axis].updateCount & 25) == 0 && tuneCurrent[axis].updateCount >= AUTOTUNE_FIXED_WING_MIN_SAMPLES) { if (pidAutotuneConfig()->fw_rate_adjustment != FIXED && !FLIGHT_MODE(ANGLE_MODE)) { // Rate discovery is not possible in ANGLE mode - + // Target 80% control surface deflection to leave some room for P and I to work float pidSumTarget = (pidAutotuneConfig()->fw_max_rate_deflection / 100.0f) * pidSumLimit; diff --git a/src/main/flight/rth_estimator.c b/src/main/flight/rth_estimator.c index 708c71bd1cf..e0ca0fba20d 100644 --- a/src/main/flight/rth_estimator.c +++ b/src/main/flight/rth_estimator.c @@ -222,7 +222,7 @@ float calculateRemainingDistanceBeforeRTH(bool takeWindIntoAccount) { // check requirements const bool areBatterySettingsOK = feature(FEATURE_VBAT) && feature(FEATURE_CURRENT_METER) && batteryWasFullWhenPluggedIn(); - const bool areRTHEstimatorSettingsOK = batteryMetersConfig()->cruise_power > 0 && currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MWH &¤tBatteryProfile->capacity.value > 0 && navConfig()->fw.cruise_speed > 0; + const bool areRTHEstimatorSettingsOK = batteryMetersConfig()->cruise_power > 0 && batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MWH && currentBatteryProfile->capacity.value > 0 && navConfig()->fw.cruise_speed > 0; const bool isNavigationOK = navigationPositionEstimateIsHealthy() && isImuHeadingValid(); if (!(areBatterySettingsOK && areRTHEstimatorSettingsOK && isNavigationOK)) { diff --git a/src/main/flight/servos.c b/src/main/flight/servos.c index f38a4ea108c..e77e0788904 100755 --- a/src/main/flight/servos.c +++ b/src/main/flight/servos.c @@ -38,6 +38,8 @@ #include "drivers/pwm_output.h" #include "drivers/pwm_mapping.h" #include "drivers/time.h" +#include "drivers/gimbal_common.h" +#include "drivers/headtracker_common.h" #include "fc/config.h" #include "fc/fc_core.h" @@ -82,7 +84,7 @@ void Reset_servoMixers(servoMixer_t *instance) #ifdef USE_PROGRAMMING_FRAMEWORK ,.conditionId = -1 #endif - ); + ); } } @@ -96,7 +98,7 @@ void pgResetFn_servoParams(servoParam_t *instance) .max = DEFAULT_SERVO_MAX, .middle = DEFAULT_SERVO_MIDDLE, .rate = 100 - ); + ); } } @@ -194,7 +196,7 @@ void servosInit(void) } int getServoCount(void) -{ +{ if (mixerUsesServos) { return 1 + maxServoIndex - minServoIndex; } @@ -246,7 +248,7 @@ static void filterServos(void) void writeServos(void) { filterServos(); - + #if !defined(SITL_BUILD) int servoIndex = 0; bool zeroServoValue = false; @@ -347,6 +349,23 @@ void servoMixer(float dT) input[INPUT_RC_CH16] = GET_RX_CHANNEL_INPUT(AUX12); #undef GET_RX_CHANNEL_INPUT +#ifdef USE_HEADTRACKER + headTrackerDevice_t *dev = headTrackerCommonDevice(); + if(dev && headTrackerCommonIsValid(dev) && !IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)) { + input[INPUT_HEADTRACKER_PAN] = headTrackerCommonGetPanPWM(dev) - PWM_RANGE_MIDDLE; + input[INPUT_HEADTRACKER_TILT] = headTrackerCommonGetTiltPWM(dev) - PWM_RANGE_MIDDLE; + input[INPUT_HEADTRACKER_ROLL] = headTrackerCommonGetRollPWM(dev) - PWM_RANGE_MIDDLE; + } else { + input[INPUT_HEADTRACKER_PAN] = 0; + input[INPUT_HEADTRACKER_TILT] = 0; + input[INPUT_HEADTRACKER_ROLL] = 0; + } +#else + input[INPUT_HEADTRACKER_PAN] = 0; + input[INPUT_HEADTRACKER_TILT] = 0; + input[INPUT_HEADTRACKER_ROLL] = 0; +#endif + #ifdef USE_SIMULATOR simulatorData.input[INPUT_STABILIZED_ROLL] = input[INPUT_STABILIZED_ROLL]; simulatorData.input[INPUT_STABILIZED_PITCH] = input[INPUT_STABILIZED_PITCH]; @@ -449,7 +468,7 @@ void processServoAutotrimMode(void) static int32_t servoMiddleAccum[MAX_SUPPORTED_SERVOS]; static int32_t servoMiddleAccumCount[MAX_SUPPORTED_SERVOS]; - if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM)) { + if (isFwAutoModeActive(BOXAUTOTRIM)) { switch (trimState) { case AUTOTRIM_IDLE: if (ARMING_FLAG(ARMED)) { @@ -544,7 +563,7 @@ void processServoAutotrimMode(void) void processContinuousServoAutotrim(const float dT) { static timeMs_t lastUpdateTimeMs; - static servoAutotrimState_e trimState = AUTOTRIM_IDLE; + static servoAutotrimState_e trimState = AUTOTRIM_IDLE; static uint32_t servoMiddleUpdateCount; const float rotRateMagnitudeFiltered = pt1FilterApply4(&rotRateFilter, fast_fsqrtf(vectorNormSquared(&imuMeasuredRotationBF)), SERVO_AUTOTRIM_FILTER_CUTOFF, dT); @@ -556,16 +575,16 @@ void processContinuousServoAutotrim(const float dT) const bool planeIsFlyingStraight = rotRateMagnitudeFiltered <= DEGREES_TO_RADIANS(servoConfig()->servo_autotrim_rotation_limit); const bool noRotationCommanded = targetRateMagnitudeFiltered <= servoConfig()->servo_autotrim_rotation_limit; const bool sticksAreCentered = !areSticksDeflected(); - const bool planeIsFlyingLevel = ABS(attitude.values.pitch + DEGREES_TO_DECIDEGREES(getFixedWingLevelTrim())) <= SERVO_AUTOTRIM_ATTITUDE_LIMIT + const bool planeIsFlyingLevel = ABS(attitude.values.pitch + DEGREES_TO_DECIDEGREES(getFixedWingLevelTrim())) <= SERVO_AUTOTRIM_ATTITUDE_LIMIT && ABS(attitude.values.roll) <= SERVO_AUTOTRIM_ATTITUDE_LIMIT; if ( - planeIsFlyingStraight && - noRotationCommanded && + planeIsFlyingStraight && + noRotationCommanded && planeIsFlyingLevel && sticksAreCentered && - !FLIGHT_MODE(MANUAL_MODE) && + !FLIGHT_MODE(MANUAL_MODE) && isGPSHeadingValid() // TODO: proper flying detection - ) { + ) { // Plane is flying straight and level: trim servos for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) { // For each stabilized axis, add 5 units of I-term to all associated servo midpoints @@ -610,7 +629,7 @@ void processContinuousServoAutotrim(const float dT) DEBUG_SET(DEBUG_AUTOTRIM, 1, servoMiddleUpdateCount); DEBUG_SET(DEBUG_AUTOTRIM, 3, MAX(RADIANS_TO_DEGREES(rotRateMagnitudeFiltered), targetRateMagnitudeFiltered)); DEBUG_SET(DEBUG_AUTOTRIM, 5, axisPID_I[FD_ROLL]); - DEBUG_SET(DEBUG_AUTOTRIM, 7, axisPID_I[FD_PITCH]); + DEBUG_SET(DEBUG_AUTOTRIM, 7, axisPID_I[FD_PITCH]); } void processServoAutotrim(const float dT) { diff --git a/src/main/flight/servos.h b/src/main/flight/servos.h index 1dd65912218..d271142ece0 100644 --- a/src/main/flight/servos.h +++ b/src/main/flight/servos.h @@ -63,6 +63,9 @@ typedef enum { INPUT_GVAR_6 = 36, INPUT_GVAR_7 = 37, INPUT_MIXER_TRANSITION = 38, + INPUT_HEADTRACKER_PAN = 39, + INPUT_HEADTRACKER_TILT = 40, + INPUT_HEADTRACKER_ROLL = 41, INPUT_SOURCE_COUNT } inputSource_e; diff --git a/src/main/io/bf_osd_symbols.h b/src/main/io/bf_osd_symbols.h deleted file mode 100644 index a63b9470fb3..00000000000 --- a/src/main/io/bf_osd_symbols.h +++ /dev/null @@ -1,163 +0,0 @@ -/* @file max7456_symbols.h - * @brief max7456 symbols for the mwosd font set - * - * @author Nathan Tsoi nathan@vertile.com - * - * Copyright (C) 2016 Nathan Tsoi - * - * This program 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. - * - * This program 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 - */ - -#pragma once - -//Misc -#define BF_SYM_NONE 0x00 -#define BF_SYM_END_OF_FONT 0xFF -#define BF_SYM_BLANK 0x20 -#define BF_SYM_HYPHEN 0x2D -#define BF_SYM_BBLOG 0x10 -#define BF_SYM_HOMEFLAG 0x11 -#define BF_SYM_RPM 0x12 -#define BF_SYM_ROLL 0x14 -#define BF_SYM_PITCH 0x15 -#define BF_SYM_TEMPERATURE 0x7A - -// GPS and navigation -#define BF_SYM_LAT 0x89 -#define BF_SYM_LON 0x98 -#define BF_SYM_ALTITUDE 0x7F -#define BF_SYM_TOTAL_DISTANCE 0x71 -#define BF_SYM_OVER_HOME 0x05 - -// RSSI -#define BF_SYM_RSSI 0x01 -#define BF_SYM_LINK_QUALITY 0x7B - -// Throttle Position (%) -#define BF_SYM_THR 0x04 - -// Unit Icons (Metric) -#define BF_SYM_M 0x0C -#define BF_SYM_KM 0x7D -#define BF_SYM_C 0x0E - -// Unit Icons (Imperial) -#define BF_SYM_FT 0x0F -#define BF_SYM_MILES 0x7E -#define BF_SYM_F 0x0D - -// Heading Graphics -#define BF_SYM_HEADING_N 0x18 -#define BF_SYM_HEADING_S 0x19 -#define BF_SYM_HEADING_E 0x1A -#define BF_SYM_HEADING_W 0x1B -#define BF_SYM_HEADING_DIVIDED_LINE 0x1C -#define BF_SYM_HEADING_LINE 0x1D - -// AH Center screen Graphics -#define BF_SYM_AH_CENTER_LINE 0x72 -#define BF_SYM_AH_CENTER 0x73 -#define BF_SYM_AH_CENTER_LINE_RIGHT 0x74 -#define BF_SYM_AH_RIGHT 0x02 -#define BF_SYM_AH_LEFT 0x03 -#define BF_SYM_AH_DECORATION 0x13 - -// Satellite Graphics -#define BF_SYM_SAT_L 0x1E -#define BF_SYM_SAT_R 0x1F - -// Direction arrows -#define BF_SYM_ARROW_SOUTH 0x60 -#define BF_SYM_ARROW_2 0x61 -#define BF_SYM_ARROW_3 0x62 -#define BF_SYM_ARROW_4 0x63 -#define BF_SYM_ARROW_EAST 0x64 -#define BF_SYM_ARROW_6 0x65 -#define BF_SYM_ARROW_7 0x66 -#define BF_SYM_ARROW_8 0x67 -#define BF_SYM_ARROW_NORTH 0x68 -#define BF_SYM_ARROW_10 0x69 -#define BF_SYM_ARROW_11 0x6A -#define BF_SYM_ARROW_12 0x6B -#define BF_SYM_ARROW_WEST 0x6C -#define BF_SYM_ARROW_14 0x6D -#define BF_SYM_ARROW_15 0x6E -#define BF_SYM_ARROW_16 0x6F - -#define BF_SYM_ARROW_SMALL_UP 0x75 -#define BF_SYM_ARROW_SMALL_DOWN 0x76 - -// AH Bars -#define BF_SYM_AH_BAR9_0 0x80 -#define BF_SYM_AH_BAR9_1 0x81 -#define BF_SYM_AH_BAR9_2 0x82 -#define BF_SYM_AH_BAR9_3 0x83 -#define BF_SYM_AH_BAR9_4 0x84 -#define BF_SYM_AH_BAR9_5 0x85 -#define BF_SYM_AH_BAR9_6 0x86 -#define BF_SYM_AH_BAR9_7 0x87 -#define BF_SYM_AH_BAR9_8 0x88 - -// Progress bar -#define BF_SYM_PB_START 0x8A -#define BF_SYM_PB_FULL 0x8B -#define BF_SYM_PB_HALF 0x8C -#define BF_SYM_PB_EMPTY 0x8D -#define BF_SYM_PB_END 0x8E -#define BF_SYM_PB_CLOSE 0x8F - -// Batt evolution -#define BF_SYM_BATT_FULL 0x90 -#define BF_SYM_BATT_5 0x91 -#define BF_SYM_BATT_4 0x92 -#define BF_SYM_BATT_3 0x93 -#define BF_SYM_BATT_2 0x94 -#define BF_SYM_BATT_1 0x95 -#define BF_SYM_BATT_EMPTY 0x96 - -// Batt Icons -#define BF_SYM_MAIN_BATT 0x97 - -// Voltage and amperage -#define BF_SYM_VOLT 0x06 -#define BF_SYM_AMP 0x9A -#define BF_SYM_MAH 0x07 -#define BF_SYM_WATT 0x57 // 0x57 is 'W' - -// Time -#define BF_SYM_ON_M 0x9B -#define BF_SYM_FLY_M 0x9C - -// Speed -#define BF_SYM_SPEED 0x70 -#define BF_SYM_KPH 0x9E -#define BF_SYM_MPH 0x9D -#define BF_SYM_MPS 0x9F -#define BF_SYM_FTPS 0x99 - -// Menu cursor -#define BF_SYM_CURSOR BF_SYM_AH_LEFT - -// Stick overlays -#define BF_SYM_STICK_OVERLAY_SPRITE_HIGH 0x08 -#define BF_SYM_STICK_OVERLAY_SPRITE_MID 0x09 -#define BF_SYM_STICK_OVERLAY_SPRITE_LOW 0x0A -#define BF_SYM_STICK_OVERLAY_CENTER 0x0B -#define BF_SYM_STICK_OVERLAY_VERTICAL 0x16 -#define BF_SYM_STICK_OVERLAY_HORIZONTAL 0x17 - -// GPS degree/minute/second symbols -#define BF_SYM_GPS_DEGREE BF_SYM_STICK_OVERLAY_SPRITE_HIGH // kind of looks like the degree symbol -#define BF_SYM_GPS_MINUTE 0x27 // ' -#define BF_SYM_GPS_SECOND 0x22 // " diff --git a/src/main/io/displayport_msp_bf_compat.c b/src/main/io/displayport_msp_bf_compat.c deleted file mode 100644 index 7067ac140f5..00000000000 --- a/src/main/io/displayport_msp_bf_compat.c +++ /dev/null @@ -1,748 +0,0 @@ -/* - * 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. - * - * 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 "platform.h" - -#if defined(USE_OSD) && defined(USE_MSP_DISPLAYPORT) - -#ifndef DISABLE_MSP_BF_COMPAT - -#include "io/displayport_msp_bf_compat.h" -#include "io/bf_osd_symbols.h" -#include "drivers/osd_symbols.h" - -uint8_t getBfCharacter(uint8_t ch, uint8_t page) -{ - uint16_t ech = ch | (page << 8); - - if (ech >= 0x20 && ech <= 0x5F) { // ASCII range - return ch; - } - - if (ech >= SYM_AH_DECORATION_MIN && ech <= SYM_AH_DECORATION_MAX) { - return BF_SYM_AH_DECORATION; - } - - switch (ech) { - case SYM_RSSI: - return BF_SYM_RSSI; - - case SYM_LQ: - return BF_SYM_LINK_QUALITY; - - case SYM_LAT: - return BF_SYM_LAT; - - case SYM_LON: - return BF_SYM_LON; - - case SYM_SAT_L: - return BF_SYM_SAT_L; - - case SYM_SAT_R: - return BF_SYM_SAT_R; - - case SYM_HOME_NEAR: - return BF_SYM_HOMEFLAG; - - case SYM_DEGREES: - return BF_SYM_GPS_DEGREE; - -/* - case SYM_HEADING: - return BF_SYM_HEADING; - - case SYM_SCALE: - return BF_SYM_SCALE; - - case SYM_HDP_L: - return BF_SYM_HDP_L; - - case SYM_HDP_R: - return BF_SYM_HDP_R; -*/ - case SYM_HOME: - return BF_SYM_HOMEFLAG; - - case SYM_2RSS: - return BF_SYM_RSSI; - -/* - case SYM_DB: - return BF_SYM_DB - - case SYM_DBM: - return BF_SYM_DBM; - - case SYM_SNR: - return BF_SYM_SNR; - - case SYM_AH_DECORATION_UP: - return BF_SYM_AH_DECORATION_UP; - - case SYM_AH_DECORATION_DOWN: - return BF_SYM_AH_DECORATION_DOWN; -*/ - case SYM_DIRECTION: - return BF_SYM_ARROW_NORTH; - - case SYM_DIRECTION + 1: // NE pointing arrow - return BF_SYM_ARROW_7; - - case SYM_DIRECTION + 2: // E pointing arrow - return BF_SYM_ARROW_EAST; - - case SYM_DIRECTION + 3: // SE pointing arrow - return BF_SYM_ARROW_3; - - case SYM_DIRECTION + 4: // S pointing arrow - return BF_SYM_ARROW_SOUTH; - - case SYM_DIRECTION + 5: // SW pointing arrow - return BF_SYM_ARROW_15; - - case SYM_DIRECTION + 6: // W pointing arrow - return BF_SYM_ARROW_WEST; - - case SYM_DIRECTION + 7: // NW pointing arrow - return BF_SYM_ARROW_11; - - case SYM_VOLT: - return BF_SYM_VOLT; - - case SYM_MAH: - return BF_SYM_MAH; - - case SYM_AH_KM: - return BF_SYM_KM; - - case SYM_AH_MI: - return BF_SYM_MILES; -/* - case SYM_VTX_POWER: - return BF_SYM_VTX_POWER; - - case SYM_AH_NM: - return BF_SYM_AH_NM; - - case SYM_MAH_NM_0: - return BF_SYM_MAH_NM_0; - - case SYM_MAH_NM_1: - return BF_SYM_MAH_NM_1; - - case SYM_MAH_KM_0: - return BF_SYM_MAH_KM_0; - - case SYM_MAH_KM_1: - return BF_SYM_MAH_KM_1; - - case SYM_MILLIOHM: - return BF_SYM_MILLIOHM; -*/ - case SYM_BATT_FULL: - return BF_SYM_BATT_FULL; - - case SYM_BATT_5: - return BF_SYM_BATT_5; - - case SYM_BATT_4: - return BF_SYM_BATT_4; - - case SYM_BATT_3: - return BF_SYM_BATT_3; - - case SYM_BATT_2: - return BF_SYM_BATT_2; - - case SYM_BATT_1: - return BF_SYM_BATT_1; - - case SYM_BATT_EMPTY: - return BF_SYM_BATT_EMPTY; - - case SYM_AMP: - return BF_SYM_AMP; -/* - case SYM_WH: - return BF_SYM_WH; - - case SYM_WH_KM: - return BF_SYM_WH_KM; - - case SYM_WH_MI: - return BF_SYM_WH_MI; - - case SYM_WH_NM: - return BF_SYM_WH_NM; -*/ - case SYM_WATT: - return BF_SYM_WATT; -/* - case SYM_MW: - return BF_SYM_MW; - - case SYM_KILOWATT: - return BF_SYM_KILOWATT; -*/ - case SYM_FT: - return BF_SYM_FT; - - case SYM_ALT_FT: - return BF_SYM_FT; - - case SYM_ALT_M: - return BF_SYM_M; - - case SYM_TOTAL: - return BF_SYM_TOTAL_DISTANCE; -/* - case SYM_ALT_KM: - return BF_SYM_ALT_KM; - - case SYM_ALT_KFT: - return BF_SYM_ALT_KFT; - - case SYM_DIST_M: - return BF_SYM_DIST_M; - - case SYM_DIST_KM: - return BF_SYM_DIST_KM; - - case SYM_DIST_FT: - return BF_SYM_DIST_FT; - - case SYM_DIST_MI: - return BF_SYM_DIST_MI; - - case SYM_DIST_NM: - return BF_SYM_DIST_NM; -*/ - case SYM_M: - return BF_SYM_M; - - case SYM_KM: - return BF_SYM_KM; - - case SYM_MI: - return BF_SYM_MILES; -/* - case SYM_NM: - return BF_SYM_NM; -*/ - case SYM_WIND_HORIZONTAL: - return 'W'; // W for wind - -/* - case SYM_WIND_VERTICAL: - return BF_SYM_WIND_VERTICAL; - - case SYM_3D_KT: - return BF_SYM_3D_KT; -*/ - case SYM_AIR: - return 'A'; // A for airspeed - - case SYM_3D_KMH: - return BF_SYM_KPH; - - case SYM_3D_MPH: - return BF_SYM_MPH; - - case SYM_RPM: - return BF_SYM_RPM; - - case SYM_FTS: - return BF_SYM_FTPS; -/* - case SYM_100FTM: - return BF_SYM_100FTM; -*/ - case SYM_MS: - return BF_SYM_MPS; - - case SYM_KMH: - return BF_SYM_KPH; - - case SYM_MPH: - return BF_SYM_MPH; -/* - case SYM_KT: - return BF_SYM_KT - - case SYM_MAH_MI_0: - return BF_SYM_MAH_MI_0; - - case SYM_MAH_MI_1: - return BF_SYM_MAH_MI_1; -*/ - case SYM_THR: - return BF_SYM_THR; - - case SYM_TEMP_F: - return BF_SYM_F; - - case SYM_TEMP_C: - return BF_SYM_C; - - case SYM_BLANK: - return BF_SYM_BLANK; -/* - case SYM_ON_H: - return BF_SYM_ON_H; - - case SYM_FLY_H: - return BF_SYM_FLY_H; -*/ - case SYM_ON_M: - return BF_SYM_ON_M; - - case SYM_FLY_M: - return BF_SYM_FLY_M; -/* - case SYM_GLIDESLOPE: - return BF_SYM_GLIDESLOPE; - - case SYM_WAYPOINT: - return BF_SYM_WAYPOINT; - - case SYM_CLOCK: - return BF_SYM_CLOCK; - - case SYM_ZERO_HALF_TRAILING_DOT: - return BF_SYM_ZERO_HALF_TRAILING_DOT; - - case SYM_ZERO_HALF_LEADING_DOT: - return BF_SYM_ZERO_HALF_LEADING_DOT; - - case SYM_AUTO_THR0: - return BF_SYM_AUTO_THR0; - - case SYM_AUTO_THR1: - return BF_SYM_AUTO_THR1; - - case SYM_ROLL_LEFT: - return BF_SYM_ROLL_LEFT; - - case SYM_ROLL_LEVEL: - return BF_SYM_ROLL_LEVEL; - - case SYM_ROLL_RIGHT: - return BF_SYM_ROLL_RIGHT; - - case SYM_PITCH_UP: - return BF_SYM_PITCH_UP; - - case SYM_PITCH_DOWN: - return BF_SYM_PITCH_DOWN; - */ - - case SYM_GFORCE: - return 'G'; - -/* - case SYM_GFORCE_X: - return BF_SYM_GFORCE_X; - - case SYM_GFORCE_Y: - return BF_SYM_GFORCE_Y; - - case SYM_GFORCE_Z: - return BF_SYM_GFORCE_Z; - - case SYM_BARO_TEMP: - return BF_SYM_BARO_TEMP; - - case SYM_IMU_TEMP: - return BF_SYM_IMU_TEMP; - - case SYM_TEMP: - return BF_SYM_TEMP; - - case SYM_TEMP_SENSOR_FIRST: - return BF_SYM_TEMP_SENSOR_FIRST; - - case SYM_ESC_TEMP: - return BF_SYM_ESC_TEMP; - - case SYM_TEMP_SENSOR_LAST: - return BF_SYM_TEMP_SENSOR_LAST; - - case TEMP_SENSOR_SYM_COUNT: - return BF_TEMP_SENSOR_SYM_COUNT; -*/ - case SYM_HEADING_N: - return BF_SYM_HEADING_N; - - case SYM_HEADING_S: - return BF_SYM_HEADING_S; - - case SYM_HEADING_E: - return BF_SYM_HEADING_E; - - case SYM_HEADING_W: - return BF_SYM_HEADING_W; - - case SYM_HEADING_DIVIDED_LINE: - return BF_SYM_HEADING_DIVIDED_LINE; - - case SYM_HEADING_LINE: - return BF_SYM_HEADING_LINE; -/* - case SYM_MAX: - return BF_SYM_MAX; - - case SYM_PROFILE: - return BF_SYM_PROFILE; - - case SYM_SWITCH_INDICATOR_LOW: - return BF_SYM_SWITCH_INDICATOR_LOW; - - case SYM_SWITCH_INDICATOR_MID: - return BF_SYM_SWITCH_INDICATOR_MID; - - case SYM_SWITCH_INDICATOR_HIGH: - return BF_SYM_SWITCH_INDICATOR_HIGH; - - case SYM_AH: - return BF_SYM_AH; - - case SYM_GLIDE_DIST: - return BF_SYM_GLIDE_DIST; - - case SYM_GLIDE_MINS: - return BF_SYM_GLIDE_MINS; - - case SYM_AH_V_FT_0: - return BF_SYM_AH_V_FT_0; - - case SYM_AH_V_FT_1: - return BF_SYM_AH_V_FT_1; - - case SYM_AH_V_M_0: - return BF_SYM_AH_V_M_0; - - case SYM_AH_V_M_1: - return BF_SYM_AH_V_M_1; - - case SYM_FLIGHT_MINS_REMAINING: - return BF_SYM_FLIGHT_MINS_REMAINING; - - case SYM_FLIGHT_HOURS_REMAINING: - return BF_SYM_FLIGHT_HOURS_REMAINING; - - case SYM_GROUND_COURSE: - return BF_SYM_GROUND_COURSE; - - case SYM_CROSS_TRACK_ERROR: - return BF_SYM_CROSS_TRACK_ERROR; - - case SYM_LOGO_START: - return BF_SYM_LOGO_START; - - case SYM_LOGO_WIDTH: - return BF_SYM_LOGO_WIDTH; - - case SYM_LOGO_HEIGHT: - return BF_SYM_LOGO_HEIGHT; -*/ - case SYM_AH_LEFT: - return BF_SYM_AH_LEFT; - - case SYM_AH_RIGHT: - return BF_SYM_AH_RIGHT; - -/* - case SYM_AH_DECORATION_COUNT: - return BF_SYM_AH_DECORATION_COUNT; -*/ - case SYM_AH_CH_LEFT: - case SYM_AH_CH_TYPE3: - case SYM_AH_CH_TYPE4: - case SYM_AH_CH_TYPE5: - case SYM_AH_CH_TYPE6: - case SYM_AH_CH_TYPE7: - case SYM_AH_CH_TYPE8: - case SYM_AH_CH_AIRCRAFT1: - return BF_SYM_AH_CENTER_LINE; - - case SYM_AH_CH_RIGHT: - case (SYM_AH_CH_TYPE3+2): - case (SYM_AH_CH_TYPE4+2): - case (SYM_AH_CH_TYPE5+2): - case (SYM_AH_CH_TYPE6+2): - case (SYM_AH_CH_TYPE7+2): - case (SYM_AH_CH_TYPE8+2): - case SYM_AH_CH_AIRCRAFT3: - return BF_SYM_AH_CENTER_LINE_RIGHT; - - case SYM_AH_CH_AIRCRAFT0: - case SYM_AH_CH_AIRCRAFT4: - return ' '; - - case SYM_ARROW_UP: - return BF_SYM_ARROW_NORTH; - - case SYM_ARROW_2: - return BF_SYM_ARROW_8; - - case SYM_ARROW_3: - return BF_SYM_ARROW_7; - - case SYM_ARROW_4: - return BF_SYM_ARROW_6; - - case SYM_ARROW_RIGHT: - return BF_SYM_ARROW_EAST; - - case SYM_ARROW_6: - return BF_SYM_ARROW_4; - - case SYM_ARROW_7: - return BF_SYM_ARROW_3; - - case SYM_ARROW_8: - return BF_SYM_ARROW_2; - - case SYM_ARROW_DOWN: - return BF_SYM_ARROW_SOUTH; - - case SYM_ARROW_10: - return BF_SYM_ARROW_16; - - case SYM_ARROW_11: - return BF_SYM_ARROW_15; - - case SYM_ARROW_12: - return BF_SYM_ARROW_14; - - case SYM_ARROW_LEFT: - return BF_SYM_ARROW_WEST; - - case SYM_ARROW_14: - return BF_SYM_ARROW_12; - - case SYM_ARROW_15: - return BF_SYM_ARROW_11; - - case SYM_ARROW_16: - return BF_SYM_ARROW_10; - - case SYM_AH_H_START: - return BF_SYM_AH_BAR9_0; - - case (SYM_AH_H_START+1): - return BF_SYM_AH_BAR9_1; - - case (SYM_AH_H_START+2): - return BF_SYM_AH_BAR9_2; - - case (SYM_AH_H_START+3): - return BF_SYM_AH_BAR9_3; - - case (SYM_AH_H_START+4): - return BF_SYM_AH_BAR9_4; - - case (SYM_AH_H_START+5): - return BF_SYM_AH_BAR9_5; - - case (SYM_AH_H_START+6): - return BF_SYM_AH_BAR9_6; - - case (SYM_AH_H_START+7): - return BF_SYM_AH_BAR9_7; - - case (SYM_AH_H_START+8): - return BF_SYM_AH_BAR9_8; - - // BF does not have vertical artificial horizon. replace with middle horizontal one - case SYM_AH_V_START: - case (SYM_AH_V_START+1): - case (SYM_AH_V_START+2): - case (SYM_AH_V_START+3): - case (SYM_AH_V_START+4): - case (SYM_AH_V_START+5): - return BF_SYM_AH_BAR9_4; - - // BF for ESP_RADAR Symbols - case SYM_HUD_CARDINAL: - return BF_SYM_ARROW_SOUTH; - case SYM_HUD_CARDINAL + 1: - return BF_SYM_ARROW_16; - case SYM_HUD_CARDINAL + 2: - return BF_SYM_ARROW_15; - case SYM_HUD_CARDINAL + 3: - return BF_SYM_ARROW_WEST; - case SYM_HUD_CARDINAL + 4: - return BF_SYM_ARROW_12; - case SYM_HUD_CARDINAL + 5: - return BF_SYM_ARROW_11; - case SYM_HUD_CARDINAL + 6: - return BF_SYM_ARROW_NORTH; - case SYM_HUD_CARDINAL + 7: - return BF_SYM_ARROW_7; - case SYM_HUD_CARDINAL + 8: - return BF_SYM_ARROW_6; - case SYM_HUD_CARDINAL + 9: - return BF_SYM_ARROW_EAST; - case SYM_HUD_CARDINAL + 10: - return BF_SYM_ARROW_3; - case SYM_HUD_CARDINAL + 11: - return BF_SYM_ARROW_2; - - case SYM_HUD_ARROWS_R3: - return BF_SYM_AH_RIGHT; - case SYM_HUD_ARROWS_L3: - return BF_SYM_AH_LEFT; - - case SYM_HUD_SIGNAL_0: - return BF_SYM_AH_BAR9_1; - case SYM_HUD_SIGNAL_1: - return BF_SYM_AH_BAR9_3; - case SYM_HUD_SIGNAL_2: - return BF_SYM_AH_BAR9_4; - case SYM_HUD_SIGNAL_3: - return BF_SYM_AH_BAR9_5; - case SYM_HUD_SIGNAL_4: - return BF_SYM_AH_BAR9_7; -/* - case SYM_VARIO_UP_2A: - return BF_SYM_VARIO_UP_2A; - - case SYM_VARIO_UP_1A: - return BF_SYM_VARIO_UP_1A; - - case SYM_VARIO_DOWN_1A: - return BF_SYM_VARIO_DOWN_1A; - - case SYM_VARIO_DOWN_2A: - return BF_SYM_VARIO_DOWN_2A; -*/ - case SYM_ALT: - return BF_SYM_ALTITUDE; -/* - case SYM_HUD_SIGNAL_0: - return BF_SYM_HUD_SIGNAL_0; - - case SYM_HUD_SIGNAL_1: - return BF_SYM_HUD_SIGNAL_1; - - case SYM_HUD_SIGNAL_2: - return BF_SYM_HUD_SIGNAL_2; - - case SYM_HUD_SIGNAL_3: - return BF_SYM_HUD_SIGNAL_3; - - case SYM_HUD_SIGNAL_4: - return BF_SYM_HUD_SIGNAL_4; - - case SYM_HOME_DIST: - return BF_SYM_HOME_DIST; -*/ - - case SYM_AH_CH_CENTER: - case (SYM_AH_CH_TYPE3+1): - case (SYM_AH_CH_TYPE4+1): - case (SYM_AH_CH_TYPE5+1): - case (SYM_AH_CH_TYPE6+1): - case (SYM_AH_CH_TYPE7+1): - case (SYM_AH_CH_TYPE8+1): - case SYM_AH_CH_AIRCRAFT2: - return BF_SYM_AH_CENTER; -/* - case SYM_FLIGHT_DIST_REMAINING: - return BF_SYM_FLIGHT_DIST_REMAINING; - - case SYM_AH_CH_TYPE3: - return BF_SYM_AH_CH_TYPE3; - - case SYM_AH_CH_TYPE4: - return BF_SYM_AH_CH_TYPE4; - - case SYM_AH_CH_TYPE5: - return BF_SYM_AH_CH_TYPE5; - - case SYM_AH_CH_TYPE6: - return BF_SYM_AH_CH_TYPE6; - - case SYM_AH_CH_TYPE7: - return BF_SYM_AH_CH_TYPE7; - - case SYM_AH_CH_TYPE8: - return BF_SYM_AH_CH_TYPE8; - - case SYM_AH_CH_AIRCRAFT0: - return BF_SYM_AH_CH_AIRCRAFT0; - - case SYM_AH_CH_AIRCRAFT1: - return BF_SYM_AH_CH_AIRCRAFT1; - - case SYM_AH_CH_AIRCRAFT2: - return BF_SYM_AH_CH_AIRCRAFT2; - - case SYM_AH_CH_AIRCRAFT3: - return BF_SYM_AH_CH_AIRCRAFT3; - - case SYM_AH_CH_AIRCRAFT4: - return BF_SYM_AH_CH_AIRCRAFT4; - - case SYM_HUD_ARROWS_L1: - return BF_SYM_HUD_ARROWS_L1; - - case SYM_HUD_ARROWS_L2: - return BF_SYM_HUD_ARROWS_L2; - - case SYM_HUD_ARROWS_L3: - return BF_SYM_HUD_ARROWS_L3; - - case SYM_HUD_ARROWS_R1: - return BF_SYM_HUD_ARROWS_R1; - - case SYM_HUD_ARROWS_R2: - return BF_SYM_HUD_ARROWS_R2; - - case SYM_HUD_ARROWS_R3: - return BF_SYM_HUD_ARROWS_R3; - - case SYM_HUD_ARROWS_U1: - return BF_SYM_HUD_ARROWS_U1; - - case SYM_HUD_ARROWS_U2: - return BF_SYM_HUD_ARROWS_U2; - - case SYM_HUD_ARROWS_U3: - return BF_SYM_HUD_ARROWS_U3; - - case SYM_HUD_ARROWS_D1: - return BF_SYM_HUD_ARROWS_D1; - - case SYM_HUD_ARROWS_D2: - return BF_SYM_HUD_ARROWS_D2; - - case SYM_HUD_ARROWS_D3: - return BF_SYM_HUD_ARROWS_D3; -*/ - default: - break; - } - - return '?'; // Missing/not mapped character -} - -#endif - -#endif diff --git a/src/main/io/displayport_msp_dji_compat.c b/src/main/io/displayport_msp_dji_compat.c new file mode 100644 index 00000000000..fbd7445f650 --- /dev/null +++ b/src/main/io/displayport_msp_dji_compat.c @@ -0,0 +1,732 @@ +/* + * 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. + * + * 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 "platform.h" + +#if defined(USE_OSD) && defined(USE_MSP_DISPLAYPORT) + +#ifndef DISABLE_MSP_DJI_COMPAT + +#include "io/displayport_msp_dji_compat.h" +#include "io/dji_osd_symbols.h" +#include "drivers/osd_symbols.h" + +uint8_t getDJICharacter(uint8_t ch, uint8_t page) +{ + uint16_t ech = ch | ((page & 0x3)<< 8) ; + + if (ech >= 0x20 && ech <= 0x5F) { // ASCII range + return ch; + } + + if (ech >= SYM_AH_DECORATION_MIN && ech <= SYM_AH_DECORATION_MAX) { + return DJI_SYM_AH_DECORATION; + } + + switch (ech) { + case SYM_RSSI: + return DJI_SYM_RSSI; + + case SYM_LQ: + return 'Q'; + + case SYM_LAT: + return DJI_SYM_LAT; + + case SYM_LON: + return DJI_SYM_LON; + + case SYM_SAT_L: + return DJI_SYM_SAT_L; + + case SYM_SAT_R: + return DJI_SYM_SAT_R; + + case SYM_HOME_NEAR: + return DJI_SYM_HOMEFLAG; + + case SYM_DEGREES: + return DJI_SYM_GPS_DEGREE; + +/* + case SYM_HEADING: + return DJI_SYM_HEADING; + + case SYM_SCALE: + return DJI_SYM_SCALE; + + case SYM_HDP_L: + return DJI_SYM_HDP_L; + + case SYM_HDP_R: + return DJI_SYM_HDP_R; +*/ + case SYM_HOME: + return DJI_SYM_HOMEFLAG; + + case SYM_2RSS: + return DJI_SYM_RSSI; + +/* + case SYM_DB: + return DJI_SYM_DB + + case SYM_DBM: + return DJI_SYM_DBM; + + case SYM_SNR: + return DJI_SYM_SNR; +*/ + + case SYM_AH_DECORATION_UP: + return DJI_SYM_ARROW_SMALL_UP; + + case SYM_AH_DECORATION_DOWN: + return DJI_SYM_ARROW_SMALL_DOWN; + + case SYM_DECORATION: + return DJI_SYM_ARROW_SMALL_UP; + + case SYM_DECORATION + 1: // NE pointing arrow + return DJI_SYM_ARROW_7; + + case SYM_DECORATION + 2: // E pointing arrow + return DJI_SYM_ARROW_EAST; + + case SYM_DECORATION + 3: // SE pointing arrow + return DJI_SYM_ARROW_3; + + case SYM_DECORATION + 4: // S pointing arrow + return DJI_SYM_ARROW_SOUTH; + + case SYM_DECORATION + 5: // SW pointing arrow + return DJI_SYM_ARROW_15; + + case SYM_DECORATION + 6: // W pointing arrow + return DJI_SYM_ARROW_WEST; + + case SYM_DECORATION + 7: // NW pointing arrow + return DJI_SYM_ARROW_11; + + case SYM_VOLT: + return DJI_SYM_VOLT; + + case SYM_MAH: + return DJI_SYM_MAH; + + case SYM_AH_KM: + return 'K'; + + case SYM_AH_MI: + return 'M'; +/* + case SYM_VTX_POWER: + return DJI_SYM_VTX_POWER; + + case SYM_AH_NM: + return DJI_SYM_AH_NM; + + case SYM_MAH_NM_0: + return DJI_SYM_MAH_NM_0; + + case SYM_MAH_NM_1: + return DJI_SYM_MAH_NM_1; + + case SYM_MAH_KM_0: + return DJI_SYM_MAH_KM_0; + + case SYM_MAH_KM_1: + return DJI_SYM_MAH_KM_1; + + case SYM_MILLIOHM: + return DJI_SYM_MILLIOHM; +*/ + case SYM_BATT_FULL: + return DJI_SYM_BATT_FULL; + + case SYM_BATT_5: + return DJI_SYM_BATT_5; + + case SYM_BATT_4: + return DJI_SYM_BATT_4; + + case SYM_BATT_3: + return DJI_SYM_BATT_3; + + case SYM_BATT_2: + return DJI_SYM_BATT_2; + + case SYM_BATT_1: + return DJI_SYM_BATT_1; + + case SYM_BATT_EMPTY: + return DJI_SYM_BATT_EMPTY; + + case SYM_AMP: + return DJI_SYM_AMP; +/* + case SYM_WH: + return DJI_SYM_WH; + + case SYM_WH_KM: + return DJI_SYM_WH_KM; + + case SYM_WH_MI: + return DJI_SYM_WH_MI; + + case SYM_WH_NM: + return DJI_SYM_WH_NM; +*/ + case SYM_WATT: + return DJI_SYM_WATT; +/* + case SYM_MW: + return DJI_SYM_MW; + + case SYM_KILOWATT: + return DJI_SYM_KILOWATT; +*/ + case SYM_FT: + return DJI_SYM_FT; + + case SYM_ALT_FT: + return DJI_SYM_FT; + + case SYM_ALT_M: + return DJI_SYM_M; + + case SYM_TOTAL: + return DJI_SYM_FLY_H; +/* + + case SYM_ALT_KM: + return DJI_SYM_ALT_KM; + + case SYM_ALT_KFT: + return DJI_SYM_ALT_KFT; + + case SYM_DIST_M: + return DJI_SYM_DIST_M; + + case SYM_DIST_KM: + return DJI_SYM_DIST_KM; + + case SYM_DIST_FT: + return DJI_SYM_DIST_FT; + + case SYM_DIST_MI: + return DJI_SYM_DIST_MI; + + case SYM_DIST_NM: + return DJI_SYM_DIST_NM; +*/ + case SYM_M: + return DJI_SYM_M; + + case SYM_KM: + return 'K'; + + case SYM_MI: + return 'M'; +/* + case SYM_NM: + return DJI_SYM_NM; +*/ + case SYM_WIND_HORIZONTAL: + return 'W'; // W for wind + +/* + case SYM_WIND_VERTICAL: + return DJI_SYM_WIND_VERTICAL; + + case SYM_3D_KT: + return DJI_SYM_3D_KT; +*/ + case SYM_AIR: + return 'A'; // A for airspeed + + case SYM_3D_KMH: + return DJI_SYM_KPH; + + case SYM_3D_MPH: + return DJI_SYM_MPH; + + case SYM_RPM: + return DJI_SYM_RPM; + + case SYM_FTS: + return DJI_SYM_FTPS; +/* + case SYM_100FTM: + return DJI_SYM_100FTM; +*/ + case SYM_MS: + return DJI_SYM_MPS; + + case SYM_KMH: + return DJI_SYM_KPH; + + case SYM_MPH: + return DJI_SYM_MPH; +/* + case SYM_KT: + return DJI_SYM_KT + + case SYM_MAH_MI_0: + return DJI_SYM_MAH_MI_0; + + case SYM_MAH_MI_1: + return DJI_SYM_MAH_MI_1; +*/ + case SYM_THR: + return DJI_SYM_THR; + + case SYM_TEMP_F: + return DJI_SYM_F; + + case SYM_TEMP_C: + return DJI_SYM_C; + + case SYM_BLANK: + return DJI_SYM_BLANK; + + case SYM_ON_H: + return DJI_SYM_ON_H; + + case SYM_FLY_H: + return DJI_SYM_FLY_H; + + case SYM_ON_M: + return DJI_SYM_ON_M; + + case SYM_FLY_M: + return DJI_SYM_FLY_M; +/* + case SYM_GLIDESLOPE: + return DJI_SYM_GLIDESLOPE; + + case SYM_WAYPOINT: + return DJI_SYM_WAYPOINT; + + case SYM_CLOCK: + return DJI_SYM_CLOCK; + + case SYM_ZERO_HALF_TRAILING_DOT: + return DJI_SYM_ZERO_HALF_TRAILING_DOT; + + case SYM_ZERO_HALF_LEADING_DOT: + return DJI_SYM_ZERO_HALF_LEADING_DOT; +*/ + + case SYM_AUTO_THR0: + return 'A'; + + case SYM_AUTO_THR1: + return DJI_SYM_THR; + + case SYM_ROLL_LEFT: + return DJI_SYM_ROLL; + + case SYM_ROLL_LEVEL: + return DJI_SYM_ROLL; + + case SYM_ROLL_RIGHT: + return DJI_SYM_ROLL; + + case SYM_PITCH_UP: + return DJI_SYM_PITCH; + + case SYM_PITCH_DOWN: + return DJI_SYM_PITCH; + + case SYM_GFORCE: + return 'G'; + +/* + case SYM_GFORCE_X: + return DJI_SYM_GFORCE_X; + + case SYM_GFORCE_Y: + return DJI_SYM_GFORCE_Y; + + case SYM_GFORCE_Z: + return DJI_SYM_GFORCE_Z; +*/ + case SYM_BARO_TEMP: + return DJI_SYM_TEMPERATURE; + + case SYM_IMU_TEMP: + return DJI_SYM_TEMPERATURE; + + case SYM_TEMP: + return DJI_SYM_TEMPERATURE; + + case SYM_ESC_TEMP: + return DJI_SYM_TEMPERATURE; +/* + case SYM_TEMP_SENSOR_FIRST: + return DJI_SYM_TEMP_SENSOR_FIRST; + + case SYM_TEMP_SENSOR_LAST: + return DJI_SYM_TEMP_SENSOR_LAST; + + case TEMP_SENSOR_SYM_COUNT: + return DJI_TEMP_SENSOR_SYM_COUNT; +*/ + case SYM_HEADING_N: + return DJI_SYM_HEADING_N; + + case SYM_HEADING_S: + return DJI_SYM_HEADING_S; + + case SYM_HEADING_E: + return DJI_SYM_HEADING_E; + + case SYM_HEADING_W: + return DJI_SYM_HEADING_W; + + case SYM_HEADING_DIVIDED_LINE: + return DJI_SYM_HEADING_DIVIDED_LINE; + + case SYM_HEADING_LINE: + return DJI_SYM_HEADING_LINE; + + case SYM_MAX: + return DJI_SYM_MAX; +/* + case SYM_PROFILE: + return DJI_SYM_PROFILE; +*/ + case SYM_SWITCH_INDICATOR_LOW: + return DJI_SYM_STICK_OVERLAY_SPRITE_LOW; + + case SYM_SWITCH_INDICATOR_MID: + return DJI_SYM_STICK_OVERLAY_SPRITE_MID; + + case SYM_SWITCH_INDICATOR_HIGH: + return DJI_SYM_STICK_OVERLAY_SPRITE_HIGH; +/* + case SYM_AH: + return DJI_SYM_AH; + + case SYM_GLIDE_DIST: + return DJI_SYM_GLIDE_DIST; + + case SYM_GLIDE_MINS: + return DJI_SYM_GLIDE_MINS; + + case SYM_AH_V_FT_0: + return DJI_SYM_AH_V_FT_0; + + case SYM_AH_V_FT_1: + return DJI_SYM_AH_V_FT_1; + + case SYM_AH_V_M_0: + return DJI_SYM_AH_V_M_0; + + case SYM_AH_V_M_1: + return DJI_SYM_AH_V_M_1; + + case SYM_FLIGHT_MINS_REMAINING: + return DJI_SYM_FLIGHT_MINS_REMAINING; + + case SYM_FLIGHT_HOURS_REMAINING: + return DJI_SYM_FLIGHT_HOURS_REMAINING; + + case SYM_GROUND_COURSE: + return DJI_SYM_GROUND_COURSE; + + case SYM_CROSS_TRACK_ERROR: + return DJI_SYM_CROSS_TRACK_ERROR; + + case SYM_LOGO_START: + return DJI_SYM_LOGO_START; + + case SYM_LOGO_WIDTH: + return DJI_SYM_LOGO_WIDTH; + + case SYM_LOGO_HEIGHT: + return DJI_SYM_LOGO_HEIGHT; +*/ + case SYM_AH_LEFT: + return DJI_SYM_AH_LEFT; + + case SYM_AH_RIGHT: + return DJI_SYM_AH_RIGHT; +/* + case SYM_AH_DECORATION_COUNT: + return DJI_SYM_AH_DECORATION_COUNT; +*/ + case SYM_AH_CH_LEFT: + case SYM_AH_CH_AIRCRAFT1: + return DJI_SYM_CROSSHAIR_LEFT; + case SYM_AH_CH_CENTER: + case SYM_AH_CH_AIRCRAFT2: + return DJI_SYM_CROSSHAIR_CENTRE; + case SYM_AH_CH_RIGHT: + case SYM_AH_CH_AIRCRAFT3: + return DJI_SYM_CROSSHAIR_RIGHT; + + case SYM_AH_CH_AIRCRAFT0: + case SYM_AH_CH_AIRCRAFT4: + return DJI_SYM_BLANK; + + case SYM_AH_CH_TYPE3: + return DJI_SYM_NONE; + case (SYM_AH_CH_TYPE3+1): + return DJI_SYM_SMALL_CROSSHAIR; + case (SYM_AH_CH_TYPE3+2): + return DJI_SYM_NONE; + + case SYM_AH_CH_TYPE4: + return DJI_SYM_HYPHEN; + case (SYM_AH_CH_TYPE4+1): + return DJI_SYM_SMALL_CROSSHAIR; + case (SYM_AH_CH_TYPE4+2): + return DJI_SYM_HYPHEN; + + case SYM_AH_CH_TYPE5: + return DJI_SYM_STICK_OVERLAY_HORIZONTAL; + case (SYM_AH_CH_TYPE5+1): + return DJI_SYM_SMALL_CROSSHAIR; + case (SYM_AH_CH_TYPE5+2): + return DJI_SYM_STICK_OVERLAY_HORIZONTAL; + + case SYM_AH_CH_TYPE6: + return DJI_SYM_NONE; + case (SYM_AH_CH_TYPE6+1): + return DJI_SYM_STICK_OVERLAY_SPRITE_MID; + case (SYM_AH_CH_TYPE6+2): + return DJI_SYM_NONE; + + case SYM_AH_CH_TYPE7: + return DJI_SYM_ARROW_SMALL_LEFT; + case (SYM_AH_CH_TYPE7+1): + return DJI_SYM_SMALL_CROSSHAIR; + case (SYM_AH_CH_TYPE7+2): + return DJI_SYM_ARROW_SMALL_RIGHT; + + case SYM_AH_CH_TYPE8: + return DJI_SYM_AH_LEFT; + case (SYM_AH_CH_TYPE8+1): + return DJI_SYM_SMALL_CROSSHAIR; + case (SYM_AH_CH_TYPE8+2): + return DJI_SYM_AH_RIGHT; + + case SYM_ARROW_UP: + return DJI_SYM_ARROW_NORTH; + + case SYM_ARROW_2: + return DJI_SYM_ARROW_8; + + case SYM_ARROW_3: + return DJI_SYM_ARROW_7; + + case SYM_ARROW_4: + return DJI_SYM_ARROW_6; + + case SYM_ARROW_RIGHT: + return DJI_SYM_ARROW_EAST; + + case SYM_ARROW_6: + return DJI_SYM_ARROW_4; + + case SYM_ARROW_7: + return DJI_SYM_ARROW_3; + + case SYM_ARROW_8: + return DJI_SYM_ARROW_2; + + case SYM_ARROW_DOWN: + return DJI_SYM_ARROW_SOUTH; + + case SYM_ARROW_10: + return DJI_SYM_ARROW_16; + + case SYM_ARROW_11: + return DJI_SYM_ARROW_15; + + case SYM_ARROW_12: + return DJI_SYM_ARROW_14; + + case SYM_ARROW_LEFT: + return DJI_SYM_ARROW_WEST; + + case SYM_ARROW_14: + return DJI_SYM_ARROW_12; + + case SYM_ARROW_15: + return DJI_SYM_ARROW_11; + + case SYM_ARROW_16: + return DJI_SYM_ARROW_10; + + case SYM_AH_H_START: + return DJI_SYM_AH_BAR9_0; + + case (SYM_AH_H_START+1): + return DJI_SYM_AH_BAR9_1; + + case (SYM_AH_H_START+2): + return DJI_SYM_AH_BAR9_2; + + case (SYM_AH_H_START+3): + return DJI_SYM_AH_BAR9_3; + + case (SYM_AH_H_START+4): + return DJI_SYM_AH_BAR9_4; + + case (SYM_AH_H_START+5): + return DJI_SYM_AH_BAR9_5; + + case (SYM_AH_H_START+6): + return DJI_SYM_AH_BAR9_6; + + case (SYM_AH_H_START+7): + return DJI_SYM_AH_BAR9_7; + + case (SYM_AH_H_START+8): + return DJI_SYM_AH_BAR9_8; + + // DJI does not have vertical artificial horizon. replace with middle horizontal one + case SYM_AH_V_START: + case (SYM_AH_V_START+1): + case (SYM_AH_V_START+2): + case (SYM_AH_V_START+3): + case (SYM_AH_V_START+4): + case (SYM_AH_V_START+5): + return DJI_SYM_AH_BAR9_4; + + // DJI for ESP_RADAR Symbols + case SYM_HUD_CARDINAL: + return DJI_SYM_ARROW_SOUTH; + case SYM_HUD_CARDINAL + 1: + return DJI_SYM_ARROW_16; + case SYM_HUD_CARDINAL + 2: + return DJI_SYM_ARROW_15; + case SYM_HUD_CARDINAL + 3: + return DJI_SYM_ARROW_WEST; + case SYM_HUD_CARDINAL + 4: + return DJI_SYM_ARROW_12; + case SYM_HUD_CARDINAL + 5: + return DJI_SYM_ARROW_11; + case SYM_HUD_CARDINAL + 6: + return DJI_SYM_ARROW_NORTH; + case SYM_HUD_CARDINAL + 7: + return DJI_SYM_ARROW_7; + case SYM_HUD_CARDINAL + 8: + return DJI_SYM_ARROW_6; + case SYM_HUD_CARDINAL + 9: + return DJI_SYM_ARROW_EAST; + case SYM_HUD_CARDINAL + 10: + return DJI_SYM_ARROW_3; + case SYM_HUD_CARDINAL + 11: + return DJI_SYM_ARROW_2; + + case SYM_HUD_SIGNAL_0: + return DJI_SYM_AH_BAR9_1; + case SYM_HUD_SIGNAL_1: + return DJI_SYM_AH_BAR9_3; + case SYM_HUD_SIGNAL_2: + return DJI_SYM_AH_BAR9_4; + case SYM_HUD_SIGNAL_3: + return DJI_SYM_AH_BAR9_5; + case SYM_HUD_SIGNAL_4: + return DJI_SYM_AH_BAR9_7; + + case SYM_VARIO_UP_2A: + return DJI_SYM_ARROW_SMALL_UP; + + case SYM_VARIO_UP_1A: + return DJI_SYM_ARROW_SMALL_UP; + + case SYM_VARIO_DOWN_1A: + return DJI_SYM_ARROW_SMALL_DOWN; + + case SYM_VARIO_DOWN_2A: + return DJI_SYM_ARROW_SMALL_DOWN; + + case SYM_ALT: + return DJI_SYM_ALTITUDE; +/* + case SYM_HUD_SIGNAL_0: + return DJI_SYM_HUD_SIGNAL_0; + + case SYM_HUD_SIGNAL_1: + return DJI_SYM_HUD_SIGNAL_1; + + case SYM_HUD_SIGNAL_2: + return DJI_SYM_HUD_SIGNAL_2; + + case SYM_HUD_SIGNAL_3: + return DJI_SYM_HUD_SIGNAL_3; + + case SYM_HUD_SIGNAL_4: + return DJI_SYM_HUD_SIGNAL_4; + + case SYM_HOME_DIST: + return DJI_SYM_HOME_DIST; + + case SYM_FLIGHT_DIST_REMAINING: + return DJI_SYM_FLIGHT_DIST_REMAINING; +*/ + case SYM_HUD_ARROWS_L1: + return DJI_SYM_ARROW_SMALL_LEFT; + + case SYM_HUD_ARROWS_L2: + return DJI_SYM_ARROW_SMALL_LEFT; + + case SYM_HUD_ARROWS_L3: + return DJI_SYM_ARROW_SMALL_LEFT; + + case SYM_HUD_ARROWS_R1: + return DJI_SYM_ARROW_SMALL_RIGHT; + + case SYM_HUD_ARROWS_R2: + return DJI_SYM_ARROW_SMALL_RIGHT; + + case SYM_HUD_ARROWS_R3: + return DJI_SYM_ARROW_SMALL_RIGHT; + + case SYM_HUD_ARROWS_U1: + return DJI_SYM_ARROW_SMALL_UP; + + case SYM_HUD_ARROWS_U2: + return DJI_SYM_ARROW_SMALL_UP; + + case SYM_HUD_ARROWS_U3: + return DJI_SYM_ARROW_SMALL_UP; + + case SYM_HUD_ARROWS_D1: + return DJI_SYM_ARROW_SMALL_DOWN; + + case SYM_HUD_ARROWS_D2: + return DJI_SYM_ARROW_SMALL_DOWN; + + case SYM_HUD_ARROWS_D3: + return DJI_SYM_ARROW_SMALL_DOWN; + + default: + break; + } + + return (osdConfig()->highlight_djis_missing_characters) ? '?' : SYM_BLANK; // Missing/not mapped character +} + +#endif + +#endif diff --git a/src/main/io/displayport_msp_bf_compat.h b/src/main/io/displayport_msp_dji_compat.h similarity index 69% rename from src/main/io/displayport_msp_bf_compat.h rename to src/main/io/displayport_msp_dji_compat.h index 95dab7b518d..6380770aa00 100644 --- a/src/main/io/displayport_msp_bf_compat.h +++ b/src/main/io/displayport_msp_dji_compat.h @@ -22,15 +22,15 @@ #include "platform.h" -#if defined(USE_OSD) && defined(USE_MSP_DISPLAYPORT) && !defined(DISABLE_MSP_BF_COMPAT) +#if defined(USE_OSD) && defined(USE_MSP_DISPLAYPORT) && !defined(DISABLE_MSP_DJI_COMPAT) #include "osd.h" -uint8_t getBfCharacter(uint8_t ch, uint8_t page); -#define isBfCompatibleVideoSystem(osdConfigPtr) (osdConfigPtr->video_system == VIDEO_SYSTEM_BFCOMPAT || osdConfigPtr->video_system == VIDEO_SYSTEM_BFCOMPAT_HD) +uint8_t getDJICharacter(uint8_t ch, uint8_t page); +#define isDJICompatibleVideoSystem(osdConfigPtr) (osdConfigPtr->video_system == VIDEO_SYSTEM_DJICOMPAT || osdConfigPtr->video_system == VIDEO_SYSTEM_DJICOMPAT_HD) #else -#define getBfCharacter(x, page) (x) +#define getDJICharacter(x, page) (x) #ifdef OSD_UNIT_TEST -#define isBfCompatibleVideoSystem(osdConfigPtr) (true) +#define isDJICompatibleVideoSystem(osdConfigPtr) (true) #else -#define isBfCompatibleVideoSystem(osdConfigPtr) (false) +#define isDJICompatibleVideoSystem(osdConfigPtr) (false) #endif #endif \ No newline at end of file diff --git a/src/main/io/displayport_msp_osd.c b/src/main/io/displayport_msp_osd.c index e1e6cb29676..0b9be8c6d86 100644 --- a/src/main/io/displayport_msp_osd.c +++ b/src/main/io/displayport_msp_osd.c @@ -51,7 +51,7 @@ #include "msp/msp_serial.h" #include "displayport_msp_osd.h" -#include "displayport_msp_bf_compat.h" +#include "displayport_msp_dji_compat.h" #define FONT_VERSION 3 @@ -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); } } @@ -287,21 +301,21 @@ 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 { bitArrayClr(dirty, pos); - subcmd[len] = isBfCompatibleVideoSystem(osdConfig()) ? getBfCharacter(screen[pos++], page): screen[pos++]; + subcmd[len] = isDJICompatibleVideoSystem(osdConfig()) ? getDJICharacter(screen[pos++], page): screen[pos++]; len++; 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())) { + if (!isDJICompatibleVideoSystem(osdConfig())) { attributes |= (page << DISPLAYPORT_MSP_ATTR_FONTPAGE); } @@ -354,7 +368,7 @@ static uint32_t txBytesFree(const displayPort_t *displayPort) static bool getFontMetadata(displayFontMetadata_t *metadata, const displayPort_t *displayPort) { UNUSED(displayPort); - metadata->charCount = 512; + metadata->charCount = 1024; metadata->version = FONT_VERSION; return true; } @@ -451,7 +465,7 @@ displayPort_t* mspOsdDisplayPortInit(const videoSystem_e videoSystem) if (mspOsdSerialInit()) { switch(videoSystem) { case VIDEO_SYSTEM_AUTO: - case VIDEO_SYSTEM_BFCOMPAT: + case VIDEO_SYSTEM_DJICOMPAT: case VIDEO_SYSTEM_PAL: currentOsdMode = SD_3016; screenRows = PAL_ROWS; @@ -472,7 +486,7 @@ displayPort_t* mspOsdDisplayPortInit(const videoSystem_e videoSystem) screenRows = DJI_ROWS; screenCols = DJI_COLS; break; - case VIDEO_SYSTEM_BFCOMPAT_HD: + case VIDEO_SYSTEM_DJICOMPAT_HD: case VIDEO_SYSTEM_AVATAR: currentOsdMode = HD_5320; screenRows = AVATAR_ROWS; @@ -486,10 +500,10 @@ displayPort_t* mspOsdDisplayPortInit(const videoSystem_e videoSystem) init(); displayInit(&mspOsdDisplayPort, &mspOsdVTable); - if (osdVideoSystem == VIDEO_SYSTEM_BFCOMPAT) { - mspOsdDisplayPort.displayPortType = "MSP DisplayPort: BetaFlight Compatability mode"; - } else if (osdVideoSystem == VIDEO_SYSTEM_BFCOMPAT_HD) { - mspOsdDisplayPort.displayPortType = "MSP DisplayPort: BetaFlight Compatability mode (HD)"; + if (osdVideoSystem == VIDEO_SYSTEM_DJICOMPAT) { + mspOsdDisplayPort.displayPortType = "MSP DisplayPort: DJI Compatability mode"; + } else if (osdVideoSystem == VIDEO_SYSTEM_DJICOMPAT_HD) { + mspOsdDisplayPort.displayPortType = "MSP DisplayPort: DJI Compatability mode (HD)"; } else { mspOsdDisplayPort.displayPortType = "MSP DisplayPort"; } @@ -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/dji_osd_symbols.h b/src/main/io/dji_osd_symbols.h new file mode 100644 index 00000000000..83ccad7c82d --- /dev/null +++ b/src/main/io/dji_osd_symbols.h @@ -0,0 +1,161 @@ +/* @file max7456_symbols.h + * @brief max7456 symbols for the mwosd font set + * + * @author Nathan Tsoi nathan@vertile.com + * + * Copyright (C) 2016 Nathan Tsoi + * + * This program 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. + * + * This program 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 + */ + +#pragma once + +//Misc +#define DJI_SYM_NONE 0x00 +#define DJI_SYM_END_OF_FONT 0xFF +#define DJI_SYM_BLANK 0x20 +#define DJI_SYM_HYPHEN 0x2D +#define DJI_SYM_BBLOG 0x10 +#define DJI_SYM_HOMEFLAG 0x11 +#define DJI_SYM_RPM 0x12 +#define DJI_SYM_ROLL 0x14 +#define DJI_SYM_PITCH 0x15 +#define DJI_SYM_TEMPERATURE 0x7A +#define DJI_SYM_MAX 0x24 + +// GPS and navigation +#define DJI_SYM_LAT 0x89 +#define DJI_SYM_LON 0x98 +#define DJI_SYM_ALTITUDE 0x7F +#define DJI_SYM_OVER_HOME 0x05 + +// RSSI +#define DJI_SYM_RSSI 0x01 + +// Throttle Position (%) +#define DJI_SYM_THR 0x04 + +// Unit Icons (Metric) +#define DJI_SYM_M 0x0C +#define DJI_SYM_C 0x0E + +// Unit Icons (Imperial) +#define DJI_SYM_F 0x0D +#define DJI_SYM_FT 0x0F + +// Heading Graphics +#define DJI_SYM_HEADING_N 0x18 +#define DJI_SYM_HEADING_S 0x19 +#define DJI_SYM_HEADING_E 0x1A +#define DJI_SYM_HEADING_W 0x1B +#define DJI_SYM_HEADING_DIVIDED_LINE 0x1C +#define DJI_SYM_HEADING_LINE 0x1D + +// AH Center screen Graphics +#define DJI_SYM_CROSSHAIR_LEFT 0x72 +#define DJI_SYM_CROSSHAIR_CENTRE 0x73 +#define DJI_SYM_CROSSHAIR_RIGHT 0x74 +#define DJI_SYM_AH_RIGHT 0x02 +#define DJI_SYM_AH_LEFT 0x03 +#define DJI_SYM_AH_DECORATION 0x13 +#define DJI_SYM_SMALL_CROSSHAIR 0x7E + +// Satellite Graphics +#define DJI_SYM_SAT_L 0x1E +#define DJI_SYM_SAT_R 0x1F + +// Direction arrows +#define DJI_SYM_ARROW_SOUTH 0x60 +#define DJI_SYM_ARROW_2 0x61 +#define DJI_SYM_ARROW_3 0x62 +#define DJI_SYM_ARROW_4 0x63 +#define DJI_SYM_ARROW_EAST 0x64 +#define DJI_SYM_ARROW_6 0x65 +#define DJI_SYM_ARROW_7 0x66 +#define DJI_SYM_ARROW_8 0x67 +#define DJI_SYM_ARROW_NORTH 0x68 +#define DJI_SYM_ARROW_10 0x69 +#define DJI_SYM_ARROW_11 0x6A +#define DJI_SYM_ARROW_12 0x6B +#define DJI_SYM_ARROW_WEST 0x6C +#define DJI_SYM_ARROW_14 0x6D +#define DJI_SYM_ARROW_15 0x6E +#define DJI_SYM_ARROW_16 0x6F + +#define DJI_SYM_ARROW_SMALL_UP 0x75 +#define DJI_SYM_ARROW_SMALL_DOWN 0x76 +#define DJI_SYM_ARROW_SMALL_RIGHT 0x77 +#define DJI_SYM_ARROW_SMALL_LEFT 0x78 + +// AH Bars +#define DJI_SYM_AH_BAR9_0 0x80 +#define DJI_SYM_AH_BAR9_1 0x81 +#define DJI_SYM_AH_BAR9_2 0x82 +#define DJI_SYM_AH_BAR9_3 0x83 +#define DJI_SYM_AH_BAR9_4 0x84 +#define DJI_SYM_AH_BAR9_5 0x85 +#define DJI_SYM_AH_BAR9_6 0x86 +#define DJI_SYM_AH_BAR9_7 0x87 +#define DJI_SYM_AH_BAR9_8 0x88 + +// Progress bar +#define DJI_SYM_PB_START 0x8A +#define DJI_SYM_PB_FULL 0x8B +#define DJI_SYM_PB_HALF 0x8C +#define DJI_SYM_PB_EMPTY 0x8D +#define DJI_SYM_PB_END 0x8E +#define DJI_SYM_PB_CLOSE 0x8F + +// Batt evolution +#define DJI_SYM_BATT_FULL 0x90 +#define DJI_SYM_BATT_5 0x91 +#define DJI_SYM_BATT_4 0x92 +#define DJI_SYM_BATT_3 0x93 +#define DJI_SYM_BATT_2 0x94 +#define DJI_SYM_BATT_1 0x95 +#define DJI_SYM_BATT_EMPTY 0x96 + +// Batt Icons +#define DJI_SYM_MAIN_BATT 0x97 + +// Voltage and amperage +#define DJI_SYM_VOLT 0x06 +#define DJI_SYM_AMP 0x9A +#define DJI_SYM_MAH 0x07 +#define DJI_SYM_WATT 0x57 // 0x57 is 'W' + +// Time +#define DJI_SYM_ON_H 0x70 +#define DJI_SYM_FLY_H 0x71 +#define DJI_SYM_ON_M 0x9B +#define DJI_SYM_FLY_M 0x9C + +// Speed +#define DJI_SYM_KPH 0x9E +#define DJI_SYM_MPH 0x9D +#define DJI_SYM_MPS 0x9F +#define DJI_SYM_FTPS 0x99 + +// Stick overlays +#define DJI_SYM_STICK_OVERLAY_SPRITE_HIGH 0x08 +#define DJI_SYM_STICK_OVERLAY_SPRITE_MID 0x09 +#define DJI_SYM_STICK_OVERLAY_SPRITE_LOW 0x0A +#define DJI_SYM_STICK_OVERLAY_CENTER 0x0B +#define DJI_SYM_STICK_OVERLAY_VERTICAL 0x16 +#define DJI_SYM_STICK_OVERLAY_HORIZONTAL 0x17 + +// GPS degree/minute/second symbols +#define DJI_SYM_GPS_DEGREE DJI_SYM_STICK_OVERLAY_SPRITE_HIGH // kind of looks like the degree symbol +#define DJI_SYM_GPS_MINUTE 0x27 // ' +#define DJI_SYM_GPS_SECOND 0x22 // " diff --git a/src/main/io/gimbal_serial.c b/src/main/io/gimbal_serial.c new file mode 100644 index 00000000000..4eec2903947 --- /dev/null +++ b/src/main/io/gimbal_serial.c @@ -0,0 +1,443 @@ +/* + * This file is part of INAV. + * + * 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 INAV. If not, see . + */ + +#include +#include +#include +#include + +#include "platform.h" + +#ifdef USE_SERIAL_GIMBAL + +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include + +#include + +#include "settings_generated.h" + +PG_REGISTER_WITH_RESET_TEMPLATE(gimbalSerialConfig_t, gimbalSerialConfig, PG_GIMBAL_SERIAL_CONFIG, 0); + +PG_RESET_TEMPLATE(gimbalSerialConfig_t, gimbalSerialConfig, + .singleUart = SETTING_GIMBAL_SERIAL_SINGLE_UART_DEFAULT +); + +STATIC_ASSERT(sizeof(gimbalHtkAttitudePkt_t) == 10, gimbalHtkAttitudePkt_t_size_not_10); + +#define GIMBAL_SERIAL_BUFFER_SIZE 512 + +#ifndef GIMBAL_UNIT_TEST +static volatile uint8_t txBuffer[GIMBAL_SERIAL_BUFFER_SIZE]; + +#if defined(USE_HEADTRACKER) && defined(USE_HEADTRACKER_SERIAL) +static gimbalSerialHtrkState_t headTrackerState = { + .payloadSize = 0, + .attitude = {}, + .state = WAITING_HDR1, +}; +#endif + +#endif + +static serialPort_t *headTrackerPort = NULL; +static serialPort_t *gimbalPort = NULL; + +gimbalVTable_t gimbalSerialVTable = { + .process = gimbalSerialProcess, + .getDeviceType = gimbalSerialGetDeviceType, + .isReady = gimbalSerialIsReady, + .hasHeadTracker = gimbalSerialHasHeadTracker, + +}; + +static gimbalDevice_t serialGimbalDevice = { + .vTable = &gimbalSerialVTable, + .currentPanPWM = PWM_RANGE_MIDDLE +}; + +#if (defined(USE_HEADTRACKER) && defined(USE_HEADTRACKER_SERIAL)) + +static headTrackerVTable_t headTrackerVTable = { + .process = headtrackerSerialProcess, + .getDeviceType = headtrackerSerialGetDeviceType, +}; + + +headTrackerDevice_t headTrackerDevice = { + .vTable = &headTrackerVTable, + .pan = 0, + .tilt = 0, + .roll = 0, + .expires = 0 +}; + +#endif + + +gimbalDevType_e gimbalSerialGetDeviceType(const gimbalDevice_t *gimbalDevice) +{ + UNUSED(gimbalDevice); + return GIMBAL_DEV_SERIAL; +} + +bool gimbalSerialIsReady(const gimbalDevice_t *gimbalDevice) +{ + return gimbalPort != NULL && gimbalDevice->vTable != NULL; +} + +bool gimbalSerialHasHeadTracker(const gimbalDevice_t *gimbalDevice) +{ + UNUSED(gimbalDevice); + return headTrackerPort || (gimbalSerialConfig()->singleUart && gimbalPort); +} + +bool gimbalSerialInit(void) +{ + if (gimbalSerialDetect()) { + SD(fprintf(stderr, "Setting gimbal device\n")); + gimbalCommonSetDevice(&serialGimbalDevice); + return true; + } + + return false; +} + +#ifdef GIMBAL_UNIT_TEST +bool gimbalSerialDetect(void) +{ + return false; +} +#else +bool gimbalSerialDetect(void) +{ + + SD(fprintf(stderr, "[GIMBAL]: serial Detect...\n")); + serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_GIMBAL); + bool singleUart = gimbalSerialConfig()->singleUart; + + + if (portConfig) { + SD(fprintf(stderr, "[GIMBAL]: found port...\n")); +#if defined(USE_HEADTRACKER) && defined(USE_HEADTRACKER_SERIAL) + gimbalPort = openSerialPort(portConfig->identifier, FUNCTION_GIMBAL, singleUart ? gimbalSerialHeadTrackerReceive : NULL, singleUart ? &headTrackerState : NULL, + baudRates[portConfig->peripheral_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED); +#else + UNUSED(singleUart); + gimbalPort = openSerialPort(portConfig->identifier, FUNCTION_GIMBAL, NULL, NULL, + baudRates[portConfig->peripheral_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED); +#endif + + if (gimbalPort) { + SD(fprintf(stderr, "[GIMBAL]: port open!\n")); + gimbalPort->txBuffer = txBuffer; + gimbalPort->txBufferSize = GIMBAL_SERIAL_BUFFER_SIZE; + gimbalPort->txBufferTail = 0; + gimbalPort->txBufferHead = 0; + } else { + SD(fprintf(stderr, "[GIMBAL]: port NOT open!\n")); + return false; + } + } + + SD(fprintf(stderr, "[GIMBAL]: gimbalPort: %p\n", gimbalPort)); + return gimbalPort; +} +#endif + +#ifdef GIMBAL_UNIT_TEST +void gimbalSerialProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTime) +{ + UNUSED(gimbalDevice); + UNUSED(currentTime); +} +#else +void gimbalSerialProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTime) +{ + UNUSED(currentTime); + + if (!gimbalSerialIsReady(gimbalDevice)) { + SD(fprintf(stderr, "[GIMBAL] gimbal not ready...\n")); + return; + } + + gimbalHtkAttitudePkt_t attitude = { + .sync = {HTKATTITUDE_SYNC0, HTKATTITUDE_SYNC1}, + .mode = GIMBAL_MODE_DEFAULT, + .pan = 0, + .tilt = 0, + .roll = 0 + }; + + const gimbalConfig_t *cfg = gimbalConfig(); + + int panPWM = PWM_RANGE_MIDDLE + cfg->panTrim; + int tiltPWM = PWM_RANGE_MIDDLE + cfg->tiltTrim; + int rollPWM = PWM_RANGE_MIDDLE + cfg->rollTrim; + + if (IS_RC_MODE_ACTIVE(BOXGIMBALTLOCK)) { + attitude.mode |= GIMBAL_MODE_TILT_LOCK; + } + + if (IS_RC_MODE_ACTIVE(BOXGIMBALRLOCK)) { + attitude.mode |= GIMBAL_MODE_ROLL_LOCK; + } + + // Follow center overrides all + if (IS_RC_MODE_ACTIVE(BOXGIMBALCENTER) || IS_RC_MODE_ACTIVE(BOXGIMBALHTRK)) { + attitude.mode = GIMBAL_MODE_FOLLOW; + } + + if (rxAreFlightChannelsValid() && !IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)) { + if (cfg->panChannel > 0) { + panPWM = rxGetChannelValue(cfg->panChannel - 1) + cfg->panTrim; + panPWM = constrain(panPWM, PWM_RANGE_MIN, PWM_RANGE_MAX); + } + + if (cfg->tiltChannel > 0) { + tiltPWM = rxGetChannelValue(cfg->tiltChannel - 1) + cfg->tiltTrim; + tiltPWM = constrain(tiltPWM, PWM_RANGE_MIN, PWM_RANGE_MAX); + } + + if (cfg->rollChannel > 0) { + rollPWM = rxGetChannelValue(cfg->rollChannel - 1) + cfg->rollTrim; + rollPWM = constrain(rollPWM, PWM_RANGE_MIN, PWM_RANGE_MAX); + } + } + +#ifdef USE_HEADTRACKER + if(IS_RC_MODE_ACTIVE(BOXGIMBALHTRK)) { + headTrackerDevice_t *dev = headTrackerCommonDevice(); + if (gimbalCommonHtrkIsEnabled() && dev && headTrackerCommonIsValid(dev)) { + attitude.pan = headTrackerCommonGetPan(dev); + attitude.tilt = headTrackerCommonGetTilt(dev); + attitude.roll = headTrackerCommonGetRoll(dev); + + DEBUG_SET(DEBUG_HEADTRACKING, 4, 1); + } else { + attitude.pan = constrain(gimbal_scale12(PWM_RANGE_MIN, PWM_RANGE_MAX, PWM_RANGE_MIDDLE + cfg->panTrim), HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX); + attitude.tilt = constrain(gimbal_scale12(PWM_RANGE_MIN, PWM_RANGE_MAX, PWM_RANGE_MIDDLE + cfg->tiltTrim), HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX); + attitude.roll = constrain(gimbal_scale12(PWM_RANGE_MIN, PWM_RANGE_MAX, PWM_RANGE_MIDDLE + cfg->rollTrim), HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX); + DEBUG_SET(DEBUG_HEADTRACKING, 4, -1); + } + } else { +#else + { +#endif + DEBUG_SET(DEBUG_HEADTRACKING, 4, 0); + // Radio endpoints may need to be adjusted, as it seems ot go a bit + // bananas at the extremes + attitude.pan = gimbal_scale12(PWM_RANGE_MIN, PWM_RANGE_MAX, panPWM); + attitude.tilt = gimbal_scale12(PWM_RANGE_MIN, PWM_RANGE_MAX, tiltPWM); + attitude.roll = gimbal_scale12(PWM_RANGE_MIN, PWM_RANGE_MAX, rollPWM); + } + + DEBUG_SET(DEBUG_HEADTRACKING, 5, attitude.pan); + DEBUG_SET(DEBUG_HEADTRACKING, 6, attitude.tilt); + DEBUG_SET(DEBUG_HEADTRACKING, 7, attitude.roll); + + attitude.sensibility = cfg->sensitivity; + + uint16_t crc16 = 0; + uint8_t *b = (uint8_t *)&attitude; + for (uint8_t i = 0; i < sizeof(gimbalHtkAttitudePkt_t) - 2; i++) { + crc16 = crc16_ccitt(crc16, *(b + i)); + } + attitude.crch = (crc16 >> 8) & 0xFF; + attitude.crcl = crc16 & 0xFF; + + serialGimbalDevice.currentPanPWM = gimbal2pwm(attitude.pan); + + serialBeginWrite(gimbalPort); + serialWriteBuf(gimbalPort, (uint8_t *)&attitude, sizeof(gimbalHtkAttitudePkt_t)); + serialEndWrite(gimbalPort); +} +#endif + +int16_t gimbal2pwm(int16_t value) +{ + int16_t ret = 0; + ret = scaleRange(value, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX, PWM_RANGE_MIN, PWM_RANGE_MAX); + return ret; +} + + +int16_t gimbal_scale12(int16_t inputMin, int16_t inputMax, int16_t value) +{ + int16_t ret = 0; + ret = scaleRange(value, inputMin, inputMax, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX); + return ret; +} + +#ifndef GIMBAL_UNIT_TEST + +#if (defined(USE_HEADTRACKER) && defined(USE_HEADTRACKER_SERIAL)) +static void resetState(gimbalSerialHtrkState_t *state) +{ + state->state = WAITING_HDR1; + state->payloadSize = 0; +} + +static bool checkCrc(gimbalHtkAttitudePkt_t *attitude) +{ + uint8_t *attitudePkt = (uint8_t *)attitude; + uint16_t crc = 0; + + for(uint8_t i = 0; i < sizeof(gimbalHtkAttitudePkt_t) - 2; ++i) { + crc = crc16_ccitt(crc, attitudePkt[i]); + } + + return (attitude->crch == ((crc >> 8) & 0xFF)) && + (attitude->crcl == (crc & 0xFF)); +} + +void gimbalSerialHeadTrackerReceive(uint16_t c, void *data) +{ + static int charCount = 0; + static int pktCount = 0; + static int errorCount = 0; + gimbalSerialHtrkState_t *state = (gimbalSerialHtrkState_t *)data; + uint8_t *payload = (uint8_t *)&(state->attitude); + payload += 2; + + DEBUG_SET(DEBUG_HEADTRACKING, 0, charCount++); + DEBUG_SET(DEBUG_HEADTRACKING, 1, state->state); + + switch(state->state) { + case WAITING_HDR1: + if(c == HTKATTITUDE_SYNC0) { + state->attitude.sync[0] = c; + state->state = WAITING_HDR2; + } + break; + case WAITING_HDR2: + if(c == HTKATTITUDE_SYNC1) { + state->attitude.sync[1] = c; + state->state = WAITING_PAYLOAD; + } else { + resetState(state); + } + break; + case WAITING_PAYLOAD: + payload[state->payloadSize++] = c; + if(state->payloadSize == HEADTRACKER_PAYLOAD_SIZE) + { + state->state = WAITING_CRCH; + } + break; + case WAITING_CRCH: + state->attitude.crch = c; + state->state = WAITING_CRCL; + break; + case WAITING_CRCL: + state->attitude.crcl = c; + if(checkCrc(&(state->attitude))) { + headTrackerDevice.expires = micros() + MAX_HEADTRACKER_DATA_AGE_US; + headTrackerDevice.pan = constrain(state->attitude.pan, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX); + headTrackerDevice.tilt = constrain(state->attitude.tilt, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX); + headTrackerDevice.roll = constrain(state->attitude.roll, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX); + DEBUG_SET(DEBUG_HEADTRACKING, 2, pktCount++); + } else { + DEBUG_SET(DEBUG_HEADTRACKING, 3, errorCount++); + } + resetState(state); + break; + } +} + + +bool gimbalSerialHeadTrackerDetect(void) +{ + bool singleUart = gimbalSerialConfig()->singleUart; + + SD(fprintf(stderr, "[GIMBAL_HTRK]: headtracker Detect...\n")); + serialPortConfig_t *portConfig = singleUart ? NULL : findSerialPortConfig(FUNCTION_GIMBAL_HEADTRACKER); + + if (portConfig) { + SD(fprintf(stderr, "[GIMBAL_HTRK]: found port...\n")); + headTrackerPort = openSerialPort(portConfig->identifier, FUNCTION_GIMBAL_HEADTRACKER, gimbalSerialHeadTrackerReceive, &headTrackerState, + baudRates[portConfig->peripheral_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED); + + if (headTrackerPort) { + SD(fprintf(stderr, "[GIMBAL_HTRK]: port open!\n")); + headTrackerPort->txBuffer = txBuffer; + headTrackerPort->txBufferSize = GIMBAL_SERIAL_BUFFER_SIZE; + headTrackerPort->txBufferTail = 0; + headTrackerPort->txBufferHead = 0; + } else { + SD(fprintf(stderr, "[GIMBAL_HTRK]: port NOT open!\n")); + return false; + } + } + + SD(fprintf(stderr, "[GIMBAL]: gimbalPort: %p headTrackerPort: %p\n", gimbalPort, headTrackerPort)); + return (singleUart && gimbalPort) || headTrackerPort; +} + +bool gimbalSerialHeadTrackerInit(void) +{ + if(headTrackerConfig()->devType == HEADTRACKER_SERIAL) { + if (gimbalSerialHeadTrackerDetect()) { + SD(fprintf(stderr, "Setting gimbal device\n")); + headTrackerCommonSetDevice(&headTrackerDevice); + + return true; + } + } + + return false; +} + +void headtrackerSerialProcess(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs) +{ + UNUSED(headTrackerDevice); + UNUSED(currentTimeUs); + return; +} + +headTrackerDevType_e headtrackerSerialGetDeviceType(const headTrackerDevice_t *headTrackerDevice) +{ + UNUSED(headTrackerDevice); + return HEADTRACKER_SERIAL; +} + +#else + +void gimbalSerialHeadTrackerReceive(uint16_t c, void *data) +{ + UNUSED(c); + UNUSED(data); +} + +#endif + +#endif + +#endif \ No newline at end of file diff --git a/src/main/io/gimbal_serial.h b/src/main/io/gimbal_serial.h new file mode 100644 index 00000000000..6c9a3251f89 --- /dev/null +++ b/src/main/io/gimbal_serial.h @@ -0,0 +1,102 @@ +/* + * This file is part of INAV. + * + * 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 INAV. If not, see . + */ + +#pragma once + +#include + +#include "platform.h" + +#include "common/time.h" +#include "drivers/gimbal_common.h" +#include "drivers/headtracker_common.h" + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef USE_SERIAL_GIMBAL + + +#define HTKATTITUDE_SYNC0 0xA5 +#define HTKATTITUDE_SYNC1 0x5A +typedef struct gimbalHtkAttitudePkt_s +{ + uint8_t sync[2]; //data synchronization 0xA5, 0x5A + uint8_t mode:3; //Gimbal Mode [0~7] [Only 0 1 2 modes are supported for the time being] + int16_t sensibility:5; // Stabilization sensibility [-16~15] + uint8_t reserved:4; //hold on to one's reserve + int32_t roll:12; //Roll angle [-2048~2047] => [-180~180] + int32_t tilt:12; //Pich angle [-2048~2047] => [-180~180] + int32_t pan:12; //Yaw angle [-2048~2047] => [-180~180] + uint8_t crch; //Data validation H + uint8_t crcl; //Data validation L +} __attribute__((packed)) gimbalHtkAttitudePkt_t; + + +#define HEADTRACKER_PAYLOAD_SIZE (sizeof(gimbalHtkAttitudePkt_t) - 4) + +typedef enum { + WAITING_HDR1, + WAITING_HDR2, + WAITING_PAYLOAD, + WAITING_CRCH, + WAITING_CRCL, +} gimbalHeadtrackerState_e; + +typedef struct gimbalSerialHtrkState_s { + uint8_t payloadSize; + gimbalHeadtrackerState_e state; + gimbalHtkAttitudePkt_t attitude; +} gimbalSerialHtrkState_t; + +typedef struct gimbalSerialConfig_s { + bool singleUart; +} gimbalSerialConfig_t; + +PG_DECLARE(gimbalSerialConfig_t, gimbalSerialConfig); + +int16_t gimbal_scale12(int16_t inputMin, int16_t inputMax, int16_t value); + +int16_t gimbal2pwm(int16_t value); + +bool gimbalSerialInit(void); +bool gimbalSerialDetect(void); +void gimbalSerialProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTime); +bool gimbalSerialIsReady(const gimbalDevice_t *gimbalDevice); +gimbalDevType_e gimbalSerialGetDeviceType(const gimbalDevice_t *gimbalDevice); +bool gimbalSerialHasHeadTracker(const gimbalDevice_t *gimbalDevice); +void gimbalSerialHeadTrackerReceive(uint16_t c, void *data); + + +#if (defined(USE_HEADTRACKER) && defined(USE_HEADTRACKER_SERIAL)) +bool gimbalSerialHeadTrackerInit(void); +bool gimbalSerialHeadTrackerDetect(void); +void headtrackerSerialProcess(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs); +headTrackerDevType_e headtrackerSerialGetDeviceType(const headTrackerDevice_t *headTrackerDevice); +bool headTrackerSerialIsReady(const headTrackerDevice_t *headTrackerDevice); +bool headTrackerSerialIsValid(const headTrackerDevice_t *headTrackerDevice); +int headTrackerSerialGetPanPWM(const headTrackerDevice_t *headTrackerDevice); +int headTrackerSerialGetTiltPWM(const headTrackerDevice_t *headTrackerDevice); +int headTrackerSerialGetRollPWM(const headTrackerDevice_t *headTrackerDevice); +#endif + +#endif + +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c index 3d40891651b..f21b02f114c 100755 --- a/src/main/io/gps_ublox.c +++ b/src/main/io/gps_ublox.c @@ -1065,25 +1065,26 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread) gpsState.hwVersion = UBX_HW_VERSION_UNKNOWN; gpsState.autoConfigStep = 0; - do { - pollVersion(); - gpsState.autoConfigStep++; - ptWaitTimeout((gpsState.hwVersion != UBX_HW_VERSION_UNKNOWN), GPS_CFG_CMD_TIMEOUT_MS); - } while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == UBX_HW_VERSION_UNKNOWN); - - gpsState.autoConfigStep = 0; - ubx_capabilities.supported = ubx_capabilities.enabledGnss = ubx_capabilities.defaultGnss = 0; - // M7 and earlier will never get pass this step, so skip it (#9440). - // UBLOX documents that this is M8N and later - if (gpsState.hwVersion > UBX_HW_VERSION_UBLOX7) { - do { - pollGnssCapabilities(); - gpsState.autoConfigStep++; - ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS); - } while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0); - } // Configure GPS module if enabled if (gpsState.gpsConfig->autoConfig) { + do { + pollVersion(); + gpsState.autoConfigStep++; + ptWaitTimeout((gpsState.hwVersion != UBX_HW_VERSION_UNKNOWN), GPS_CFG_CMD_TIMEOUT_MS); + } while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == UBX_HW_VERSION_UNKNOWN); + + gpsState.autoConfigStep = 0; + ubx_capabilities.supported = ubx_capabilities.enabledGnss = ubx_capabilities.defaultGnss = 0; + // M7 and earlier will never get pass this step, so skip it (#9440). + // UBLOX documents that this is M8N and later + if (gpsState.hwVersion > UBX_HW_VERSION_UBLOX7) { + do { + pollGnssCapabilities(); + gpsState.autoConfigStep++; + ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS); + } while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0); + } + // Configure GPS ptSpawn(gpsConfigure); } @@ -1096,7 +1097,7 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread) ptSemaphoreWait(semNewDataReady); gpsProcessNewSolutionData(false); - if ((gpsState.gpsConfig->provider == GPS_UBLOX || gpsState.gpsConfig->provider == GPS_UBLOX7PLUS)) { + if ((gpsState.gpsConfig->autoConfig) && (gpsState.gpsConfig->provider == GPS_UBLOX || gpsState.gpsConfig->provider == GPS_UBLOX7PLUS)) { if ((millis() - gpsState.lastCapaPoolMs) > GPS_CAPA_INTERVAL) { gpsState.lastCapaPoolMs = millis(); diff --git a/src/main/io/headtracker_msp.c b/src/main/io/headtracker_msp.c new file mode 100644 index 00000000000..8a800b3f46e --- /dev/null +++ b/src/main/io/headtracker_msp.c @@ -0,0 +1,77 @@ +/* + * This file is part of INAV. + * + * 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 INAV. If not, see . + */ + +#include +#include + +#if (defined(USE_HEADTRACKER_MSP) && defined(USE_HEADTRACKER)) + +#include "build/debug.h" + +#include "common/utils.h" +#include "common/time.h" +#include "common/maths.h" + +#include "drivers/headtracker_common.h" + +#include "io/headtracker_msp.h" + +static headTrackerVTable_t headTrackerMspVTable = { + .process = NULL, + .getDeviceType = heatTrackerMspGetDeviceType, + .isReady = NULL, + .isValid = NULL, +}; + +static headTrackerDevice_t headTrackerMspDevice = { + .vTable = &headTrackerMspVTable, + .pan = 0, + .tilt = 0, + .roll = 0, + .expires = 0, +}; + +void mspHeadTrackerInit(void) +{ + if(headTrackerConfig()->devType == HEADTRACKER_MSP) { + headTrackerCommonSetDevice(&headTrackerMspDevice); + } +} + +void mspHeadTrackerReceiverNewData(uint8_t *data, int dataSize) +{ + if(dataSize != sizeof(headtrackerMspMessage_t)) { + SD(fprintf(stderr, "[headTracker]: invalid data size %d\n", dataSize)); + return; + } + + headtrackerMspMessage_t *status = (headtrackerMspMessage_t *)data; + + headTrackerMspDevice.pan = constrain(status->pan, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX); + headTrackerMspDevice.tilt = constrain(status->tilt, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX); + headTrackerMspDevice.roll = constrain(status->roll, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX); + headTrackerMspDevice.expires = micros() + MAX_HEADTRACKER_DATA_AGE_US; + + UNUSED(status); +} + +headTrackerDevType_e heatTrackerMspGetDeviceType(const headTrackerDevice_t *headTrackerDevice) { + UNUSED(headTrackerDevice); + return HEADTRACKER_MSP; +} + +#endif \ No newline at end of file diff --git a/src/main/io/headtracker_msp.h b/src/main/io/headtracker_msp.h new file mode 100644 index 00000000000..edcfb465874 --- /dev/null +++ b/src/main/io/headtracker_msp.h @@ -0,0 +1,44 @@ +/* + * This file is part of INAV. + * + * 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 INAV. If not, see . + */ + + +#pragma once + +#include + +#if (defined(USE_HEADTRACKER_MSP) && defined(USE_HEADTRACKER)) + +#include +#include + +#include "drivers/headtracker_common.h" + +typedef struct headtrackerMspMessage_s { + uint8_t version; // 0 + int16_t pan; // -2048~2047. Scale is min/max angle for gimbal + int16_t tilt; // -2048~2047. Scale is min/max angle for gimbal + int16_t roll; // -2048~2047. Scale is min/max angle for gimbal + int16_t sensitivity; // -16~15. Scale is min/max angle for gimbal +} __attribute__((packed)) headtrackerMspMessage_t; + +void mspHeadTrackerInit(void); + +void mspHeadTrackerReceiverNewData(uint8_t *data, int dataSize); + +headTrackerDevType_e heatTrackerMspGetDeviceType(const headTrackerDevice_t *headTrackerDevice); + +#endif diff --git a/src/main/io/osd.c b/src/main/io/osd.c index 15aac6a1d60..d682c0299ff 100644 --- a/src/main/io/osd.c +++ b/src/main/io/osd.c @@ -62,6 +62,7 @@ #include "drivers/osd_symbols.h" #include "drivers/time.h" #include "drivers/vtx_common.h" +#include "drivers/gimbal_common.h" #include "io/adsb.h" #include "io/flashfs.h" @@ -70,7 +71,7 @@ #include "io/osd_common.h" #include "io/osd_hud.h" #include "io/osd_utils.h" -#include "io/displayport_msp_bf_compat.h" +#include "io/displayport_msp_dji_compat.h" #include "io/vtx.h" #include "io/vtx_string.h" @@ -223,7 +224,7 @@ 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, 10); +PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 12); PG_REGISTER_WITH_RESET_FN(osdLayoutsConfig_t, osdLayoutsConfig, PG_OSD_LAYOUTS_CONFIG, 1); void osdStartedSaveProcess(void) { @@ -253,51 +254,6 @@ 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; - uint8_t len = strlen(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 - * but is fully compatible with the DJI G2 MSP Displayport OSD implementation. - * (Based on osdSimpleAltitudeSymbol() implementation) - */ -/* void osdSimpleDistanceSymbol(char *buff, int32_t dist) { - - int32_t convertedDistance; - char suffix; - - switch ((osd_unit_e)osdConfig()->units) { - case OSD_UNIT_UK: - FALLTHROUGH; - case OSD_UNIT_GA: - FALLTHROUGH; - case OSD_UNIT_IMPERIAL: - convertedDistance = CENTIMETERS_TO_FEET(dist); - suffix = SYM_ALT_FT; - break; - case OSD_UNIT_METRIC_MPH: - FALLTHROUGH; - case OSD_UNIT_METRIC: - convertedDistance = CENTIMETERS_TO_METERS(dist); - suffix = SYM_ALT_M; // Intentionally use the altitude symbol, as the distance symbol is not defined in BFCOMPAT mode - break; - } - - tfp_sprintf(buff, "%5d", (int) convertedDistance); // 5 digits, allowing up to 99999 meters/feet, which should be plenty for 99.9% of use cases - buff[5] = suffix; - buff[6] = '\0'; -} */ - /** * Converts distance into a string based on the current unit system * prefixed by a a symbol to indicate the unit used. @@ -313,12 +269,12 @@ static void osdFormatDistanceSymbol(char *buff, int32_t dist, uint8_t decimals) uint8_t symbol_mi = SYM_DIST_MI; uint8_t symbol_nm = SYM_DIST_NM; -#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())) { +#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it and change the values + if (isDJICompatibleVideoSystem(osdConfig())) { // Add one digit so up no switch to scaled decimal occurs above 99 digits = 4U; sym_index = 4U; - // Use altitude symbols on purpose, as it seems distance symbols are not defined in BFCOMPAT mode + // Use altitude symbols on purpose, as it seems distance symbols are not defined in DJICOMPAT mode symbol_m = SYM_ALT_M; symbol_km = SYM_ALT_KM; symbol_ft = SYM_ALT_FT; @@ -522,37 +478,6 @@ static void osdFormatWindSpeedStr(char *buff, int32_t ws, bool isValid) } #endif -/* - * This is a simplified altitude conversion code that does not use any scaling - * but is fully compatible with the DJI G2 MSP Displayport OSD implementation. - */ -/* void osdSimpleAltitudeSymbol(char *buff, int32_t alt) { - - int32_t convertedAltutude = 0; - char suffix = '\0'; - - switch ((osd_unit_e)osdConfig()->units) { - case OSD_UNIT_UK: - FALLTHROUGH; - case OSD_UNIT_GA: - FALLTHROUGH; - case OSD_UNIT_IMPERIAL: - convertedAltutude = CENTIMETERS_TO_FEET(alt); - suffix = SYM_ALT_FT; - break; - case OSD_UNIT_METRIC_MPH: - FALLTHROUGH; - case OSD_UNIT_METRIC: - convertedAltutude = CENTIMETERS_TO_METERS(alt); - suffix = SYM_ALT_M; - break; - } - - tfp_sprintf(buff, "%4d", (int) convertedAltutude); - buff[4] = suffix; - buff[5] = '\0'; -} */ - /** * Converts altitude into a string based on the current unit system * prefixed by a a symbol to indicate the unit used. @@ -570,8 +495,8 @@ void osdFormatAltitudeSymbol(char *buff, int32_t alt) buff[0] = ' '; } -#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())) { +#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it and change the values + if (isDJICompatibleVideoSystem(osdConfig())) { totalDigits++; digits++; symbolIndex++; @@ -665,7 +590,7 @@ static inline void osdFormatFlyTime(char *buff, textAttributes_t *attr) } /** - * Trim whitespace from string. + * Trim whitespace from string. * Used in Stats screen on lines with multiple values. */ char *osdFormatTrimWhiteSpace(char *buff) @@ -676,7 +601,7 @@ char *osdFormatTrimWhiteSpace(char *buff) while(isspace((unsigned char)*buff)) buff++; // All spaces? - if(*buff == 0) + if(*buff == 0) return buff; // Trim trailing spaces @@ -792,21 +717,21 @@ static void osdFormatCoordinate(char *buff, char sym, int32_t val) int32_t decimalPart = abs(val % (int)GPS_DEGREES_DIVIDER); STATIC_ASSERT(GPS_DEGREES_DIVIDER == 1e7, adjust_max_decimal_digits); int decimalDigits; - bool bfcompat = false; // Assume BFCOMPAT mode is no enabled + bool djiCompat = false; // Assume DJICOMPAT mode is no enabled -#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it - if(isBfCompatibleVideoSystem(osdConfig())) { - bfcompat = true; +#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it + if(isDJICompatibleVideoSystem(osdConfig())) { + djiCompat = true; } #endif - if (!bfcompat) { + if (!djiCompat) { decimalDigits = tfp_sprintf(buff + 1 + integerDigits, "%07d", (int)decimalPart); // Embbed the decimal separator buff[1 + integerDigits - 1] += SYM_ZERO_HALF_TRAILING_DOT - '0'; buff[1 + integerDigits] += SYM_ZERO_HALF_LEADING_DOT - '0'; } else { - // BFCOMPAT mode enabled + // DJICOMPAT mode enabled decimalDigits = tfp_sprintf(buff + 1 + integerDigits, ".%06d", (int)decimalPart); } // Fill up to coordinateLength with zeros @@ -1022,7 +947,7 @@ static const char * divertingToSafehomeMessage(void) return OSD_MESSAGE_STR(OSD_MSG_DIVERT_SAFEHOME); } #endif - return NULL; + return NULL; } @@ -1047,7 +972,7 @@ 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: @@ -1088,7 +1013,7 @@ 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: @@ -1143,7 +1068,7 @@ void osdCrosshairPosition(uint8_t *x, uint8_t *y) * Check if this OSD layout is using scaled or unscaled throttle. * If both are used, it will default to scaled. */ -bool osdUsingScaledThrottle(void) +bool osdUsingScaledThrottle(void) { bool usingScaledThrottle = OSD_VISIBLE(osdLayoutsConfig()->item_pos[currentLayout][OSD_SCALED_THROTTLE_POS]); bool usingRCThrottle = OSD_VISIBLE(osdLayoutsConfig()->item_pos[currentLayout][OSD_THROTTLE_POS]); @@ -1279,8 +1204,15 @@ int16_t osdGetHeading(void) int16_t osdGetPanServoOffset(void) { int8_t servoIndex = osdConfig()->pan_servo_index; - int16_t servoPosition = servo[servoIndex]; int16_t servoMiddle = servoParams(servoIndex)->middle; + int16_t servoPosition = servo[servoIndex]; + + gimbalDevice_t *dev = gimbalCommonDevice(); + if (dev && gimbalCommonIsReady(dev)) { + servoPosition = gimbalCommonGetPanPwm(dev); + servoMiddle = PWM_RANGE_MIDDLE + gimbalConfig()->panTrim; + } + return (int16_t)CENTIDEGREES_TO_DEGREES((servoPosition - servoMiddle) * osdConfig()->pan_servo_pwm2centideg); } @@ -1367,7 +1299,7 @@ static void osdDrawMap(int referenceHeading, uint16_t referenceSym, uint16_t cen } } - if (STATE(GPS_FIX) + if (STATE(GPS_FIX) #ifdef USE_GPS_FIX_ESTIMATION || STATE(GPS_ESTIMATED_FIX) #endif @@ -1752,8 +1684,8 @@ static bool osdDrawSingleElement(uint8_t item) case OSD_MAIN_BATT_VOLTAGE: { uint8_t base_digits = 2U; -#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it - if(isBfCompatibleVideoSystem(osdConfig())) { +#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it + if(isDJICompatibleVideoSystem(osdConfig())) { base_digits = 3U; // Add extra digit to account for decimal point taking an extra character space } #endif @@ -1763,8 +1695,8 @@ static bool osdDrawSingleElement(uint8_t item) case OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE: { uint8_t base_digits = 2U; -#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it - if(isBfCompatibleVideoSystem(osdConfig())) { +#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it + if(isDJICompatibleVideoSystem(osdConfig())) { base_digits = 3U; // Add extra digit to account for decimal point taking an extra character space } #endif @@ -1787,9 +1719,9 @@ static bool osdDrawSingleElement(uint8_t item) case OSD_MAH_DRAWN: { uint8_t mah_digits = osdConfig()->mAh_precision; // Initialize to config value -#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it - if (isBfCompatibleVideoSystem(osdConfig())) { - //BFcompat is unable to work with scaled values and it only has mAh symbol to work with +#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it + if (isDJICompatibleVideoSystem(osdConfig())) { + //DJIcompat is unable to work with scaled values and it only has mAh symbol to work with tfp_sprintf(buff, "%5d", (int)getMAhDrawn()); // Use 5 digits to allow packs below 100Ah buff[5] = SYM_MAH; buff[6] = '\0'; @@ -1825,12 +1757,12 @@ static bool osdDrawSingleElement(uint8_t item) tfp_sprintf(buff, " NA"); else if (!batteryWasFullWhenPluggedIn()) tfp_sprintf(buff, " NF"); - else if (currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MAH) { + else if (batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MAH) { uint8_t mah_digits = osdConfig()->mAh_precision; // Initialize to config value -#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it - if (isBfCompatibleVideoSystem(osdConfig())) { - //BFcompat is unable to work with scaled values and it only has mAh symbol to work with +#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it + if (isDJICompatibleVideoSystem(osdConfig())) { + //DJIcompat is unable to work with scaled values and it only has mAh symbol to work with tfp_sprintf(buff, "%5d", (int)getBatteryRemainingCapacity()); // Use 5 digits to allow packs below 100Ah buff[5] = SYM_MAH; buff[6] = '\0'; @@ -1848,11 +1780,11 @@ static bool osdDrawSingleElement(uint8_t item) buff[mah_digits + 1] = '\0'; unitsDrawn = true; } - } else // currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MWH + } else // batteryMetersConfig()->capacityUnit == BAT_CAPACITY_UNIT_MWH osdFormatCentiNumber(buff + 1, getBatteryRemainingCapacity() / 10, 0, 2, 0, 3, false); if (!unitsDrawn) { - buff[4] = currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MAH ? SYM_MAH : SYM_WH; + buff[4] = batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MAH ? SYM_MAH : SYM_WH; buff[5] = '\0'; } @@ -1886,7 +1818,7 @@ static bool osdDrawSingleElement(uint8_t item) if (STATE(GPS_ESTIMATED_FIX)) { strcpy(buff + 2, "ES"); TEXT_ATTRIBUTES_ADD_BLINK(elemAttr); - } else + } else #endif if (!STATE(GPS_FIX)) { hardwareSensorStatus_e sensorStatus = getHwGPSStatus(); @@ -1945,10 +1877,10 @@ static bool osdDrawSingleElement(uint8_t item) case OSD_HOME_DIR: { - if ((STATE(GPS_FIX) + if ((STATE(GPS_FIX) #ifdef USE_GPS_FIX_ESTIMATION || STATE(GPS_ESTIMATED_FIX) -#endif +#endif ) && STATE(GPS_FIX_HOME) && isImuHeadingValid()) { if (GPS_distanceToHome < (navConfig()->general.min_rth_distance / 100) ) { displayWriteChar(osdDisplayPort, elemPosX, elemPosY, SYM_HOME_NEAR); @@ -2139,8 +2071,8 @@ static bool osdDrawSingleElement(uint8_t item) buff[1] = SYM_HDP_R; int32_t centiHDOP = 100 * gpsSol.hdop / HDOP_SCALE; uint8_t digits = 2U; -#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())) { +#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it and change the values + if (isDJICompatibleVideoSystem(osdConfig())) { digits = 3U; } #endif @@ -2401,7 +2333,7 @@ static bool osdDrawSingleElement(uint8_t item) { char *p = "ACRO"; #ifdef USE_FW_AUTOLAND - if (FLIGHT_MODE(NAV_FW_AUTOLAND)) + if (FLIGHT_MODE(NAV_FW_AUTOLAND)) p = "LAND"; else #endif @@ -2425,8 +2357,9 @@ static bool osdDrawSingleElement(uint8_t item) p = " WP "; else if (FLIGHT_MODE(NAV_ALTHOLD_MODE) && navigationRequiresAngleMode()) { // If navigationRequiresAngleMode() returns false when ALTHOLD is active, - // it means it can be combined with ANGLE, HORIZON, ANGLEHOLD, ACRO, etc... + // it means it can be combined with ANGLE, HORIZON, ACRO, etc... // and its display is handled by OSD_MESSAGES rather than OSD_FLYMODE. + // (Currently only applies to multirotor). p = " AH "; } else if (FLIGHT_MODE(ANGLE_MODE)) @@ -2580,23 +2513,138 @@ static bool osdDrawSingleElement(uint8_t item) } #endif + case OSD_FORMATION_FLIGHT: + { + static uint8_t currentPeerIndex = 0; + static timeMs_t lastPeerSwitch; + + if ((STATE(GPS_FIX) && isImuHeadingValid())) { + if ((radar_pois[currentPeerIndex].gps.lat == 0 || radar_pois[currentPeerIndex].gps.lon == 0 || radar_pois[currentPeerIndex].state >= 2) || (millis() > (osdConfig()->radar_peers_display_time * 1000) + lastPeerSwitch)) { + lastPeerSwitch = millis(); + + for(uint8_t i = 1; i < RADAR_MAX_POIS - 1; i++) { + uint8_t nextPeerIndex = (currentPeerIndex + i) % (RADAR_MAX_POIS - 1); + if (radar_pois[nextPeerIndex].gps.lat != 0 && radar_pois[nextPeerIndex].gps.lon != 0 && radar_pois[nextPeerIndex].state < 2) { + currentPeerIndex = nextPeerIndex; + break; + } + } + } + + radar_pois_t *currentPeer = &(radar_pois[currentPeerIndex]); + if (currentPeer->gps.lat != 0 && currentPeer->gps.lon != 0 && currentPeer->state < 2) { + fpVector3_t poi; + geoConvertGeodeticToLocal(&poi, &posControl.gpsOrigin, ¤tPeer->gps, GEO_ALT_RELATIVE); + + currentPeer->distance = calculateDistanceToDestination(&poi) / 100; // In m + currentPeer->altitude = (int16_t )((currentPeer->gps.alt - osdGetAltitudeMsl()) / 100); + currentPeer->direction = (int16_t )(calculateBearingToDestination(&poi) / 100); // In ° + + int16_t panServoDirOffset = 0; + if (osdConfig()->pan_servo_pwm2centideg != 0){ + panServoDirOffset = osdGetPanServoOffset(); + } + + //line 1 + //[peer heading][peer ID][LQ][direction to peer] + + //[peer heading] + int relativePeerHeading = osdGetHeadingAngle(currentPeer->heading - (int)DECIDEGREES_TO_DEGREES(osdGetHeading())); + displayWriteChar(osdDisplayPort, elemPosX, elemPosY, SYM_DECORATION + ((relativePeerHeading + 22) / 45) % 8); + + //[peer ID] + displayWriteChar(osdDisplayPort, elemPosX + 1, elemPosY, 65 + currentPeerIndex); + + //[LQ] + displayWriteChar(osdDisplayPort, elemPosX + 2, elemPosY, SYM_HUD_SIGNAL_0 + currentPeer->lq); + + //[direction to peer] + int directionToPeerError = wrap_180(osdGetHeadingAngle(currentPeer->direction) + panServoDirOffset - (int)DECIDEGREES_TO_DEGREES(osdGetHeading())); + uint16_t iconIndexOffset = constrain(((directionToPeerError + 180) / 30), 0, 12); + if (iconIndexOffset == 12) { + iconIndexOffset = 0; // Directly behind + } + displayWriteChar(osdDisplayPort, elemPosX + 3, elemPosY, SYM_HUD_CARDINAL + iconIndexOffset); + + + //line 2 + switch ((osd_unit_e)osdConfig()->units) { + case OSD_UNIT_UK: + FALLTHROUGH; + case OSD_UNIT_IMPERIAL: + osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(currentPeer->distance * 100), FEET_PER_MILE, 0, 4, 4, false); + break; + case OSD_UNIT_GA: + osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(currentPeer->distance * 100), (uint32_t)FEET_PER_NAUTICALMILE, 0, 4, 4, false); + break; + default: + FALLTHROUGH; + case OSD_UNIT_METRIC_MPH: + FALLTHROUGH; + case OSD_UNIT_METRIC: + osdFormatCentiNumber(buff, currentPeer->distance * 100, METERS_PER_KILOMETER, 0, 4, 4, false); + break; + } + displayWrite(osdDisplayPort, elemPosX, elemPosY + 1, buff); + + + //line 3 + displayWriteChar(osdDisplayPort, elemPosX, elemPosY + 2, (currentPeer->altitude >= 0) ? SYM_AH_DECORATION_UP : SYM_AH_DECORATION_DOWN); + + int altc = currentPeer->altitude; + switch ((osd_unit_e)osdConfig()->units) { + case OSD_UNIT_UK: + FALLTHROUGH; + case OSD_UNIT_GA: + FALLTHROUGH; + case OSD_UNIT_IMPERIAL: + // Convert to feet + altc = CENTIMETERS_TO_FEET(altc * 100); + break; + default: + FALLTHROUGH; + case OSD_UNIT_METRIC_MPH: + FALLTHROUGH; + case OSD_UNIT_METRIC: + // Already in metres + break; + } + + altc = ABS(constrain(altc, -999, 999)); + tfp_sprintf(buff, "%3d", altc); + displayWrite(osdDisplayPort, elemPosX + 1, elemPosY + 2, buff); + + return true; + } + } + + //clear screen + for(uint8_t i = 0; i < 4; i++){ + displayWriteChar(osdDisplayPort, elemPosX + i, elemPosY, SYM_BLANK); + displayWriteChar(osdDisplayPort, elemPosX + i, elemPosY + 1, SYM_BLANK); + displayWriteChar(osdDisplayPort, elemPosX + i, elemPosY + 2, SYM_BLANK); + } + + return true; + } + case OSD_CROSSHAIRS: // Hud is a sub-element of the crosshair osdCrosshairPosition(&elemPosX, &elemPosY); osdHudDrawCrosshair(osdGetDisplayPortCanvas(), elemPosX, elemPosY); - if (osdConfig()->hud_homing && (STATE(GPS_FIX) -#ifdef USE_GPS_FIX_ESTIMATION + if (osdConfig()->hud_homing && (STATE(GPS_FIX) +#ifdef USE_GPS_FIX_ESTIMATION || STATE(GPS_ESTIMATED_FIX) -#endif +#endif ) && STATE(GPS_FIX_HOME) && isImuHeadingValid()) { osdHudDrawHoming(elemPosX, elemPosY); } - if ((STATE(GPS_FIX) -#ifdef USE_GPS_FIX_ESTIMATION + if ((STATE(GPS_FIX) +#ifdef USE_GPS_FIX_ESTIMATION || STATE(GPS_ESTIMATED_FIX) -#endif +#endif ) && isImuHeadingValid()) { if (osdConfig()->hud_homepoint || osdConfig()->hud_radar_disp > 0 || osdConfig()->hud_wp_disp > 0) { @@ -2799,8 +2847,8 @@ static bool osdDrawSingleElement(uint8_t item) // time will be longer than 99 minutes. If it is, it will show 99:^^ if (glideTime > (99 * 60) + 59) { tfp_sprintf(buff + 1, "%02d:", (int)(glideTime / 60)); - buff[4] = SYM_DIRECTION; - buff[5] = SYM_DIRECTION; + buff[4] = SYM_DECORATION; + buff[5] = SYM_DECORATION; } else { tfp_sprintf(buff + 1, "%02d:%02d", (int)(glideTime / 60), (int)(glideTime % 60)); } @@ -3147,8 +3195,8 @@ static bool osdDrawSingleElement(uint8_t item) case OSD_MAIN_BATT_CELL_VOLTAGE: { uint8_t base_digits = 3U; -#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it - if(isBfCompatibleVideoSystem(osdConfig())) { +#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it + if(isDJICompatibleVideoSystem(osdConfig())) { base_digits = 4U; // Add extra digit to account for decimal point taking an extra character space } #endif @@ -3159,8 +3207,8 @@ static bool osdDrawSingleElement(uint8_t item) case OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE: { uint8_t base_digits = 3U; -#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it - if(isBfCompatibleVideoSystem(osdConfig())) { +#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it + if(isDJICompatibleVideoSystem(osdConfig())) { base_digits = 4U; // Add extra digit to account for decimal point taking an extra character space } #endif @@ -3215,16 +3263,16 @@ static bool osdDrawSingleElement(uint8_t item) timeUs_t currentTimeUs = micros(); timeDelta_t efficiencyTimeDelta = cmpTimeUs(currentTimeUs, efficiencyUpdated); uint8_t digits = 3U; -#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())) { +#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it and change the values + if (isDJICompatibleVideoSystem(osdConfig())) { // Increase number of digits so values above 99 don't get scaled by osdFormatCentiNumber digits = 4U; } #endif - if ((STATE(GPS_FIX) + if ((STATE(GPS_FIX) #ifdef USE_GPS_FIX_ESTIMATION || STATE(GPS_ESTIMATED_FIX) -#endif +#endif ) && gpsSol.groundSpeed > 0) { if (efficiencyTimeDelta >= EFFICIENCY_UPDATE_INTERVAL) { value = pt1FilterApply4(&eFilterState, ((float)getAmperage() / gpsSol.groundSpeed) / 0.0036f, @@ -3247,8 +3295,8 @@ static bool osdDrawSingleElement(uint8_t item) tfp_sprintf(buff + strlen(buff), "%c", SYM_AH_MI); } if (!efficiencyValid) { - buff[0] = buff[1] = buff[2] = buff[3] = '-'; - buff[digits] = SYM_MAH_MI_0; // This will overwrite the "-" at buff[3] if not in BFCOMPAT mode + buff[0] = buff[1] = buff[2] = buff[3] = '-'; + buff[digits] = SYM_MAH_MI_0; // This will overwrite the "-" at buff[3] if not in DJICOMPAT mode buff[digits + 1] = SYM_MAH_MI_1; buff[digits + 2] = '\0'; } @@ -3261,7 +3309,7 @@ static bool osdDrawSingleElement(uint8_t item) tfp_sprintf(buff + strlen(buff), "%c", SYM_AH_NM); } if (!efficiencyValid) { - buff[0] = buff[1] = buff[2] = buff[3] = '-'; + buff[0] = buff[1] = buff[2] = buff[3] = '-'; buff[digits] = SYM_MAH_NM_0; buff[digits + 1] = SYM_MAH_NM_1; buff[digits + 2] = '\0'; @@ -3277,7 +3325,7 @@ static bool osdDrawSingleElement(uint8_t item) tfp_sprintf(buff + strlen(buff), "%c", SYM_AH_KM); } if (!efficiencyValid) { - buff[0] = buff[1] = buff[2] = buff[3] = '-'; + buff[0] = buff[1] = buff[2] = buff[3] = '-'; buff[digits] = SYM_MAH_KM_0; buff[digits + 1] = SYM_MAH_KM_1; buff[digits + 2] = '\0'; @@ -3418,7 +3466,7 @@ static bool osdDrawSingleElement(uint8_t item) horizontalWindSpeed = getEstimatedHorizontalWindSpeed(&angle); int16_t windDirection = osdGetHeadingAngle( CENTIDEGREES_TO_DEGREES((int)angle) - DECIDEGREES_TO_DEGREES(attitude.values.yaw) + 22); buff[0] = SYM_WIND_HORIZONTAL; - buff[1] = SYM_DIRECTION + (windDirection*2 / 90); + buff[1] = SYM_DECORATION + (windDirection*2 / 90); osdFormatWindSpeedStr(buff + 2, horizontalWindSpeed, valid); break; } @@ -3435,10 +3483,10 @@ static bool osdDrawSingleElement(uint8_t item) float verticalWindSpeed; verticalWindSpeed = -getEstimatedWindSpeed(Z); //from NED to NEU if (verticalWindSpeed < 0) { - buff[1] = SYM_AH_DIRECTION_DOWN; + buff[1] = SYM_AH_DECORATION_DOWN; verticalWindSpeed = -verticalWindSpeed; } else { - buff[1] = SYM_AH_DIRECTION_UP; + buff[1] = SYM_AH_DECORATION_UP; } osdFormatWindSpeedStr(buff + 2, verticalWindSpeed, valid); break; @@ -3452,7 +3500,7 @@ static bool osdDrawSingleElement(uint8_t item) STATIC_ASSERT(GPS_DEGREES_DIVIDER == OLC_DEG_MULTIPLIER, invalid_olc_deg_multiplier); int digits = osdConfig()->plus_code_digits; int digitsRemoved = osdConfig()->plus_code_short * 2; - if ((STATE(GPS_FIX) + if ((STATE(GPS_FIX) #ifdef USE_GPS_FIX_ESTIMATION || STATE(GPS_ESTIMATED_FIX) #endif @@ -3552,7 +3600,7 @@ static bool osdDrawSingleElement(uint8_t item) } else { referenceSymbol = '-'; } - displayWriteChar(osdDisplayPort, elemPosX, elemPosY, SYM_DIRECTION); + displayWriteChar(osdDisplayPort, elemPosX, elemPosY, SYM_DECORATION); displayWriteChar(osdDisplayPort, elemPosX, elemPosY + 1, referenceSymbol); return true; } @@ -3919,6 +3967,9 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig, .airspeed_alarm_min = SETTING_OSD_AIRSPEED_ALARM_MIN_DEFAULT, .airspeed_alarm_max = SETTING_OSD_AIRSPEED_ALARM_MAX_DEFAULT, #endif +#ifndef DISABLE_MSP_DJI_COMPAT + .highlight_djis_missing_characters = SETTING_OSD_HIGHLIGHT_DJIS_MISSING_FONT_SYMBOLS_DEFAULT, +#endif .video_system = SETTING_OSD_VIDEO_SYSTEM_DEFAULT, .row_shiftdown = SETTING_OSD_ROW_SHIFTDOWN_DEFAULT, @@ -3994,7 +4045,9 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig, .stats_energy_unit = SETTING_OSD_STATS_ENERGY_UNIT_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 + .stats_show_metric_efficiency = SETTING_OSD_STATS_SHOW_METRIC_EFFICIENCY_DEFAULT, + + .radar_peers_display_time = SETTING_OSD_RADAR_PEERS_DISPLAY_TIME_DEFAULT ); void pgResetFn_osdLayoutsConfig(osdLayoutsConfig_t *osdLayoutsConfig) @@ -4185,10 +4238,13 @@ uint8_t drawLogos(bool singular, uint8_t row) { uint8_t logoRow = row; uint8_t logoColOffset = 0; bool usePilotLogo = (osdConfig()->use_pilot_logo && osdDisplayIsHD()); + bool useINAVLogo = (singular && !usePilotLogo) || !singular; -#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is in use, the pilot logo cannot be used, due to font issues. - if (isBfCompatibleVideoSystem(osdConfig())) +#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is in use, the pilot logo cannot be used, due to font issues. + if (isDJICompatibleVideoSystem(osdConfig())) { usePilotLogo = false; + useINAVLogo = false; + } #endif uint8_t logoSpacing = osdConfig()->inav_to_pilot_logo_spacing; @@ -4205,7 +4261,7 @@ uint8_t drawLogos(bool singular, uint8_t row) { } // Draw INAV logo - if ((singular && !usePilotLogo) || !singular) { + if (useINAVLogo) { unsigned logo_c = SYM_LOGO_START; uint8_t logo_x = logoColOffset; for (uint8_t lRow = 0; lRow < SYM_LOGO_HEIGHT; lRow++) { @@ -4223,9 +4279,9 @@ uint8_t drawLogos(bool singular, uint8_t row) { logoRow = row; if (singular) { logo_x = logoColOffset; - } else { - logo_x = logoColOffset + SYM_LOGO_WIDTH + logoSpacing; - } + } else { + logo_x = logoColOffset + SYM_LOGO_WIDTH + logoSpacing; + } for (uint8_t lRow = 0; lRow < SYM_LOGO_HEIGHT; lRow++) { for (uint8_t lCol = 0; lCol < SYM_LOGO_WIDTH; lCol++) { @@ -4235,9 +4291,13 @@ uint8_t drawLogos(bool singular, uint8_t row) { } } - return logoRow; + if (!usePilotLogo && !useINAVLogo) { + logoRow += SYM_LOGO_HEIGHT; } + return logoRow; +} + #ifdef USE_STATS uint8_t drawStat_Stats(uint8_t statNameX, uint8_t row, uint8_t statValueX, bool isBootStats) { @@ -4249,7 +4309,7 @@ uint8_t drawStat_Stats(uint8_t statNameX, uint8_t row, uint8_t statValueX, bool displayWrite(osdDisplayPort, statNameX, row, "ODOMETER:"); else displayWrite(osdDisplayPort, statNameX, row, "ODOMETER"); - + switch (osdConfig()->units) { case OSD_UNIT_UK: FALLTHROUGH; @@ -4262,7 +4322,7 @@ uint8_t drawStat_Stats(uint8_t statNameX, uint8_t row, uint8_t statValueX, bool tfp_sprintf(string_buffer, ": %d", statTotalDist); buffLen = 3 + sizeof(statTotalDist); } - + string_buffer[buffLen++] = SYM_MI; break; default: @@ -4288,8 +4348,8 @@ uint8_t drawStat_Stats(uint8_t statNameX, uint8_t row, uint8_t statValueX, bool 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; } @@ -4300,13 +4360,13 @@ uint8_t drawStat_Stats(uint8_t statNameX, uint8_t row, uint8_t statValueX, bool displayWrite(osdDisplayPort, statNameX, ++row, "TOTAL TIME:"); else displayWrite(osdDisplayPort, statNameX, ++row, "TOTAL TIME"); - + uint32_t tot_mins = statsConfig()->stats_total_time / 60; 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 @@ -4531,7 +4591,7 @@ static void osdUpdateStats(void) 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; } @@ -4605,7 +4665,7 @@ uint8_t drawStat_MaxDistanceFromHome(uint8_t col, uint8_t row, uint8_t statValX) } 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); @@ -4621,10 +4681,10 @@ uint8_t drawStat_Speed(uint8_t col, uint8_t row, uint8_t statValX) uint8_t multiValueXOffset = 0; displayWrite(osdDisplayPort, col, row, "MAX/AVG SPEED"); - + osdFormatVelocityStr(buff2, stats.max_3D_speed, true, false); tfp_sprintf(buff, ": %s/", osdFormatTrimWhiteSpace(buff2)); - multiValueXOffset = strlen(buff); + multiValueXOffset = strlen(buff); displayWrite(osdDisplayPort, statValX, row, buff); osdGenerateAverageVelocityStr(buff2); @@ -4657,8 +4717,8 @@ uint8_t drawStat_BatteryVoltage(uint8_t col, uint8_t row, uint8_t statValX) 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 + multiValueXOffset = strlen(buff); + // AverageCell osdFormatCentiNumber(buff + multiValueXOffset, stats.min_voltage / getBatteryCellCount(), 0, 2, 0, 3, false); tfp_sprintf(buff + strlen(buff), "%c", SYM_VOLT); @@ -4690,7 +4750,7 @@ uint8_t drawStat_MaximumPowerAndCurrent(uint8_t col, uint8_t row, uint8_t statVa 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 @@ -4719,7 +4779,7 @@ uint8_t drawStat_AverageEfficiency(uint8_t col, uint8_t row, uint8_t statValX, b int32_t totalDistance = getTotalTravelDistance(); bool moreThanAh = false; bool efficiencyValid = totalDistance >= 10000; - + if (osdDisplayIsHD()) displayWrite(osdDisplayPort, col, row, "AVG EFFICIENCY FLT/TOT"); else @@ -4727,8 +4787,8 @@ uint8_t drawStat_AverageEfficiency(uint8_t col, uint8_t row, uint8_t statValX, b 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())) { +#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it and change the values + if (isDJICompatibleVideoSystem(osdConfig())) { // Add one digit so no switch to scaled decimal occurs above 99 digits = 4U; } @@ -4743,18 +4803,18 @@ uint8_t drawStat_AverageEfficiency(uint8_t col, uint8_t row, uint8_t statValX, b 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) + if (!moreThanAh) tfp_sprintf(outBuff + strlen(outBuff), "%c%c", SYM_MAH_MI_0, SYM_MAH_MI_1); - else + else tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_AH_MI); - + moreThanAh = false; } 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 @@ -4781,11 +4841,11 @@ uint8_t drawStat_AverageEfficiency(uint8_t col, uint8_t row, uint8_t statValX, b 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) + if (!moreThanAh) tfp_sprintf(outBuff + strlen(outBuff), "%c%c", SYM_MAH_NM_0, SYM_MAH_NM_1); - else + else tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_AH_NM); - + moreThanAh = false; } @@ -4826,11 +4886,11 @@ uint8_t drawStat_AverageEfficiency(uint8_t col, uint8_t row, uint8_t statValX, b moreThanAh = osdFormatCentiNumber(buff, (int32_t)((getMAhDrawn() - stats.flightStartMAh) * 10000000.0f / totalDistance), 1000, 0, 2, digits, false); strcat(outBuff, osdFormatTrimWhiteSpace(buff)); if (osdDisplayIsHD()) { - if (!moreThanAh) + if (!moreThanAh) tfp_sprintf(outBuff + strlen(outBuff), "%c%c", SYM_MAH_KM_0, SYM_MAH_KM_1); - else + else tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_AH_KM); - + moreThanAh = false; } @@ -4883,7 +4943,7 @@ uint8_t drawStat_RXStats(uint8_t col, uint8_t row, uint8_t statValX) 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); @@ -4926,9 +4986,9 @@ 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), + 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); @@ -4949,10 +5009,10 @@ uint8_t drawStat_GForce(uint8_t col, uint8_t row, uint8_t statValX) 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); @@ -4967,7 +5027,7 @@ uint8_t drawStat_GForce(uint8_t col, uint8_t row, uint8_t statValX) 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); @@ -4994,7 +5054,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page) 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; @@ -5068,9 +5128,9 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page) 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); @@ -5088,7 +5148,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page) break; } } - + row = drawStat_DisarmMethod(statNameX, row, statValuesX); // The following has been commented out as it will be added in #9688 @@ -5404,6 +5464,7 @@ 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)) { @@ -5429,6 +5490,7 @@ 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); @@ -5442,27 +5504,27 @@ static void osdRefresh(timeUs_t currentTimeUs) // Manual paging stick commands are only applicable to multi-page stats. // ****************************** - // For single-page stats, this effectively disables the ability to cancel the + // For single-page stats, this effectively disables the ability to cancel the // automatic paging/updates with the stick commands. So unless stats_page_auto_swap_time - // is set to 0 or greater than 4 (saved settings display interval is 5 seconds), then - // "Saved Settings" should display if it is active within the refresh interval. + // is set to 0 or greater than 4 (saved settings display interval is 5 seconds), then + // "Saved Settings" should display if it is active within the refresh interval. // ****************************** // With multi-page stats, "Saved Settings" could also be missed if the user - // has canceled automatic paging using the stick commands, because that is only - // updated when osdShowStats() is called. So, in that case, they would only see - // the "Saved Settings" message if they happen to manually change pages using the - // stick commands within the interval the message is displayed. + // has canceled automatic paging using the stick commands, because that is only + // updated when osdShowStats() is called. So, in that case, they would only see + // the "Saved Settings" message if they happen to manually change pages using the + // stick commands within the interval the message is displayed. bool manualPageUpRequested = false; - bool manualPageDownRequested = false; + bool manualPageDownRequested = false; if (!statsSinglePageCompatible) { // These methods ensure the paging stick commands are held for a brief period - // Otherwise it can result in a race condition where the stats are - // updated too quickly and can result in partial blanks, etc. - if (osdIsPageUpStickCommandHeld()) { + // Otherwise it can result in a race condition where the stats are + // updated too quickly and can result in partial blanks, etc. + if (osdIsPageUpStickCommandHeld()) { manualPageUpRequested = true; statsAutoPagingEnabled = false; } else if (osdIsPageDownStickCommandHeld()) { - manualPageDownRequested = true; + manualPageDownRequested = true; statsAutoPagingEnabled = false; } } @@ -5494,7 +5556,7 @@ static void osdRefresh(timeUs_t currentTimeUs) } // 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); @@ -5503,8 +5565,9 @@ static void osdRefresh(timeUs_t currentTimeUs) } else { // Continue "Splash", "Armed" or "Stats" screens. displayHeartbeat(osdDisplayPort); + isThrottleHigh = checkStickPosition(THR_HI); } - + return; } @@ -5673,24 +5736,20 @@ 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)]; //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]; + /* WARNING: messageBuf is shared, use accordingly */ + char messageBuf[MAX(SETTING_MAX_NAME_LENGTH, OSD_MESSAGE_LENGTH + 1)]; + + /* WARNING: ensure number of messages returned does not exceed messages array size + * Messages array set 1 larger than maximum expected message count of 6 */ + const char *messages[7]; unsigned messageCount = 0; + const char *failsafeInfoMessage = NULL; const char *invertedInfoMessage = NULL; if (ARMING_FLAG(ARMED)) { -#ifdef USE_FW_AUTOLAND - 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()) { - if (isWaypointMissionRTHActive()) { -#endif - // if RTH activated whilst WP mode selected, remind pilot to cancel WP mode to exit RTH - messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL); - } + /* ADDS MAXIMUM OF 3 MESSAGES TO TOTAL NORMALLY, 5 MESSAGES DURING FAILSAFE */ if (navGetCurrentStateFlags() & NAV_AUTO_WP_DONE) { messages[messageCount++] = STATE(LANDING_DETECTED) ? OSD_MESSAGE_STR(OSD_MSG_WP_LANDED) : OSD_MESSAGE_STR(OSD_MSG_WP_FINISHED); } else if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) { @@ -5712,36 +5771,27 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter messages[messageCount++] = messageBuf; } - } else if (NAV_Status.state == MW_NAV_STATE_LAND_SETTLE && posControl.landingDelay > 0) { - uint16_t remainingHoldSec = MS2S(posControl.landingDelay - millis()); - tfp_sprintf(messageBuf, "LANDING DELAY: %3u SECONDS", remainingHoldSec); - - messages[messageCount++] = messageBuf; - } - + } else { -#ifdef USE_FW_AUTOLAND - if (canFwLandCanceld()) { - messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MOVE_STICKS); - } else if (!FLIGHT_MODE(NAV_FW_AUTOLAND)) { -#endif - const char *navStateMessage = navigationStateMessage(); - if (navStateMessage) { - messages[messageCount++] = navStateMessage; - } -#ifdef USE_FW_AUTOLAND + const char *navStateMessage = navigationStateMessage(); + if (navStateMessage) { + messages[messageCount++] = navStateMessage; } -#endif } - #if defined(USE_SAFE_HOME) const char *safehomeMessage = divertingToSafehomeMessage(); if (safehomeMessage) { messages[messageCount++] = safehomeMessage; } #endif - if (FLIGHT_MODE(FAILSAFE_MODE)) { - // In FS mode while being armed too + if (FLIGHT_MODE(FAILSAFE_MODE)) { // In FS mode while armed + if (NAV_Status.state == MW_NAV_STATE_LAND_SETTLE && posControl.landingDelay > 0) { + uint16_t remainingHoldSec = MS2S(posControl.landingDelay - millis()); + tfp_sprintf(messageBuf, "LANDING DELAY: %3u SECONDS", remainingHoldSec); + + messages[messageCount++] = messageBuf; + } + const char *failsafePhaseMessage = osdFailsafePhaseMessage(); failsafeInfoMessage = osdFailsafeInfoMessage(); @@ -5751,56 +5801,41 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter if (failsafeInfoMessage) { messages[messageCount++] = failsafeInfoMessage; } + } else if (isWaypointMissionRTHActive()) { + // if RTH activated whilst WP mode selected, remind pilot to cancel WP mode to exit RTH + messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL); } - } else { /* messages shown only when Failsafe, WP, RTH or Emergency Landing not active */ - if (STATE(FIXED_WING_LEGACY) && (navGetCurrentStateFlags() & NAV_CTL_LAUNCH)) { - messages[messageCount++] = navConfig()->fw.launch_manual_throttle ? OSD_MESSAGE_STR(OSD_MSG_AUTOLAUNCH_MANUAL) : - OSD_MESSAGE_STR(OSD_MSG_AUTOLAUNCH); - const char *launchStateMessage = fixedWingLaunchStateMessage(); - if (launchStateMessage) { - messages[messageCount++] = launchStateMessage; - } - } else { - if (FLIGHT_MODE(NAV_ALTHOLD_MODE) && !navigationRequiresAngleMode()) { - // ALTHOLD might be enabled alongside ANGLE/HORIZON/ANGLEHOLD/ACRO - // when it doesn't require ANGLE mode (required only in FW - // right now). If it requires ANGLE, its display is handled by OSD_FLYMODE. - messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_ALTITUDE_HOLD); - } - if (STATE(MULTIROTOR) && FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) { - if (posControl.cruise.multicopterSpeed >= 50.0f) { - char buf[6]; - osdFormatVelocityStr(buf, posControl.cruise.multicopterSpeed, false, false); - tfp_sprintf(messageBuf, "(SPD %s)", buf); - } else { - strcpy(messageBuf, "(HOLD)"); + } else if (STATE(LANDING_DETECTED)) { + messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_LANDED); + } else { + /* Messages shown only when Failsafe, WP, RTH or Emergency Landing not active and landed state inactive */ + /* ADDS MAXIMUM OF 3 MESSAGES TO TOTAL */ + if (STATE(AIRPLANE)) { /* ADDS MAXIMUM OF 3 MESSAGES TO TOTAL */ +#ifdef USE_FW_AUTOLAND + if (canFwLandingBeCancelled()) { + messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MOVE_STICKS); + } else +#endif + if (navGetCurrentStateFlags() & NAV_CTL_LAUNCH) { + messages[messageCount++] = navConfig()->fw.launch_manual_throttle ? OSD_MESSAGE_STR(OSD_MSG_AUTOLAUNCH_MANUAL) : + OSD_MESSAGE_STR(OSD_MSG_AUTOLAUNCH); + const char *launchStateMessage = fixedWingLaunchStateMessage(); + if (launchStateMessage) { + messages[messageCount++] = launchStateMessage; } - messages[messageCount++] = messageBuf; - } - if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM) && !feature(FEATURE_FW_AUTOTRIM)) { - messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOTRIM); - } - if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE)) { + } else if (FLIGHT_MODE(SOARING_MODE)) { + messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_NAV_SOARING); + } else if (isFwAutoModeActive(BOXAUTOTUNE)) { messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOTUNE); if (FLIGHT_MODE(MANUAL_MODE)) { messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOTUNE_ACRO); } + } else if (isFwAutoModeActive(BOXAUTOTRIM) && !feature(FEATURE_FW_AUTOTRIM)) { + messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOTRIM); + } else if (isFixedWingLevelTrimActive()) { + messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOLEVEL); } - if (isFixedWingLevelTrimActive()) { - messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOLEVEL); - } - if (FLIGHT_MODE(HEADFREE_MODE)) { - messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_HEADFREE); - } - if (FLIGHT_MODE(SOARING_MODE)) { - messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_NAV_SOARING); - } - if (posControl.flags.wpMissionPlannerActive) { - messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MISSION_PLANNER); - } - if (STATE(LANDING_DETECTED)) { - messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_LANDED); - } + if (IS_RC_MODE_ACTIVE(BOXANGLEHOLD)) { int8_t navAngleHoldAxis = navCheckActiveAngleHoldAxis(); if (isAngleHoldLevel()) { @@ -5811,33 +5846,48 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_ANGLEHOLD_PITCH); } } + } else if (STATE(MULTIROTOR)) { /* ADDS MAXIMUM OF 2 MESSAGES TO TOTAL */ + if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) { + if (posControl.cruise.multicopterSpeed >= 50.0f) { + char buf[6]; + osdFormatVelocityStr(buf, posControl.cruise.multicopterSpeed, false, false); + tfp_sprintf(messageBuf, "(SPD %s)", buf); + } else { + strcpy(messageBuf, "(HOLD)"); + } + messages[messageCount++] = messageBuf; + } else if (FLIGHT_MODE(HEADFREE_MODE)) { + messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_HEADFREE); + } + if (FLIGHT_MODE(NAV_ALTHOLD_MODE) && !navigationRequiresAngleMode()) { + /* If ALTHOLD is separately enabled for multirotor together with ANGL/HORIZON/ACRO modes + * then ANGL/HORIZON/ACRO are indicated by the OSD_FLYMODE field. + * In this case indicate ALTHOLD is active via a system message */ + + messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_ALTITUDE_HOLD); + } } } - } else if (ARMING_FLAG(ARMING_DISABLED_ALL_FLAGS)) { + } else if (ARMING_FLAG(ARMING_DISABLED_ALL_FLAGS)) { /* ADDS MAXIMUM OF 2 MESSAGES TO TOTAL */ unsigned invalidIndex; // Check if we're unable to arm for some reason if (ARMING_FLAG(ARMING_DISABLED_INVALID_SETTING) && !settingsValidate(&invalidIndex)) { + const setting_t *setting = settingGet(invalidIndex); + settingGetName(setting, messageBuf); + for (int ii = 0; messageBuf[ii]; ii++) { + messageBuf[ii] = sl_toupper(messageBuf[ii]); + } + invertedInfoMessage = messageBuf; + messages[messageCount++] = invertedInfoMessage; - const setting_t *setting = settingGet(invalidIndex); - settingGetName(setting, messageBuf); - for (int ii = 0; messageBuf[ii]; ii++) { - messageBuf[ii] = sl_toupper(messageBuf[ii]); - } - invertedInfoMessage = messageBuf; - messages[messageCount++] = invertedInfoMessage; - - invertedInfoMessage = OSD_MESSAGE_STR(OSD_MSG_INVALID_SETTING); - messages[messageCount++] = invertedInfoMessage; - + invertedInfoMessage = OSD_MESSAGE_STR(OSD_MSG_INVALID_SETTING); + messages[messageCount++] = invertedInfoMessage; } else { - - invertedInfoMessage = OSD_MESSAGE_STR(OSD_MSG_UNABLE_ARM); - messages[messageCount++] = invertedInfoMessage; - - // Show the reason for not arming - messages[messageCount++] = osdArmingDisabledReasonMessage(); - + invertedInfoMessage = OSD_MESSAGE_STR(OSD_MSG_UNABLE_ARM); + messages[messageCount++] = invertedInfoMessage; + // Show the reason for not arming + messages[messageCount++] = osdArmingDisabledReasonMessage(); } } else if (!ARMING_FLAG(ARMED)) { if (isWaypointListValid()) { @@ -5846,6 +5896,10 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter } /* Messages that are shown regardless of Arming state */ + /* ADDS MAXIMUM OF 2 MESSAGES TO TOTAL NORMALLY, 1 MESSAGE DURING FAILSAFE */ + if (posControl.flags.wpMissionPlannerActive && !FLIGHT_MODE(FAILSAFE_MODE)) { + messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MISSION_PLANNER); + } // The following has been commented out as it will be added in #9688 // uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0; @@ -5876,7 +5930,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter } else if (message == invertedInfoMessage) { TEXT_ATTRIBUTES_ADD_INVERTED(elemAttr); } - // We're shoing either failsafePhaseMessage or + // We're showing either failsafePhaseMessage or // navStateMessage. Don't BLINK here since // having this text available might be crucial // during a lost aircraft recovery and blinking diff --git a/src/main/io/osd.h b/src/main/io/osd.h index ca5dca66137..a73db015793 100644 --- a/src/main/io/osd.h +++ b/src/main/io/osd.h @@ -283,9 +283,10 @@ typedef enum { OSD_CUSTOM_ELEMENT_1, OSD_CUSTOM_ELEMENT_2, OSD_CUSTOM_ELEMENT_3, - OSD_ADSB_WARNING, + OSD_ADSB_WARNING, //150 OSD_ADSB_INFO, OSD_BLACKBOX, + OSD_FORMATION_FLIGHT, //153 OSD_ITEM_COUNT // MUST BE LAST } osd_items_e; @@ -457,11 +458,15 @@ typedef struct osdConfig_s { bool use_pilot_logo; // If enabled, the pilot logo (last 40 characters of page 2 font) will be used with the INAV logo. uint8_t inav_to_pilot_logo_spacing; // The space between the INAV and pilot logos, if pilot logo is used. This number may be adjusted so that it fits the odd/even col width. uint16_t arm_screen_display_time; // Length of time the arm screen is displayed - #ifdef USE_ADSB +#ifndef DISABLE_MSP_DJI_COMPAT + bool highlight_djis_missing_characters; // If enabled, show question marks where there is no character in DJI's font to represent an OSD element symbol +#endif + #ifdef USE_ADSB uint16_t adsb_distance_warning; // in metres uint16_t adsb_distance_alert; // in metres uint16_t adsb_ignore_plane_above_me_limit; // in metres -#endif + #endif + uint8_t radar_peers_display_time; // in seconds } osdConfig_t; PG_DECLARE(osdConfig_t, osdConfig); diff --git a/src/main/io/osd_grid.c b/src/main/io/osd_grid.c index 5d7e8736d91..9e79194498d 100644 --- a/src/main/io/osd_grid.c +++ b/src/main/io/osd_grid.c @@ -315,16 +315,16 @@ void osdGridDrawSidebars(displayPort_t *display) // Arrows if (osdConfig()->sidebar_scroll_arrows) { displayWriteChar(display, elemPosX - hudwidth, elemPosY - hudheight - 1, - left.arrow == OSD_SIDEBAR_ARROW_UP ? SYM_AH_DIRECTION_UP : SYM_BLANK); + left.arrow == OSD_SIDEBAR_ARROW_UP ? SYM_AH_DECORATION_UP : SYM_BLANK); displayWriteChar(display, elemPosX + hudwidth, elemPosY - hudheight - 1, - right.arrow == OSD_SIDEBAR_ARROW_UP ? SYM_AH_DIRECTION_UP : SYM_BLANK); + right.arrow == OSD_SIDEBAR_ARROW_UP ? SYM_AH_DECORATION_UP : SYM_BLANK); displayWriteChar(display, elemPosX - hudwidth, elemPosY + hudheight + 1, - left.arrow == OSD_SIDEBAR_ARROW_DOWN ? SYM_AH_DIRECTION_DOWN : SYM_BLANK); + left.arrow == OSD_SIDEBAR_ARROW_DOWN ? SYM_AH_DECORATION_DOWN : SYM_BLANK); displayWriteChar(display, elemPosX + hudwidth, elemPosY + hudheight + 1, - right.arrow == OSD_SIDEBAR_ARROW_DOWN ? SYM_AH_DIRECTION_DOWN : SYM_BLANK); + right.arrow == OSD_SIDEBAR_ARROW_DOWN ? SYM_AH_DECORATION_DOWN : SYM_BLANK); } // Draw AH sides diff --git a/src/main/io/osd_hud.c b/src/main/io/osd_hud.c index 47cc96f834b..8a6a68f467a 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; @@ -207,7 +207,7 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu if (poiType == 1) { // POI from the ESP radar error_x = hudWrap360(poiP1 - DECIDEGREES_TO_DEGREES(osdGetHeading())); - osdHudWrite(poi_x - 1, poi_y, SYM_DIRECTION + ((error_x + 22) / 45) % 8, 1); + osdHudWrite(poi_x - 1, poi_y, SYM_DECORATION + ((error_x + 22) / 45) % 8, 1); osdHudWrite(poi_x + 1, poi_y, SYM_HUD_SIGNAL_0 + poiP2, 1); } else if (poiType == 2) { // Waypoint, @@ -248,7 +248,7 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu tfp_sprintf(buff, "%3d", altc); } - buff[0] = (poiAltitude >= 0) ? SYM_AH_DIRECTION_UP : SYM_AH_DIRECTION_DOWN; + buff[0] = (poiAltitude >= 0) ? SYM_AH_DECORATION_UP : SYM_AH_DECORATION_DOWN; } else { // Display the distance by default switch ((osd_unit_e)osdConfig()->units) { case OSD_UNIT_UK: diff --git a/src/main/io/osd_utils.c b/src/main/io/osd_utils.c index 6675be8783b..9c9fb0608a0 100644 --- a/src/main/io/osd_utils.c +++ b/src/main/io/osd_utils.c @@ -20,7 +20,7 @@ #include "common/maths.h" #include "common/typeconversion.h" #include "drivers/osd_symbols.h" -#include "io/displayport_msp_bf_compat.h" +#include "io/displayport_msp_dji_compat.h" #if defined(USE_OSD) || defined(OSD_UNIT_TEST) @@ -45,7 +45,7 @@ bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int ma int decimals = maxDecimals; bool negative = false; bool scaled = false; - bool explicitDecimal = isBfCompatibleVideoSystem(osdConfig()); + bool explicitDecimal = isDJICompatibleVideoSystem(osdConfig()); buff[length] = '\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/io/serial.h b/src/main/io/serial.h index 7766679106b..aa9d709472e 100644 --- a/src/main/io/serial.h +++ b/src/main/io/serial.h @@ -57,6 +57,8 @@ typedef enum { FUNCTION_TELEMETRY_SMARTPORT_MASTER = (1 << 23), // 8388608 FUNCTION_UNUSED_2 = (1 << 24), // 16777216 FUNCTION_MSP_OSD = (1 << 25), // 33554432 + FUNCTION_GIMBAL = (1 << 26), // 67108864 + FUNCTION_GIMBAL_HEADTRACKER = (1 << 27), // 134217728 } serialPortFunction_e; #define FUNCTION_VTX_MSP FUNCTION_MSP_OSD 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_v2_common.h b/src/main/msp/msp_protocol_v2_common.h index 82b7f754079..e778a1808c9 100644 --- a/src/main/msp/msp_protocol_v2_common.h +++ b/src/main/msp/msp_protocol_v2_common.h @@ -33,3 +33,4 @@ #define MSP2_COMMON_SET_RADAR_POS 0x100B //SET radar position information #define MSP2_COMMON_SET_RADAR_ITD 0x100C //SET radar information to display +#define MSP2_BETAFLIGHT_BIND 0x3000 diff --git a/src/main/msp/msp_protocol_v2_inav.h b/src/main/msp/msp_protocol_v2_inav.h index ad2e775e4e1..2d9663041e3 100755 --- a/src/main/msp/msp_protocol_v2_inav.h +++ b/src/main/msp/msp_protocol_v2_inav.h @@ -31,9 +31,10 @@ #define MSP2_INAV_OUTPUT_MAPPING 0x200A #define MSP2_INAV_MC_BRAKING 0x200B #define MSP2_INAV_SET_MC_BRAKING 0x200C -#define MSP2_INAV_OUTPUT_MAPPING_EXT 0x200D +#define MSP2_INAV_OUTPUT_MAPPING_EXT 0x200D // Obsolete, replaced by MSP2_INAV_OUTPUT_MAPPING_EXT2 #define MSP2_INAV_TIMER_OUTPUT_MODE 0x200E #define MSP2_INAV_SET_TIMER_OUTPUT_MODE 0x200F +#define MSP2_INAV_OUTPUT_MAPPING_EXT2 0x210D #define MSP2_INAV_MIXER 0x2010 #define MSP2_INAV_SET_MIXER 0x2011 diff --git a/src/main/msp/msp_protocol_v2_sensor.h b/src/main/msp/msp_protocol_v2_sensor.h index d913723be7d..b243448e9f9 100644 --- a/src/main/msp/msp_protocol_v2_sensor.h +++ b/src/main/msp/msp_protocol_v2_sensor.h @@ -22,4 +22,5 @@ #define MSP2_SENSOR_GPS 0x1F03 #define MSP2_SENSOR_COMPASS 0x1F04 #define MSP2_SENSOR_BAROMETER 0x1F05 -#define MSP2_SENSOR_AIRSPEED 0x1F06 \ No newline at end of file +#define MSP2_SENSOR_AIRSPEED 0x1F06 +#define MSP2_SENSOR_HEADTRACKER 0x1F07 \ No newline at end of file diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c index e7261b068cf..6eed742e804 100644 --- a/src/main/navigation/navigation.c +++ b/src/main/navigation/navigation.c @@ -119,7 +119,7 @@ STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_rang PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 2); #endif -PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 6); +PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 7); PG_RESET_TEMPLATE(navConfig_t, navConfig, .general = { @@ -175,7 +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 }, @@ -193,18 +193,20 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig, .braking_boost_timeout = SETTING_NAV_MC_BRAKING_BOOST_TIMEOUT_DEFAULT, // Timout boost after 750ms .braking_boost_speed_threshold = SETTING_NAV_MC_BRAKING_BOOST_SPEED_THRESHOLD_DEFAULT, // Boost can happen only above 1.5m/s .braking_boost_disengage_speed = SETTING_NAV_MC_BRAKING_BOOST_DISENGAGE_SPEED_DEFAULT, // Disable boost at 1m/s - .braking_bank_angle = SETTING_NAV_MC_BRAKING_BANK_ANGLE_DEFAULT, // Max braking angle + .braking_bank_angle = SETTING_NAV_MC_BRAKING_BANK_ANGLE_DEFAULT, // Max braking angle #endif - .posDecelerationTime = SETTING_NAV_MC_POS_DECELERATION_TIME_DEFAULT, // posDecelerationTime * 100 - .posResponseExpo = SETTING_NAV_MC_POS_EXPO_DEFAULT, // posResponseExpo * 100 + .posDecelerationTime = SETTING_NAV_MC_POS_DECELERATION_TIME_DEFAULT, // posDecelerationTime * 100 + .posResponseExpo = SETTING_NAV_MC_POS_EXPO_DEFAULT, // posResponseExpo * 100 .slowDownForTurning = SETTING_NAV_MC_WP_SLOWDOWN_DEFAULT, - .althold_throttle_type = SETTING_NAV_MC_ALTHOLD_THROTTLE_DEFAULT, // STICK + .althold_throttle_type = SETTING_NAV_MC_ALTHOLD_THROTTLE_DEFAULT, // STICK + .inverted_crash_detection = SETTING_NAV_MC_INVERTED_CRASH_DETECTION_DEFAULT, // 0 - disarm time delay for inverted crash detection }, // Fixed wing .fw = { .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 @@ -300,10 +302,6 @@ bool validateRTHSanityChecker(void); void updateHomePosition(void); bool abortLaunchAllowed(void); -// static bool rthAltControlStickOverrideCheck(unsigned axis); -// static void updateRthTrackback(bool forceSaveTrackPoint); -// static fpVector3_t * rthGetTrackbackPos(void); - #ifdef USE_FW_AUTOLAND static float getLandAltitude(void); static int32_t calcWindDiff(int32_t heading, int32_t windHeading); @@ -327,8 +325,8 @@ 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); @@ -355,6 +353,7 @@ 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 @@ -422,7 +421,7 @@ 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, @@ -437,7 +436,7 @@ 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, @@ -584,7 +583,7 @@ 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, } }, @@ -593,7 +592,7 @@ 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, @@ -639,7 +638,7 @@ 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, @@ -650,37 +649,37 @@ 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, @@ -694,20 +693,20 @@ 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, } }, @@ -715,7 +714,7 @@ 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, @@ -826,7 +825,7 @@ 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, @@ -847,7 +846,7 @@ 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, @@ -885,7 +884,7 @@ 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, @@ -924,7 +923,7 @@ 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, @@ -942,7 +941,7 @@ 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, @@ -1051,7 +1050,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .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_AUTO_RTH, + .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, @@ -1072,7 +1071,7 @@ 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_AUTO_RTH, + .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, @@ -1106,6 +1105,7 @@ 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, } }, @@ -1127,6 +1127,7 @@ 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, } }, @@ -1140,11 +1141,26 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .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, @@ -1245,7 +1261,7 @@ 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) { @@ -1426,10 +1442,12 @@ 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 { - if (rthTrackBackIsActive() && rth_trackback.activePointIndex >= 0 && !isWaypointMissionRTHActive()) { - rthTrackBackUpdate(true); // save final trackpoint for altitude and max trackback distance reference + return NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING; // NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING + } + else { + // Switch to RTH trackback + if (rthTrackBackCanBeActivated() && rth_trackback.activePointIndex >= 0 && !isWaypointMissionRTHActive()) { + 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; @@ -1495,8 +1513,9 @@ 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)) { @@ -1546,7 +1565,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_TRACKBACK(navigatio return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING; } - if (rthTrackBackSetNewPosition()) { + if (!rthTrackBackSetNewPosition()) { return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_INITIALIZE; } @@ -1582,7 +1601,7 @@ 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); @@ -1591,7 +1610,7 @@ 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; @@ -1605,7 +1624,7 @@ 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); @@ -1638,8 +1657,8 @@ 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); @@ -1647,7 +1666,7 @@ 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); @@ -1656,7 +1675,7 @@ 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; @@ -1664,9 +1683,7 @@ 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)) { @@ -1679,7 +1696,7 @@ 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() || (previousState != NAV_STATE_WAYPOINT_REACHED && !validateRTHSanityChecker())) { + if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || (FLIGHT_MODE(NAV_RTH_MODE) && !validateRTHSanityChecker())) { return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING; } @@ -1698,7 +1715,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF shIdx = posControl.safehomeState.index; missionFwLandConfigStartIdx = MAX_SAFE_HOMES; #endif - if (previousState == NAV_STATE_WAYPOINT_REACHED && missionIdx >= 0) { + if (FLIGHT_MODE(NAV_WP_MODE) && missionIdx >= 0) { approachSettingIdx = missionFwLandConfigStartIdx + missionIdx; } else if (shIdx >= 0) { approachSettingIdx = shIdx; @@ -1706,7 +1723,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF 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.landWp = true; } else { @@ -1831,7 +1848,6 @@ 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 @@ -1895,10 +1911,17 @@ 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: @@ -1999,8 +2022,6 @@ 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; @@ -2009,21 +2030,13 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navig const navigationFSMEvent_t landEvent = navOnEnteringState_NAV_STATE_RTH_LANDING(previousState); -#ifdef USE_FW_AUTOLAND - if (landEvent == NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING) { - return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING; - } else -#endif - 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) @@ -2224,7 +2237,7 @@ 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; } @@ -2334,6 +2347,10 @@ 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; } @@ -2342,12 +2359,6 @@ 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; @@ -2384,6 +2395,10 @@ 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; } @@ -2393,12 +2408,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_GLIDE(naviga 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; } @@ -2407,16 +2416,24 @@ 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); @@ -2533,7 +2550,7 @@ 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; } @@ -2818,30 +2835,28 @@ 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); @@ -3186,7 +3201,7 @@ bool rthAltControlStickOverrideCheck(uint8_t axis) (axis == ROLL && STATE(MULTIROTOR) && !posControl.flags.rthTrackbackActive)) { return false; } - + static timeMs_t rthOverrideStickHoldStartTime[2]; if (rxGetChannelValue(axis) > rxConfig()->maxcheck) { @@ -3274,8 +3289,7 @@ 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 @@ -3308,10 +3322,6 @@ void calculateFarAwayTarget(fpVector3_t * farAwayPos, int32_t bearing, int32_t d *-----------------------------------------------------------*/ void updateLandingStatus(timeMs_t currentTimeMs) { - if (STATE(AIRPLANE) && !navConfig()->general.flags.disarm_on_landing) { - return; // no point using this with a fixed wing if not set to disarm - } - static timeMs_t lastUpdateTimeMs = 0; if ((currentTimeMs - lastUpdateTimeMs) <= HZ2MS(100)) { // limit update to 100Hz return; @@ -3327,9 +3337,6 @@ void updateLandingStatus(timeMs_t currentTimeMs) } resetLandingDetector(); - if (!IS_RC_MODE_ACTIVE(BOXARM)) { - DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED); - } return; } @@ -3344,8 +3351,13 @@ void updateLandingStatus(timeMs_t currentTimeMs) ENABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED); disarm(DISARM_LANDING); } else if (!navigationInAutomaticThrottleMode()) { - // for multirotor only - reactivate landing detector without disarm when throttle raised toward hover throttle - landingDetectorIsActive = rxGetChannelValue(THROTTLE) < (0.5 * (currentBatteryProfile->nav.mc.hover_throttle + getThrottleIdleValue())); + if (STATE(AIRPLANE) && isFlightDetected()) { + // Cancel landing detection flag if fixed wing redetected in flight + resetLandingDetector(); + } else if (STATE(MULTIROTOR)) { + // For multirotor - reactivate landing detector without disarm when throttle raised toward hover throttle + landingDetectorIsActive = rxGetChannelValue(THROTTLE) < (0.5 * (currentBatteryProfile->nav.mc.hover_throttle + getThrottleIdleValue())); + } } } else if (isLandingDetected()) { ENABLE_STATE(LANDING_DETECTED); @@ -3388,66 +3400,77 @@ 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; - static timeUs_t lastUpdateTimeUs; - timeUs_t currentTimeUs = micros(); + 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; + } - // Terrain following uses different altitude measurement - const float altitudeToUse = navGetCurrentActualPositionAndVelocity()->pos.z; + return constrainf(posControl.desiredState.climbRateDemand, -maxClimbRate, maxClimbRate); + } - 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 */ + 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_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); + const float targetAltitudeError = targetAltitude - navGetCurrentActualPositionAndVelocity()->pos.z; + float targetVel = 0.0f; - desiredClimbRate = direction * constrainf(verticalVelScaled, MIN_TARGET_CLIMB_RATE, absClimbRate); - } + if (STATE(MULTIROTOR)) { + targetVel = getSqrtControllerVelocity(targetAltitude, deltaMicros); + } else { + targetVel = pidProfile()->fwAltControlResponseFactor * targetAltitudeError / 100.0f; + } - /* - * 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; - } + 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 (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; - } +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 (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) @@ -3949,16 +3972,20 @@ 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) || - (posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER || posControl.navState == NAV_STATE_FW_LANDING_LOITER) || - 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) @@ -3997,7 +4024,7 @@ 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) + return FLIGHT_MODE(NAV_WP_MODE) || posControl.navState == NAV_STATE_FW_LANDING_APPROACH || (posControl.flags.rthTrackbackActive && rth_trackback.activePointIndex != rth_trackback.lastSavedIndex); } @@ -4412,7 +4439,7 @@ uint32_t distanceToFirstWP(void) bool navigationPositionEstimateIsHealthy(void) { - return (posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME); + return posControl.flags.estPosStatus >= EST_USABLE && posControl.flags.estAltStatus >= EST_USABLE && STATE(GPS_FIX_HOME); } navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass) @@ -4686,9 +4713,9 @@ 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 @@ -4797,9 +4824,9 @@ void abortForcedRTH(void) rthState_e getStateOfForcedRTH(void) { - /* If forced RTH activated and in AUTO_RTH or EMERG state */ + /* 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) { + 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 { @@ -4885,7 +4912,7 @@ bool navigationRTHAllowsLanding(void) return false; } #endif - + // WP mission RTH landing setting if (isWaypointMissionRTHActive() && isWaypointMissionValid()) { return posControl.waypointList[posControl.startWpIndex + posControl.waypointCount - 1].p1 > 0; @@ -5043,12 +5070,9 @@ void resetFwAutolandApproach(int8_t idx) } } -bool canFwLandCanceld(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; + 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 98bf6c4d62c..101b41cd637 100644 --- a/src/main/navigation/navigation.h +++ b/src/main/navigation/navigation.h @@ -260,11 +260,9 @@ typedef struct positionEstimationConfig_s { float max_eph_epv; // Max estimated position error acceptable for estimation (cm) float baro_epv; // Baro position error - uint8_t use_gps_no_baro; - #ifdef USE_GPS_FIX_ESTIMATION uint8_t allow_gps_fix_estimation; -#endif +#endif } positionEstimationConfig_t; PG_DECLARE(positionEstimationConfig_t, positionEstimationConfig); @@ -328,7 +326,7 @@ 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 @@ -346,10 +344,12 @@ typedef struct navConfig_s { uint8_t posResponseExpo; // Position controller expo (taret vel expo for MC) bool slowDownForTurning; // Slow down during WP missions when changing heading on next waypoint uint8_t althold_throttle_type; // throttle zero datum type for alt hold + uint8_t inverted_crash_detection; // Enables inverted crash detection, setting defines disarm time delay (0 = disabled) } mc; 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) @@ -689,7 +689,7 @@ float getEstimatedAglPosition(void); bool isEstimatedAglTrusted(void); void checkManualEmergencyLandingControl(bool forcedActivation); -float updateBaroAltitudeRate(float newBaroAltRate, bool updateValue); +void updateBaroAltitudeRate(float newBaroAltRate); bool rthAltControlStickOverrideCheck(uint8_t axis); int8_t navCheckActiveAngleHoldAxis(void); @@ -702,7 +702,7 @@ uint8_t getActiveWpNumber(void); int32_t navigationGetHomeHeading(void); #ifdef USE_FW_AUTOLAND -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 c7d632cd87c..65b44cfcbcb 100644 --- a/src/main/navigation/navigation_declination_gen.c +++ b/src/main/navigation/navigation_declination_gen.c @@ -1,63 +1,77 @@ /* this file is automatically generated by src/utils/declination.py - DO NOT EDIT! */ -/* Updated on 2024-04-19 12:54:15.842704 */ +/* Updated on 2024-05-13 21:53:14.731603 */ -#include +const float SAMPLING_RES = 10; +const float SAMPLING_MIN_LAT = -90; +const float SAMPLING_MAX_LAT = 90; +const float SAMPLING_MIN_LON = -180; +const float SAMPLING_MAX_LON = 180; - - -#if defined(NAV_AUTO_MAG_DECLINATION_PRECISE) -#define SAMPLING_RES 10.00000f -#define SAMPLING_MIN_LON -180.00000f -#define SAMPLING_MAX_LON 180.00000f -#define SAMPLING_MIN_LAT -90.00000f -#define SAMPLING_MAX_LAT 90.00000f - -static const float declination_table[19][37] = { - {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} +const float declination_table[19][37] = { + {148.83402f,138.83401f,128.83401f,118.83402f,108.83402f,98.83402f,88.83402f,78.83402f,68.83402f,58.83402f,48.83402f,38.83402f,28.83402f,18.83402f,8.83402f,-1.16598f,-11.16598f,-21.16598f,-31.16598f,-41.16598f,-51.16598f,-61.16598f,-71.16598f,-81.16598f,-91.16598f,-101.16598f,-111.16598f,-121.16598f,-131.16598f,-141.16598f,-151.16598f,-161.16598f,-171.16598f,178.83402f,168.83402f,158.83402f,148.83402f}, + {129.09306f,116.89412f,105.78898f,95.63017f,86.23504f,77.42476f,69.04348f,60.96591f,53.09841f,45.37592f,37.75568f,30.20867f,22.70998f,15.23027f,7.73037f,0.16098f,-7.53238f,-15.40109f,-23.48496f,-31.80703f,-40.37375f,-49.18062f,-58.22152f,-67.49946f,-77.03640f,-86.88079f,-97.11212f,-107.84156f,-119.20626f,-131.35191f,-144.39481f,-158.35719f,-173.08769f,171.78274f,156.78187f,142.43310f,129.09306f}, + {85.81367f,77.83602f,71.40003f,65.88433f,60.88263f,56.08204f,51.22755f,46.12774f,40.67419f,34.85457f,28.74909f,22.50583f,16.29363f,10.23812f,4.36029f,-1.45095f,-7.40778f,-13.74178f,-20.61213f,-28.04922f,-35.95530f,-44.15322f,-52.45486f,-60.71951f,-68.88732f,-76.99183f,-85.16746f,-93.67473f,-102.97950f,-113.96429f,-128.46293f,-150.36073f,175.55488f,138.00554f,112.28051f,96.48319f,85.81367f}, + {48.22805f,46.81921f,45.24300f,43.71189f,42.27245f,40.80022f,39.00177f,36.49549f,32.95972f,28.26545f,22.54379f,16.18846f,9.77818f,3.88971f,-1.16066f,-5.50500f,-9.68832f,-14.40052f,-20.13990f,-26.99385f,-34.63319f,-42.50584f,-50.08478f,-57.00760f,-63.07978f,-68.20773f,-72.30336f,-75.14845f,-76.14220f,-73.56875f,-61.46573f,-19.66028f,28.39616f,43.98783f,48.35027f,49.03265f,48.22805f}, + {31.42931f,31.60530f,31.28145f,30.79047f,30.38024f,30.16777f,29.97487f,29.25597f,27.27948f,23.46202f,17.66378f,10.37176f,2.68673f,-4.06559f,-9.01317f,-12.19989f,-14.47861f,-17.04830f,-21.00672f,-26.83158f,-33.98769f,-41.32654f,-47.85214f,-52.97945f,-56.36644f,-57.72068f,-56.62201f,-52.29959f,-43.64045f,-30.08348f,-13.41611f,2.35315f,14.41455f,22.53506f,27.54777f,30.28028f,31.42931f}, + {22.67985f,23.21169f,23.25494f,22.99742f,22.63545f,22.42369f,22.46877f,22.43187f,21.42571f,18.33186f,12.46440f,4.21692f,-4.75068f,-12.30560f,-17.22721f,-19.74039f,-20.77499f,-21.16946f,-22.14607f,-25.39336f,-31.01102f,-37.19196f,-42.26227f,-45.34969f,-45.95366f,-43.77299f,-38.67388f,-30.72261f,-20.87969f,-11.16390f,-2.84711f,4.17466f,10.15622f,15.07307f,18.83144f,21.33469f,22.67985f}, + {17.07334f,17.59062f,17.77934f,17.69577f,17.34929f,16.88674f,16.56217f,16.38656f,15.63204f,12.86517f,6.93562f,-1.75751f,-10.98436f,-18.20308f,-22.41588f,-24.27993f,-24.67590f,-23.50719f,-21.00605f,-19.72369f,-21.87960f,-26.21214f,-30.23195f,-32.25069f,-31.49417f,-28.07385f,-22.58093f,-15.67611f,-8.73630f,-3.38117f,0.43868f,3.90117f,7.49078f,10.92679f,13.85484f,15.93237f,17.07334f}, + {13.37426f,13.67217f,13.78744f,13.78998f,13.54222f,12.98780f,12.38852f,11.96065f,11.09372f,8.25499f,2.21162f,-6.34723f,-14.82596f,-20.89032f,-23.89434f,-24.45752f,-23.26867f,-20.14461f,-15.21492f,-10.62227f,-9.09952f,-11.18829f,-14.91638f,-17.58833f,-17.75073f,-15.65321f,-12.03643f,-7.38772f,-2.92537f,-0.15156f,1.30857f,3.04660f,5.56513f,8.30463f,10.76538f,12.51642f,13.37426f}, + {11.10969f,11.11944f,11.01236f,10.99728f,10.84097f,10.32286f,9.70494f,9.19687f,8.09157f,4.94277f,-1.12864f,-9.05484f,-16.32980f,-21.04376f,-22.55109f,-21.19496f,-17.89373f,-13.44411f,-8.58084f,-4.24867f,-1.62827f,-1.86509f,-4.55045f,-7.42469f,-8.64775f,-8.12536f,-6.32716f,-3.48850f,-0.64489f,0.72027f,0.97976f,1.90952f,4.01623f,6.51266f,8.80749f,10.44185f,11.10969f}, + {9.88349f,9.72040f,9.41289f,9.38439f,9.33291f,8.89921f,8.31537f,7.68011f,6.17272f,2.60695f,-3.33977f,-10.37899f,-16.38823f,-19.72660f,-19.70115f,-16.80477f,-12.41185f,-7.91607f,-4.15177f,-1.10381f,1.22204f,1.82879f,0.23517f,-2.13784f,-3.62813f,-3.94630f,-3.34494f,-1.85961f,-0.22644f,0.26762f,-0.08803f,0.44077f,2.38763f,4.89878f,7.32401f,9.15291f,9.88349f}, + {9.12464f,9.18177f,8.94457f,9.04553f,9.19618f,8.89744f,8.21223f,7.14260f,4.96349f,0.86055f,-4.97931f,-11.14357f,-15.85640f,-17.78532f,-16.57645f,-13.08478f,-8.67898f,-4.59243f,-1.60427f,0.55144f,2.39028f,3.23916f,2.31654f,0.46434f,-0.91732f,-1.53003f,-1.62589f,-1.18564f,-0.62403f,-0.86624f,-1.66562f,-1.50145f,0.21812f,2.79294f,5.56329f,7.91823f,9.12464f}, + {8.06290f,8.93172f,9.29767f,9.81684f,10.30693f,10.20311f,9.30721f,7.53634f,4.41412f,-0.45099f,-6.41113f,-11.85029f,-15.25565f,-15.88209f,-13.96742f,-10.49677f,-6.46933f,-2.75504f,-0.08743f,1.66921f,3.12874f,3.96903f,3.45981f,2.05876f,0.88578f,0.20951f,-0.29117f,-0.68669f,-1.18101f,-2.27487f,-3.63054f,-3.95562f,-2.62221f,-0.08793f,3.01927f,6.01454f,8.06290f}, + {6.31041f,8.41617f,9.93058f,11.21483f,12.13996f,12.23034f,11.14011f,8.66524f,4.49928f,-1.34733f,-7.71989f,-12.71272f,-15.08305f,-14.75641f,-12.45343f,-9.09705f,-5.35725f,-1.83470f,0.82823f,2.57001f,3.86519f,4.69588f,4.60243f,3.76104f,2.87601f,2.13967f,1.24833f,0.02788f,-1.62859f,-3.80231f,-5.90990f,-6.79346f,-5.87079f,-3.45535f,-0.15720f,3.34006f,6.31041f}, + {4.26294f,7.59975f,10.43666f,12.70491f,14.16020f,14.43398f,13.18770f,10.10768f,4.90586f,-2.08386f,-9.15208f,-14.09196f,-15.93051f,-15.08268f,-12.51517f,-9.09089f,-5.35759f,-1.77919f,1.14514f,3.24292f,4.77489f,5.90082f,6.46683f,6.42854f,5.95440f,5.04613f,3.49019f,1.14215f,-1.96091f,-5.46021f,-8.43365f,-9.79880f,-9.13330f,-6.77311f,-3.34752f,0.50970f,4.26294f}, + {2.57464f,6.81988f,10.72127f,13.95370f,16.10049f,16.72460f,15.39548f,11.64478f,5.15172f,-3.36781f,-11.49173f,-16.72206f,-18.40831f,-17.31430f,-14.50140f,-10.79977f,-6.74992f,-2.76545f,0.78143f,3.70100f,6.08013f,8.07892f,9.67963f,10.67456f,10.77058f,9.65347f,7.07600f,3.02043f,-2.09809f,-7.27683f,-11.16806f,-12.81861f,-12.13043f,-9.62141f,-5.97603f,-1.77704f,2.57464f}, + {1.43503f,6.27921f,10.88019f,14.88261f,17.80063f,19.02158f,17.77297f,13.12636f,4.53718f,-6.54055f,-16.27050f,-21.85552f,-23.31365f,-21.85455f,-18.61101f,-14.36797f,-9.64057f,-4.79964f,-0.13239f,4.18385f,8.10605f,11.64519f,14.70734f,16.97990f,17.92977f,16.88820f,13.23164f,6.81146f,-1.34665f,-8.97876f,-14.01257f,-15.81005f,-14.85926f,-12.00033f,-7.99733f,-3.40265f,1.43502f}, + {0.13094f,5.45479f,10.54962f,15.08235f,18.55436f,20.17754f,18.67574f,12.20150f,-0.36226f,-15.49225f,-26.46004f,-31.19380f,-31.33251f,-28.66356f,-24.33699f,-19.03627f,-13.18344f,-7.06335f,-0.88475f,5.19490f,11.05071f,16.55252f,21.50321f,25.56424f,28.16988f,28.41286f,24.95220f,16.43585f,3.63861f,-8.67079f,-16.18909f,-18.69045f,-17.68753f,-14.54612f,-10.18137f,-5.16795f,0.13094f}, + {-4.14830f,1.12345f,5.96040f,9.84415f,11.94596f,10.80871f,4.02869f,-10.36405f,-27.94912f,-39.79617f,-44.16477f,-43.57950f,-40.12657f,-34.99189f,-28.83083f,-22.02403f,-14.80922f,-7.34799f,0.23881f,7.85050f,15.39197f,22.75942f,29.82156f,36.38924f,42.15868f,46.59144f,48.63821f,46.09967f,34.72041f,12.13936f,-8.98865f,-18.65098f,-20.47841f,-18.40133f,-14.39834f,-9.45818f,-4.14830f}, + {-169.79948f,-159.79948f,-149.79948f,-139.79948f,-129.79948f,-119.79948f,-109.79948f,-99.79948f,-89.79948f,-79.79948f,-69.79948f,-59.79948f,-49.79948f,-39.79948f,-29.79948f,-19.79948f,-9.79948f,0.20052f,10.20052f,20.20052f,30.20052f,40.20052f,50.20052f,60.20052f,70.20052f,80.20052f,90.20052f,100.20052f,110.20052f,120.20052f,130.20052f,140.20052f,150.20052f,160.20052f,170.20052f,-179.79948f,-169.79948f} }; -#else /* !NAV_AUTO_MAG_DECLINATION_PRECISE */ -#define SAMPLING_RES 10.00000f -#define SAMPLING_MIN_LON -180.00000f -#define SAMPLING_MAX_LON 180.00000f -#define SAMPLING_MIN_LAT -60.00000f -#define SAMPLING_MAX_LAT 60.00000f - -static const int8_t declination_table[13][37] = { - {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} +const float inclination_table[19][37] = { + {-72.02070f,-72.02071f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02071f,-72.02070f,-72.02071f}, + {-78.23208f,-77.46612f,-76.54604f,-75.51344f,-74.40408f,-73.25043f,-72.08420f,-70.93779f,-69.84384f,-68.83332f,-67.93241f,-67.15960f,-66.52407f,-66.02648f,-65.66205f,-65.42519f,-65.31392f,-65.33255f,-65.49161f,-65.80511f,-66.28626f,-66.94289f,-67.77395f,-68.76776f,-69.90201f,-71.14489f,-72.45664f,-73.79090f,-75.09549f,-76.31306f,-77.38240f,-78.24183f,-78.83644f,-79.12876f,-79.10879f,-78.79618f,-78.23208f}, + {-80.80007f,-78.97830f,-77.14756f,-75.29021f,-73.38193f,-71.40769f,-69.37743f,-67.33857f,-65.37896f,-63.61481f,-62.16302f,-61.10460f,-60.45316f,-60.14557f,-60.06470f,-60.08698f,-60.13217f,-60.19219f,-60.32958f,-60.65151f,-61.27183f,-62.27481f,-63.69257f,-65.50302f,-67.64474f,-70.03800f,-72.60073f,-75.25455f,-77.92173f,-80.51496f,-82.91263f,-84.88736f,-85.95658f,-85.63251f,-84.30522f,-82.60297f,-80.80007f}, + {-77.45516f,-75.43606f,-73.49604f,-71.57699f,-69.59653f,-67.45749f,-65.08505f,-62.48902f,-59.81600f,-57.35291f,-55.46368f,-54.46054f,-54.44855f,-55.23685f,-56.40404f,-57.49090f,-58.18917f,-58.42457f,-58.34278f,-58.24952f,-58.51231f,-59.42525f,-61.10217f,-63.46936f,-66.34503f,-69.53469f,-72.88656f,-76.29320f,-79.66218f,-82.88130f,-85.73520f,-87.38955f,-86.36194f,-84.15583f,-81.83294f,-79.58616f,-77.45517f}, + {-71.58214f,-69.61565f,-67.71488f,-65.86479f,-64.01505f,-62.04510f,-59.77482f,-57.07400f,-54.02405f,-51.03212f,-48.80491f,-48.09823f,-49.26412f,-51.92460f,-55.16562f,-58.07793f,-60.10267f,-61.01513f,-60.84749f,-59.97822f,-59.15799f,-59.18575f,-60.45940f,-62.86069f,-65.97595f,-69.36736f,-72.71868f,-75.80268f,-78.35851f,-80.06262f,-80.67983f,-80.25871f,-79.08901f,-77.46953f,-75.59576f,-73.59787f,-71.58215f}, + {-64.39807f,-62.40221f,-60.40960f,-58.42549f,-56.48151f,-54.55795f,-52.49863f,-50.03954f,-47.03044f,-43.80319f,-41.39118f,-41.16169f,-43.78688f,-48.51954f,-53.83971f,-58.60413f,-62.35170f,-64.81766f,-65.60605f,-64.62579f,-62.64650f,-61.08659f,-61.05364f,-62.68316f,-65.34905f,-68.24163f,-70.78236f,-72.62117f,-73.51797f,-73.52965f,-73.02048f,-72.24528f,-71.21594f,-69.88980f,-68.25886f,-66.38361f,-64.39807f}, + {-55.02826f,-52.87120f,-50.69073f,-48.44731f,-46.19513f,-44.04849f,-42.00465f,-39.74123f,-36.79801f,-33.33110f,-30.77621f,-31.26765f,-35.68330f,-42.58861f,-49.78570f,-56.05256f,-61.22645f,-65.24992f,-67.52021f,-67.43115f,-65.26549f,-62.35447f,-60.45735f,-60.49007f,-61.96843f,-63.81210f,-65.26064f,-65.90429f,-65.53604f,-64.51130f,-63.52424f,-62.77292f,-61.94296f,-60.76846f,-59.16172f,-57.17787f,-55.02826f}, + {-42.23934f,-39.72248f,-37.30606f,-34.84704f,-32.29950f,-29.84715f,-27.62882f,-25.25073f,-22.02346f,-18.13398f,-15.56621f,-17.09131f,-23.52381f,-32.78684f,-42.11183f,-49.91489f,-55.93881f,-60.34177f,-62.85919f,-63.04596f,-60.93631f,-57.41244f,-54.21948f,-52.82417f,-53.10885f,-54.02972f,-54.81946f,-54.92826f,-53.94911f,-52.38029f,-51.27875f,-50.79557f,-50.20937f,-49.05107f,-47.23568f,-44.84941f,-42.23934f}, + {-25.31616f,-22.26353f,-19.64432f,-17.13765f,-14.48794f,-11.90452f,-9.56551f,-6.93532f,-3.35246f,0.62534f,2.69744f,0.20162f,-7.49683f,-18.49333f,-29.80260f,-38.99555f,-45.22087f,-48.81124f,-50.28975f,-49.88122f,-47.49942f,-43.57896f,-39.80201f,-37.81589f,-37.58213f,-38.12733f,-38.79073f,-38.91636f,-37.84560f,-36.15384f,-35.28930f,-35.35164f,-35.11620f,-33.90633f,-31.71407f,-28.67497f,-25.31616f}, + {-5.22365f,-1.68002f,0.98130f,3.28459f,5.73141f,8.13291f,10.33797f,12.92226f,16.28019f,19.52644f,20.64919f,17.75076f,10.26968f,-0.68527f,-12.39654f,-21.81573f,-27.55757f,-29.98547f,-30.24089f,-29.18412f,-26.62224f,-22.51726f,-18.50023f,-16.36665f,-16.02599f,-16.47452f,-17.18522f,-17.56335f,-16.82114f,-15.49276f,-15.21405f,-16.04947f,-16.38744f,-15.33409f,-12.92178f,-9.31548f,-5.22365f}, + {14.65727f,18.24457f,20.73560f,22.68750f,24.74090f,26.83478f,28.82717f,31.06453f,33.64927f,35.73650f,35.91607f,33.06931f,26.82267f,17.82545f,8.14938f,0.35249f,-4.22224f,-5.65846f,-5.08244f,-3.67265f,-1.30171f,2.36894f,6.00997f,7.96495f,8.31670f,8.01335f,7.45026f,6.96852f,7.19717f,7.76654f,7.31456f,5.77666f,4.68883f,5.07867f,7.05547f,10.50432f,14.65727f}, + {31.00203f,34.03206f,36.22486f,37.93041f,39.71929f,41.67672f,43.64451f,45.63057f,47.51149f,48.64179f,48.13476f,45.46014f,40.64785f,34.34474f,27.90343f,22.77471f,19.78522f,19.08118f,19.96093f,21.39191f,23.28877f,25.96005f,28.61507f,30.09860f,30.42073f,30.29938f,30.04062f,29.74069f,29.65970f,29.53545f,28.53162f,26.62276f,24.91817f,24.37385f,25.31100f,27.72542f,31.00203f}, + {43.33608f,45.45851f,47.28808f,48.92364f,50.69187f,52.68920f,54.75852f,56.70372f,58.24993f,58.87748f,58.03709f,55.61656f,52.01961f,47.93440f,44.13769f,41.24459f,39.61639f,39.39065f,40.22833f,41.47069f,42.89022f,44.59331f,46.23881f,47.24171f,47.57154f,47.63935f,47.66249f,47.62919f,47.50096f,47.00810f,45.71114f,43.68014f,41.65440f,40.38784f,40.27252f,41.37670f,43.33608f}, + {53.10131f,54.36161f,55.82606f,57.45873f,59.32146f,61.39014f,63.50628f,65.43734f,66.85905f,67.31408f,66.44780f,64.38450f,61.68268f,58.96721f,56.68844f,55.08044f,54.25566f,54.24982f,54.89128f,55.82780f,56.83438f,57.87845f,58.85920f,59.59271f,60.06042f,60.40887f,60.71534f,60.90716f,60.81057f,60.15911f,58.74748f,56.73559f,54.64618f,53.02448f,52.20550f,52.28132f,53.10131f}, + {61.90363f,62.59082f,63.73000f,65.25974f,67.10373f,69.13404f,71.16923f,72.97878f,74.24745f,74.58969f,73.79370f,72.08739f,69.99806f,68.01780f,66.44167f,65.38391f,64.86230f,64.84287f,65.21557f,65.80372f,66.46017f,67.12970f,67.80720f,68.49179f,69.18909f,69.89166f,70.52514f,70.92481f,70.86509f,70.14456f,68.73300f,66.86155f,64.92449f,63.29260f,62.20331f,61.74779f,61.90363f}, + {70.57319f,70.97549f,71.81891f,73.05700f,74.60513f,76.33503f,78.07584f,79.60158f,80.60606f,80.76720f,79.99878f,78.58008f,76.92858f,75.37566f,74.11340f,73.22087f,72.70518f,72.52979f,72.62677f,72.91213f,73.31657f,73.81370f,74.42101f,75.17239f,76.07666f,77.07532f,78.01176f,78.63384f,78.66938f,77.98598f,76.70086f,75.10445f,73.50638f,72.14451f,71.16426f,70.63412f,70.57319f}, + {78.82351f,79.06440f,79.60559f,80.41612f,81.44382f,82.60991f,83.79747f,84.82323f,85.41014f,85.29919f,84.52961f,83.39228f,82.15604f,80.99185f,79.99787f,79.22370f,78.68527f,78.37555f,78.27394f,78.35635f,78.60546f,79.01788f,79.60326f,80.37283f,81.31875f,82.38760f,83.44917f,84.26774f,84.54142f,84.12292f,83.18704f,82.03917f,80.91872f,79.97342f,79.28584f,78.89722f,78.82351f}, + {85.92404f,85.99807f,86.21370f,86.55320f,86.98729f,87.46743f,87.90712f,88.15645f,88.05609f,87.61718f,86.98684f,86.28678f,85.58976f,84.94098f,84.37090f,83.90045f,83.54357f,83.30879f,83.20077f,83.22179f,83.37274f,83.65354f,84.06234f,84.59369f,85.23581f,85.96691f,86.74942f,87.51716f,88.14109f,88.39226f,88.15089f,87.63861f,87.08412f,86.59723f,86.22810f,86.00055f,85.92404f}, + {88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f} }; -#endif +const float intensity_table[19][37] = { + {0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f}, + {0.60562f,0.59923f,0.59133f,0.58213f,0.57184f,0.56070f,0.54892f,0.53679f,0.52458f,0.51262f,0.50121f,0.49067f,0.48128f,0.47330f,0.46697f,0.46249f,0.46006f,0.45986f,0.46203f,0.46665f,0.47372f,0.48312f,0.49460f,0.50778f,0.52217f,0.53717f,0.55217f,0.56652f,0.57964f,0.59102f,0.60027f,0.60715f,0.61152f,0.61342f,0.61294f,0.61026f,0.60562f}, + {0.62993f,0.61663f,0.60163f,0.58513f,0.56721f,0.54792f,0.52741f,0.50597f,0.48417f,0.46274f,0.44252f,0.42424f,0.40840f,0.39524f,0.38483f,0.37722f,0.37262f,0.37149f,0.37444f,0.38211f,0.39496f,0.41303f,0.43591f,0.46271f,0.49220f,0.52288f,0.55321f,0.58160f,0.60660f,0.62705f,0.64217f,0.65166f,0.65569f,0.65477f,0.64966f,0.64113f,0.62993f}, + {0.61859f,0.59954f,0.57951f,0.55859f,0.53652f,0.51281f,0.48703f,0.45921f,0.43010f,0.40125f,0.37460f,0.35184f,0.33383f,0.32034f,0.31043f,0.30313f,0.29816f,0.29624f,0.29887f,0.30789f,0.32478f,0.35003f,0.38290f,0.42162f,0.46385f,0.50716f,0.54918f,0.58755f,0.62009f,0.64502f,0.66138f,0.66918f,0.66921f,0.66276f,0.65127f,0.63614f,0.61859f}, + {0.58434f,0.56134f,0.53820f,0.51511f,0.49174f,0.46715f,0.44010f,0.40984f,0.37699f,0.34382f,0.31364f,0.28967f,0.27359f,0.26453f,0.25966f,0.25610f,0.25262f,0.24997f,0.25053f,0.25779f,0.27518f,0.30435f,0.34417f,0.39141f,0.44206f,0.49253f,0.54000f,0.58194f,0.61593f,0.64015f,0.65395f,0.65794f,0.65353f,0.64245f,0.62626f,0.60641f,0.58434f}, + {0.53921f,0.51448f,0.48995f,0.46595f,0.44250f,0.41888f,0.39359f,0.36521f,0.33366f,0.30097f,0.27115f,0.24895f,0.23726f,0.23477f,0.23677f,0.23885f,0.23920f,0.23803f,0.23691f,0.23986f,0.25296f,0.28060f,0.32245f,0.37391f,0.42855f,0.48085f,0.52753f,0.56643f,0.59562f,0.61429f,0.62316f,0.62341f,0.61626f,0.60311f,0.58508f,0.56327f,0.53921f}, + {0.48785f,0.46379f,0.43988f,0.41636f,0.39367f,0.37182f,0.34998f,0.32674f,0.30099f,0.27346f,0.24780f,0.22959f,0.22251f,0.22507f,0.23198f,0.23916f,0.24558f,0.25057f,0.25278f,0.25389f,0.26060f,0.28058f,0.31692f,0.36595f,0.41928f,0.46891f,0.51065f,0.54231f,0.56238f,0.57214f,0.57493f,0.57236f,0.56426f,0.55095f,0.53309f,0.51149f,0.48785f}, + {0.43209f,0.41089f,0.38995f,0.36941f,0.34979f,0.33155f,0.31470f,0.29826f,0.28044f,0.26067f,0.24164f,0.22828f,0.22418f,0.22862f,0.23770f,0.24867f,0.26122f,0.27397f,0.28296f,0.28650f,0.28895f,0.29863f,0.32271f,0.36133f,0.40653f,0.44908f,0.48374f,0.50731f,0.51774f,0.51826f,0.51530f,0.51075f,0.50252f,0.48985f,0.47321f,0.45336f,0.43209f}, + {0.37890f,0.36283f,0.34739f,0.33271f,0.31922f,0.30724f,0.29696f,0.28780f,0.27809f,0.26658f,0.25432f,0.24439f,0.23994f,0.24247f,0.25117f,0.26398f,0.27930f,0.29517f,0.30771f,0.31403f,0.31546f,0.31823f,0.33068f,0.35590f,0.38846f,0.42051f,0.44683f,0.46322f,0.46680f,0.46142f,0.45465f,0.44832f,0.43950f,0.42721f,0.41228f,0.39568f,0.37890f}, + {0.34114f,0.33192f,0.32348f,0.31616f,0.31061f,0.30672f,0.30410f,0.30225f,0.29980f,0.29492f,0.28700f,0.27755f,0.26956f,0.26653f,0.27083f,0.28123f,0.29446f,0.30791f,0.31935f,0.32678f,0.32987f,0.33216f,0.33985f,0.35562f,0.37648f,0.39779f,0.41572f,0.42632f,0.42691f,0.42012f,0.41134f,0.40209f,0.39087f,0.37775f,0.36429f,0.35181f,0.34114f}, + {0.32818f,0.32516f,0.32319f,0.32283f,0.32517f,0.32980f,0.33535f,0.34062f,0.34397f,0.34296f,0.33615f,0.32475f,0.31211f,0.30265f,0.30010f,0.30443f,0.31265f,0.32241f,0.33228f,0.34067f,0.34700f,0.35327f,0.36224f,0.37416f,0.38773f,0.40158f,0.41356f,0.42060f,0.42076f,0.41455f,0.40362f,0.38928f,0.37303f,0.35700f,0.34334f,0.33369f,0.32818f}, + {0.33981f,0.34000f,0.34266f,0.34809f,0.35721f,0.36937f,0.38240f,0.39400f,0.40180f,0.40293f,0.39568f,0.38157f,0.36502f,0.35110f,0.34343f,0.34233f,0.34605f,0.35337f,0.36304f,0.37282f,0.38187f,0.39163f,0.40273f,0.41394f,0.42487f,0.43601f,0.44625f,0.45294f,0.45399f,0.44803f,0.43420f,0.41393f,0.39124f,0.37028f,0.35389f,0.34377f,0.33981f}, + {0.37236f,0.37289f,0.37826f,0.38816f,0.40237f,0.41956f,0.43724f,0.45274f,0.46333f,0.46592f,0.45864f,0.44316f,0.42447f,0.40808f,0.39741f,0.39283f,0.39339f,0.39860f,0.40735f,0.41725f,0.42701f,0.43745f,0.44902f,0.46095f,0.47308f,0.48570f,0.49764f,0.50631f,0.50895f,0.50305f,0.48719f,0.46316f,0.43591f,0.41060f,0.39068f,0.37789f,0.37236f}, + {0.42245f,0.42215f,0.42846f,0.44064f,0.45724f,0.47601f,0.49435f,0.50993f,0.52038f,0.52304f,0.51631f,0.50148f,0.48288f,0.46550f,0.45264f,0.44515f,0.44269f,0.44488f,0.45083f,0.45875f,0.46742f,0.47714f,0.48867f,0.50225f,0.51759f,0.53373f,0.54863f,0.55948f,0.56339f,0.55795f,0.54232f,0.51859f,0.49131f,0.46537f,0.44426f,0.42977f,0.42245f}, + {0.48319f,0.48226f,0.48758f,0.49842f,0.51308f,0.52913f,0.54416f,0.55622f,0.56358f,0.56459f,0.55836f,0.54575f,0.52954f,0.51323f,0.49956f,0.48985f,0.48445f,0.48324f,0.48569f,0.49085f,0.49796f,0.50710f,0.51894f,0.53390f,0.55144f,0.56981f,0.58634f,0.59810f,0.60259f,0.59827f,0.58527f,0.56571f,0.54318f,0.52144f,0.50331f,0.49032f,0.48319f}, + {0.53929f,0.53799f,0.54070f,0.54691f,0.55552f,0.56497f,0.57363f,0.58010f,0.58328f,0.58236f,0.57702f,0.56775f,0.55586f,0.54317f,0.53137f,0.52173f,0.51505f,0.51167f,0.51159f,0.51458f,0.52039f,0.52900f,0.54059f,0.55506f,0.57159f,0.58845f,0.60334f,0.61392f,0.61846f,0.61626f,0.60790f,0.59512f,0.58032f,0.56589f,0.55363f,0.54459f,0.53929f}, + {0.57278f,0.57090f,0.57068f,0.57187f,0.57403f,0.57656f,0.57878f,0.58007f,0.57991f,0.57795f,0.57409f,0.56849f,0.56162f,0.55414f,0.54681f,0.54040f,0.53554f,0.53271f,0.53223f,0.53423f,0.53873f,0.54564f,0.55475f,0.56559f,0.57735f,0.58891f,0.59900f,0.60643f,0.61040f,0.61066f,0.60758f,0.60203f,0.59514f,0.58801f,0.58156f,0.57637f,0.57278f}, + {0.57900f,0.57728f,0.57584f,0.57463f,0.57360f,0.57263f,0.57160f,0.57039f,0.56890f,0.56707f,0.56489f,0.56241f,0.55976f,0.55710f,0.55465f,0.55263f,0.55127f,0.55074f,0.55121f,0.55273f,0.55530f,0.55883f,0.56314f,0.56798f,0.57300f,0.57785f,0.58216f,0.58562f,0.58802f,0.58928f,0.58943f,0.58865f,0.58716f,0.58523f,0.58309f,0.58097f,0.57900f}, + {0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f} +}; \ No newline at end of file diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c index 49fbf11ab5b..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) @@ -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; @@ -782,8 +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_multicopter.c b/src/main/navigation/navigation_multicopter.c index 54caccb52b5..cd23edd6b32 100644 --- a/src/main/navigation/navigation_multicopter.c +++ b/src/main/navigation/navigation_multicopter.c @@ -36,6 +36,7 @@ #include "sensors/boardalignment.h" #include "sensors/gyro.h" +#include "fc/fc_core.h" #include "fc/config.h" #include "fc/rc_controls.h" #include "fc/rc_curves.h" @@ -63,28 +64,22 @@ 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); @@ -132,8 +127,7 @@ bool adjustMulticopterAltitudeFromRCInput(void) // 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 +138,7 @@ 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; @@ -165,7 +160,7 @@ 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; @@ -762,15 +757,12 @@ bool isMulticopterFlying(void) /*----------------------------------------------------------- * Multicopter land detector *-----------------------------------------------------------*/ - #if defined(USE_BARO) -float updateBaroAltitudeRate(float newBaroAltRate, bool updateValue) -{ - static float baroAltRate; - if (updateValue) { - baroAltRate = newBaroAltRate; - } +#if defined(USE_BARO) +static float baroAltRate; - return baroAltRate; +void updateBaroAltitudeRate(float newBaroAltRate) +{ + baroAltRate = newBaroAltRate; } static bool isLandingGbumpDetected(timeMs_t currentTimeMs) @@ -781,7 +773,6 @@ static bool isLandingGbumpDetected(timeMs_t currentTimeMs) * Throttle trigger: must be below hover throttle with lower threshold for manual throttle control */ static timeMs_t gSpikeDetectTimeMs = 0; - float baroAltRate = updateBaroAltitudeRate(0, false); if (!gSpikeDetectTimeMs && acc.accADCf[Z] > 2.0f && baroAltRate < 0.0f) { gSpikeDetectTimeMs = currentTimeMs; @@ -799,7 +790,28 @@ static bool isLandingGbumpDetected(timeMs_t currentTimeMs) return false; } + +bool isMulticopterCrashedInverted(timeMs_t currentTimeMs) +{ + /* Disarms MR if inverted on the ground. Checks vertical velocity is low based on Baro rate below 2 m/s */ + + static timeMs_t startTime = 0; + + if ((ABS(attitude.values.roll) > 1000 || ABS(attitude.values.pitch) > 700) && fabsf(baroAltRate) < 200.0f) { + if (startTime == 0) { + startTime = currentTimeMs; + } + + /* Minimum 3s disarm delay + extra user set delay time (min overall delay of 4s) */ + uint16_t disarmTimeDelay = 3000 + S2MS(navConfig()->mc.inverted_crash_detection); + return currentTimeMs - startTime > disarmTimeDelay; + } + + startTime = 0; + return false; +} #endif + bool isMulticopterLandingDetected(void) { DEBUG_SET(DEBUG_LANDING, 4, 0); @@ -808,8 +820,22 @@ bool isMulticopterLandingDetected(void) const timeMs_t currentTimeMs = millis(); #if defined(USE_BARO) - if (sensors(SENSOR_BARO) && navConfig()->general.flags.landing_bump_detection && isLandingGbumpDetected(currentTimeMs)) { - return true; // Landing flagged immediately if landing bump detected + if (sensors(SENSOR_BARO)) { + /* Inverted crash landing detection - immediate disarm */ + if (navConfig()->mc.inverted_crash_detection && !FLIGHT_MODE(TURTLE_MODE) && isMulticopterCrashedInverted(currentTimeMs)) { + ENABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED); + disarm(DISARM_LANDING); + } + + /* G bump landing detection * + * Only used when xy velocity is low or failsafe is active */ + bool gBumpDetectionUsable = navConfig()->general.flags.landing_bump_detection && + ((posControl.flags.estPosStatus >= EST_USABLE && posControl.actualState.velXY < MC_LAND_CHECK_VEL_XY_MOVING) || + FLIGHT_MODE(FAILSAFE_MODE)); + + if (gBumpDetectionUsable && isLandingGbumpDetected(currentTimeMs)) { + return true; // Landing flagged immediately if landing bump detected + } } #endif @@ -931,8 +957,8 @@ 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 19018983cc5..d5a342173d3 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, 6); +PG_REGISTER_WITH_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, PG_POSITION_ESTIMATION_CONFIG, 7); 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_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, .max_surface_altitude = SETTING_INAV_MAX_SURFACE_ALTITUDE_DEFAULT, @@ -180,12 +179,12 @@ void onNewGPSData(void) newLLH.lon = gpsSol.llh.lon; newLLH.alt = gpsSol.llh.alt; - if (sensors(SENSOR_GPS) + if (sensors(SENSOR_GPS) #ifdef USE_GPS_FIX_ESTIMATION || STATE(GPS_ESTIMATED_FIX) #endif ) { - if (!(STATE(GPS_FIX) + if (!(STATE(GPS_FIX) #ifdef USE_GPS_FIX_ESTIMATION || STATE(GPS_ESTIMATED_FIX) #endif @@ -300,7 +299,7 @@ void updatePositionEstimator_BaroTopic(timeUs_t currentTimeUs) static float baroAltPrevious = 0; posEstimator.baro.baroAltRate = (posEstimator.baro.alt - baroAltPrevious) / US2S(baroDtUs); baroAltPrevious = posEstimator.baro.alt; - updateBaroAltitudeRate(posEstimator.baro.baroAltRate, true); + updateBaroAltitudeRate(posEstimator.baro.baroAltRate); } } else { @@ -553,15 +552,20 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx) DEBUG_SET(DEBUG_ALTITUDE, 7, accGetClipCount()); // Clip count bool correctOK = false; - - //ignore baro if difference is too big, baro is probably wrong - const float gpsBaroResidual = ctx->newFlags & EST_GPS_Z_VALID ? fabsf(posEstimator.gps.pos.z - posEstimator.baro.alt) : 0.0f; - //fade out the baro to prevent sudden jump - const float start_epv = positionEstimationConfig()->max_eph_epv; - const float end_epv = positionEstimationConfig()->max_eph_epv * 2.0f; - const float wBaro = scaleRangef(constrainf(gpsBaroResidual, start_epv, end_epv), start_epv, end_epv, 1.0f, 0.0f); - //use both baro and gps - if ((ctx->newFlags & EST_BARO_VALID) && (!positionEstimationConfig()->use_gps_no_baro) && (wBaro > 0.01f)) { + + float wBaro = 0.0f; + if (ctx->newFlags & EST_BARO_VALID) { + // Ignore baro if difference is too big, baro is probably wrong + const float gpsBaroResidual = ctx->newFlags & EST_GPS_Z_VALID ? fabsf(posEstimator.gps.pos.z - posEstimator.baro.alt) : 0.0f; + + // Fade out the baro to prevent sudden jump + const float start_epv = positionEstimationConfig()->max_eph_epv; + const float end_epv = positionEstimationConfig()->max_eph_epv * 2.0f; + wBaro = scaleRangef(constrainf(gpsBaroResidual, start_epv, end_epv), start_epv, end_epv, 1.0f, 0.0f); + } + + // Always use Baro if no GPS otherwise only use if accuracy OK compared to GPS + if (wBaro > 0.01f) { timeUs_t currentTimeUs = micros(); if (!ARMING_FLAG(ARMED)) { @@ -597,6 +601,7 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx) correctOK = true; } + if (ctx->newFlags & EST_GPS_Z_VALID) { // Reset current estimate to GPS altitude if estimate not valid if (!(ctx->newFlags & EST_Z_VALID)) { 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/rth_trackback.c b/src/main/navigation/rth_trackback.c index 37467d9b385..dfdcf801f7c 100644 --- a/src/main/navigation/rth_trackback.c +++ b/src/main/navigation/rth_trackback.c @@ -37,9 +37,10 @@ rth_trackback_t rth_trackback; -bool rthTrackBackIsActive(void) +bool rthTrackBackCanBeActivated(void) { - return navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_ON || (navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_FS && posControl.flags.forcedRTHActivated); + return posControl.flags.estPosStatus >= EST_USABLE && + (navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_ON || (navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_FS && posControl.flags.forcedRTHActivated)); } void rthTrackBackUpdate(bool forceSaveTrackPoint) @@ -127,7 +128,7 @@ void rthTrackBackUpdate(bool forceSaveTrackPoint) bool rthTrackBackSetNewPosition(void) { if (posControl.flags.estPosStatus == EST_NONE) { - return false; + return false; // will fall back to RTH initialize allowing full RTH to handle position loss correctly } const int32_t distFromStartTrackback = CENTIMETERS_TO_METERS(calculateDistanceToDestination(&rth_trackback.pointsList[rth_trackback.lastSavedIndex])); @@ -142,7 +143,7 @@ bool rthTrackBackSetNewPosition(void) if (rth_trackback.activePointIndex < 0 || cancelTrackback) { rth_trackback.WrapAroundCounter = rth_trackback.activePointIndex = -1; posControl.flags.rthTrackbackActive = false; - return true; // Procede to home after final trackback point + return false; // No more trackback points to set, procede to home } if (isWaypointReached(&posControl.activeWaypoint.pos, &posControl.activeWaypoint.bearing)) { @@ -161,7 +162,7 @@ bool rthTrackBackSetNewPosition(void) setDesiredPosition(getRthTrackBackPosition(), 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING); } - return false; + return true; } fpVector3_t *getRthTrackBackPosition(void) @@ -174,9 +175,9 @@ fpVector3_t *getRthTrackBackPosition(void) return &rth_trackback.pointsList[rth_trackback.activePointIndex]; } -void resetRthTrackBack(void) +void resetRthTrackBack(void) { rth_trackback.activePointIndex = -1; posControl.flags.rthTrackbackActive = false; - rth_trackback.WrapAroundCounter = -1; + rth_trackback.WrapAroundCounter = -1; } \ No newline at end of file diff --git a/src/main/navigation/rth_trackback.h b/src/main/navigation/rth_trackback.h index e3c71d0d45e..f3337bb4b79 100644 --- a/src/main/navigation/rth_trackback.h +++ b/src/main/navigation/rth_trackback.h @@ -35,7 +35,7 @@ typedef struct extern rth_trackback_t rth_trackback; -bool rthTrackBackIsActive(void); +bool rthTrackBackCanBeActivated(void); bool rthTrackBackSetNewPosition(void); void rthTrackBackUpdate(bool forceSaveTrackPoint); fpVector3_t *getRthTrackBackPosition(void); diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c index 343db2989f5..f927ac18d1b 100644 --- a/src/main/programming/logic_condition.c +++ b/src/main/programming/logic_condition.c @@ -815,6 +815,10 @@ static int logicConditionGetFlightOperandValue(int operand) { case LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_PROFILE: // int return getConfigProfile() + 1; break; + + case LOGIC_CONDITION_OPERAND_FLIGHT_BATT_PROFILE: //int + return getConfigBatteryProfile() + 1; + break; case LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_MIXER_PROFILE: // int return currentMixerProfileIndex + 1; diff --git a/src/main/programming/logic_condition.h b/src/main/programming/logic_condition.h index 3a0c0a87b1b..5defafaee67 100644 --- a/src/main/programming/logic_condition.h +++ b/src/main/programming/logic_condition.h @@ -142,6 +142,7 @@ typedef enum { LOGIC_CONDITION_OPERAND_FLIGHT_MIXER_TRANSITION_ACTIVE, //0,1 // 39 LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_YAW, // deg // 40 LOGIC_CONDITION_OPERAND_FLIGHT_FW_LAND_STATE, // 41 + LOGIC_CONDITION_OPERAND_FLIGHT_BATT_PROFILE, // int // 42 } logicFlightOperands_e; typedef enum { diff --git a/src/main/rx/crsf.c b/src/main/rx/crsf.c index 85820f7fa20..a791b2e9dd8 100755 --- a/src/main/rx/crsf.c +++ b/src/main/rx/crsf.c @@ -331,4 +331,24 @@ bool crsfRxIsActive(void) { return serialPort != NULL; } + + +void crsfBind(void) +{ + if (serialPort != NULL) { + uint8_t bindFrame[] = { + CRSF_SYNC_BYTE, + 0x07, // frame length + CRSF_FRAMETYPE_COMMAND, + CRSF_ADDRESS_CRSF_RECEIVER, + CRSF_ADDRESS_FLIGHT_CONTROLLER, + CRSF_COMMAND_SUBCMD_RX, + CRSF_COMMAND_SUBCMD_RX_BIND, + 0x9E, // Command CRC8 + 0xE8, // Packet CRC8 + }; + serialWriteBuf(serialPort, bindFrame, 9); + } +} + #endif diff --git a/src/main/rx/crsf.h b/src/main/rx/crsf.h index f3bc7933494..69777a0390c 100755 --- a/src/main/rx/crsf.h +++ b/src/main/rx/crsf.h @@ -104,6 +104,15 @@ typedef enum { CRSF_FRAMETYPE_DISPLAYPORT_CMD = 0x7D, // displayport control command } crsfFrameType_e; +enum { + CRSF_COMMAND_SUBCMD_RX = 0x10, // receiver command + CRSF_COMMAND_SUBCMD_GENERAL = 0x0A, // general command +}; + +enum { + CRSF_COMMAND_SUBCMD_RX_BIND = 0x01, // bind command +}; + typedef struct crsfFrameDef_s { uint8_t deviceAddress; uint8_t frameLength; @@ -124,3 +133,5 @@ struct rxConfig_s; struct rxRuntimeConfig_s; bool crsfRxInit(const struct rxConfig_s *initialRxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig); bool crsfRxIsActive(void); + +void crsfBind(void); 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/scheduler/scheduler.h b/src/main/scheduler/scheduler.h index 0d91876cb72..a43206840fe 100755 --- a/src/main/scheduler/scheduler.h +++ b/src/main/scheduler/scheduler.h @@ -122,6 +122,17 @@ typedef enum { #ifdef USE_IRLOCK TASK_IRLOCK, #endif +#ifdef USE_ADAPTIVE_FILTER + TASK_ADAPTIVE_FILTER, +#endif +#ifdef USE_SERIAL_GIMBAL + TASK_GIMBAL, +#endif + +#ifdef USE_HEADTRACKER + TASK_HEADTRACKER, +#endif + /* Count of real tasks */ TASK_COUNT, diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c index 2ca7024694e..a29fa2e07cf 100644 --- a/src/main/sensors/battery.c +++ b/src/main/sensors/battery.c @@ -97,7 +97,7 @@ static int32_t mWhDrawn = 0; // energy (milliWatt hours) draw batteryState_e batteryState; const batteryProfile_t *currentBatteryProfile; -PG_REGISTER_ARRAY_WITH_RESET_FN(batteryProfile_t, MAX_BATTERY_PROFILE_COUNT, batteryProfiles, PG_BATTERY_PROFILES, 2); +PG_REGISTER_ARRAY_WITH_RESET_FN(batteryProfile_t, MAX_BATTERY_PROFILE_COUNT, batteryProfiles, PG_BATTERY_PROFILES, 3); void pgResetFn_batteryProfiles(batteryProfile_t *instance) { @@ -118,7 +118,6 @@ void pgResetFn_batteryProfiles(batteryProfile_t *instance) .value = SETTING_BATTERY_CAPACITY_DEFAULT, .warning = SETTING_BATTERY_CAPACITY_WARNING_DEFAULT, .critical = SETTING_BATTERY_CAPACITY_CRITICAL_DEFAULT, - .unit = SETTING_BATTERY_CAPACITY_UNIT_DEFAULT, }, .controlRateProfile = 0, @@ -167,7 +166,7 @@ void pgResetFn_batteryProfiles(batteryProfile_t *instance) } } -PG_REGISTER_WITH_RESET_TEMPLATE(batteryMetersConfig_t, batteryMetersConfig, PG_BATTERY_METERS_CONFIG, 1); +PG_REGISTER_WITH_RESET_TEMPLATE(batteryMetersConfig_t, batteryMetersConfig, PG_BATTERY_METERS_CONFIG, 2); PG_RESET_TEMPLATE(batteryMetersConfig_t, batteryMetersConfig, @@ -186,6 +185,8 @@ PG_RESET_TEMPLATE(batteryMetersConfig_t, batteryMetersConfig, .voltageSource = SETTING_BAT_VOLTAGE_SRC_DEFAULT, + .capacity_unit = SETTING_BATTERY_CAPACITY_UNIT_DEFAULT, + .cruise_power = SETTING_CRUISE_POWER_DEFAULT, .idle_power = SETTING_IDLE_POWER_DEFAULT, .rth_energy_margin = SETTING_RTH_ENERGY_MARGIN_DEFAULT, @@ -405,7 +406,7 @@ void batteryUpdate(timeUs_t timeDelta) if ((currentBatteryProfile->capacity.value > 0) && batteryFullWhenPluggedIn) { uint32_t capacityDiffBetweenFullAndEmpty = currentBatteryProfile->capacity.value - currentBatteryProfile->capacity.critical; - int32_t drawn = (currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MWH ? mWhDrawn : mAhDrawn); + int32_t drawn = (batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MWH ? mWhDrawn : mAhDrawn); batteryRemainingCapacity = (drawn > (int32_t)capacityDiffBetweenFullAndEmpty ? 0 : capacityDiffBetweenFullAndEmpty - drawn); } diff --git a/src/main/sensors/battery_config_structs.h b/src/main/sensors/battery_config_structs.h index 81eafef44ad..829ac8d8794 100644 --- a/src/main/sensors/battery_config_structs.h +++ b/src/main/sensors/battery_config_structs.h @@ -61,16 +61,18 @@ typedef struct batteryMetersConfig_s { #endif struct { - int16_t scale; // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A - int16_t offset; // offset of the current sensor in millivolt steps - currentSensor_e type; // type of current meter used, either ADC or virtual + int16_t scale; // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A + int16_t offset; // offset of the current sensor in millivolt steps + currentSensor_e type; // type of current meter used, either ADC or virtual } current; batVoltageSource_e voltageSource; - uint32_t cruise_power; // power drawn by the motor(s) at cruise throttle/speed (cW) - uint16_t idle_power; // power drawn by the system when the motor(s) are stopped (cW) - uint8_t rth_energy_margin; // Energy that should be left after RTH (%), used for remaining time/distance before RTH + batCapacityUnit_e capacity_unit; // Describes unit of capacity.value, capacity.warning and capacity.critical + + uint32_t cruise_power; // power drawn by the motor(s) at cruise throttle/speed (cW) + uint16_t idle_power; // power drawn by the system when the motor(s) are stopped (cW) + uint8_t rth_energy_margin; // Energy that should be left after RTH (%), used for remaining time/distance before RTH float throttle_compensation_weight; @@ -90,10 +92,9 @@ typedef struct batteryProfile_s { #endif struct { - uint32_t value; // mAh or mWh (see capacity.unit) - uint32_t warning; // mAh or mWh (see capacity.unit) - uint32_t critical; // mAh or mWh (see capacity.unit) - batCapacityUnit_e unit; // Describes unit of capacity.value, capacity.warning and capacity.critical + uint32_t value; // mAh or mWh (see batteryMetersConfig()->capacity_unit) + uint32_t warning; // mAh or mWh (see batteryMetersConfig()->capacity_unit) + uint32_t critical; // mAh or mWh (see batteryMetersConfig()->capacity_unit) } capacity; uint8_t controlRateProfile; diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index 97e3f3be436..2b0b7d8c9bd 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -68,6 +68,7 @@ #include "flight/gyroanalyse.h" #include "flight/rpm_filter.h" #include "flight/kalman.h" +#include "flight/adaptive_filter.h" #ifdef USE_HARDWARE_REVISION_DETECTION #include "hardware_revision.h" @@ -95,7 +96,7 @@ EXTENDED_FASTRAM secondaryDynamicGyroNotchState_t secondaryDynamicGyroNotchState #endif -PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 8); +PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 10); PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig, .gyro_anti_aliasing_lpf_hz = SETTING_GYRO_ANTI_ALIASING_LPF_HZ_DEFAULT, @@ -104,7 +105,6 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig, .gyro_to_use = SETTING_GYRO_TO_USE_DEFAULT, #endif .gyro_main_lpf_hz = SETTING_GYRO_MAIN_LPF_HZ_DEFAULT, - .useDynamicLpf = SETTING_GYRO_USE_DYN_LPF_DEFAULT, .gyroDynamicLpfMinHz = SETTING_GYRO_DYN_LPF_MIN_HZ_DEFAULT, .gyroDynamicLpfMaxHz = SETTING_GYRO_DYN_LPF_MAX_HZ_DEFAULT, .gyroDynamicLpfCurveExpo = SETTING_GYRO_DYN_LPF_CURVE_EXPO_DEFAULT, @@ -122,6 +122,16 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig, .init_gyro_cal_enabled = SETTING_INIT_GYRO_CAL_DEFAULT, .gyro_zero_cal = {SETTING_GYRO_ZERO_X_DEFAULT, SETTING_GYRO_ZERO_Y_DEFAULT, SETTING_GYRO_ZERO_Z_DEFAULT}, .gravity_cmss_cal = SETTING_INS_GRAVITY_CMSS_DEFAULT, +#ifdef USE_ADAPTIVE_FILTER + .adaptiveFilterTarget = SETTING_GYRO_ADAPTIVE_FILTER_TARGET_DEFAULT, + .adaptiveFilterMinHz = SETTING_GYRO_ADAPTIVE_FILTER_MIN_HZ_DEFAULT, + .adaptiveFilterMaxHz = SETTING_GYRO_ADAPTIVE_FILTER_MAX_HZ_DEFAULT, + .adaptiveFilterStdLpfHz = SETTING_GYRO_ADAPTIVE_FILTER_STD_LPF_HZ_DEFAULT, + .adaptiveFilterHpfHz = SETTING_GYRO_ADAPTIVE_FILTER_HPF_HZ_DEFAULT, + .adaptiveFilterIntegratorThresholdHigh = SETTING_GYRO_ADAPTIVE_FILTER_INTEGRATOR_THRESHOLD_HIGH_DEFAULT, + .adaptiveFilterIntegratorThresholdLow = SETTING_GYRO_ADAPTIVE_FILTER_INTEGRATOR_THRESHOLD_LOW_DEFAULT, +#endif + .gyroFilterMode = SETTING_GYRO_FILTER_MODE_DEFAULT, ); STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHardware) @@ -249,6 +259,12 @@ static void gyroInitFilters(void) //Second gyro LPF runnig and PID frequency - this filter is dynamic when gyro_use_dyn_lpf = ON initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyro_main_lpf_hz, getLooptime()); +#ifdef USE_ADAPTIVE_FILTER + if (gyroConfig()->gyroFilterMode == GYRO_FILTER_MODE_ADAPTIVE) { + adaptiveFilterSetDefaultFrequency(gyroConfig()->gyro_main_lpf_hz, gyroConfig()->adaptiveFilterMinHz, gyroConfig()->adaptiveFilterMaxHz); + } +#endif + #ifdef USE_GYRO_KALMAN if (gyroConfig()->kalmanEnabled) { gyroKalmanInitialize(gyroConfig()->kalman_q); @@ -439,6 +455,10 @@ void FAST_CODE NOINLINE gyroFilter(void) gyroADCf = gyroLpf2ApplyFn((filter_t *) &gyroLpf2State[axis], gyroADCf); +#ifdef USE_ADAPTIVE_FILTER + adaptiveFilterPush(axis, gyroADCf); +#endif + #ifdef USE_DYNAMIC_FILTERS if (dynamicGyroNotchState.enabled) { gyroDataAnalysePush(&gyroAnalyseState, axis, gyroADCf); diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h index 2ea70c589da..910dac2ea00 100644 --- a/src/main/sensors/gyro.h +++ b/src/main/sensors/gyro.h @@ -52,6 +52,12 @@ typedef enum { DYNAMIC_NOTCH_MODE_3D } dynamicGyroNotchMode_e; +typedef enum { + GYRO_FILTER_MODE_STATIC = 0, + GYRO_FILTER_MODE_DYNAMIC = 1, + GYRO_FILTER_MODE_ADAPTIVE = 2 +} gyroFilterMode_e; + typedef struct gyro_s { bool initialized; uint32_t targetLooptime; @@ -69,7 +75,6 @@ typedef struct gyroConfig_s { uint8_t gyro_to_use; #endif uint16_t gyro_main_lpf_hz; - uint8_t useDynamicLpf; uint16_t gyroDynamicLpfMinHz; uint16_t gyroDynamicLpfMaxHz; uint8_t gyroDynamicLpfCurveExpo; @@ -87,6 +92,16 @@ typedef struct gyroConfig_s { bool init_gyro_cal_enabled; int16_t gyro_zero_cal[XYZ_AXIS_COUNT]; float gravity_cmss_cal; +#ifdef USE_ADAPTIVE_FILTER + float adaptiveFilterTarget; + uint16_t adaptiveFilterMinHz; + uint16_t adaptiveFilterMaxHz; + float adaptiveFilterStdLpfHz; + float adaptiveFilterHpfHz; + float adaptiveFilterIntegratorThresholdHigh; + float adaptiveFilterIntegratorThresholdLow; +#endif + uint8_t gyroFilterMode; } gyroConfig_t; PG_DECLARE(gyroConfig_t, gyroConfig); diff --git a/src/main/sensors/rangefinder.c b/src/main/sensors/rangefinder.c index 88f027f1545..a721bb98634 100644 --- a/src/main/sensors/rangefinder.c +++ b/src/main/sensors/rangefinder.c @@ -130,6 +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 2888e7838af..4c2a4e629aa 100644 --- a/src/main/sensors/rangefinder.h +++ b/src/main/sensors/rangefinder.h @@ -32,6 +32,8 @@ typedef enum { 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/AIRBOTF7/target.c b/src/main/target/AIRBOTF7/target.c index 22d2564821a..6cad05c41fd 100644 --- a/src/main/target/AIRBOTF7/target.c +++ b/src/main/target/AIRBOTF7/target.c @@ -42,13 +42,13 @@ BUSDEV_REGISTER_SPI_TAG(busdev_imu1_mpu6500, DEVHW_MPU6500, GYRO_1_SPI_BUS, #endif timerHardware_t timerHardware[] = { - DEF_TIM(TIM2, CH1, PA15, TIM_USE_LED, 0, 0), // LED - DEF_TIM(TIM1, CH1, PA8, TIM_USE_ANY, 0, 0), // Cam control, SS, UNUSED - DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), //S1 DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 0), //S2 DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), //S3 DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0, 0), //S4 + // + DEF_TIM(TIM2, CH1, PA15, TIM_USE_LED, 0, 0), // LED + DEF_TIM(TIM1, CH1, PA8, TIM_USE_ANY, 0, 0), // Cam control, SS, UNUSED }; const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/ANYFCM7/target.c b/src/main/target/ANYFCM7/target.c index 7dd30d2250b..aae6922a374 100644 --- a/src/main/target/ANYFCM7/target.c +++ b/src/main/target/ANYFCM7/target.c @@ -26,12 +26,6 @@ #define TIM_EN_N TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_N_CHANNEL timerHardware_t timerHardware[] = { - // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM, 0, 0 ), // S1_IN - // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM, 0, 0 ), // S2_IN - // DEF_TIM(TIM8, CH1, PC6, TIM_USE_PWM, 0, 0 ), // S3_IN DMA2_ST2 DMA2_ST2 - // DEF_TIM(TIM8, CH2, PC7, TIM_USE_PWM, 0, 0 ), // S4_IN DMA2_ST3 DMA2_ST2 - // DEF_TIM(TIM8, CH3, PC8, TIM_USE_PWM, 0, 0 ), // S5_IN DMA2_ST4 DMA2_ST2 - // DEF_TIM(TIM8, CH4, PC9, TIM_USE_PWM, 0, 0 ), // S6_IN DMA2_ST7 DEF_TIM(TIM4, CH3, PB8, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S10_OUT 1 DMA1_ST7 DEF_TIM(TIM2, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S6_OUT 2 DMA1_ST1 @@ -39,10 +33,17 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM2, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S1_OUT 4 DMA1_ST7 DMA1_ST6 DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S2_OUT DMA1_ST4 DEF_TIM(TIM1, CH2N, PB0, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S3_OUT DMA2_ST6 DMA2_ST2 - DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO | TIM_USE_LED, 0, 0 ), // S4_OUT DMA1_ST5 + DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S4_OUT DMA1_ST5 -- Used to have TIM_USE_LED DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S7_OUT DMA1_ST2 DEF_TIM(TIM1, CH3N, PB1, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S8_OUT DMA2_ST6 DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S9_OUT DMA1_ST4 + + // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM, 0, 0 ), // S1_IN + // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM, 0, 0 ), // S2_IN + // DEF_TIM(TIM8, CH1, PC6, TIM_USE_PWM, 0, 0 ), // S3_IN DMA2_ST2 DMA2_ST2 + // DEF_TIM(TIM8, CH2, PC7, TIM_USE_PWM, 0, 0 ), // S4_IN DMA2_ST3 DMA2_ST2 + // DEF_TIM(TIM8, CH3, PC8, TIM_USE_PWM, 0, 0 ), // S5_IN DMA2_ST4 DMA2_ST2 + // DEF_TIM(TIM8, CH4, PC9, TIM_USE_PWM, 0, 0 ), // S6_IN DMA2_ST7 }; const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/BLUEJAYF4/target.c b/src/main/target/BLUEJAYF4/target.c index ba48551f76c..37afb69b1ce 100644 --- a/src/main/target/BLUEJAYF4/target.c +++ b/src/main/target/BLUEJAYF4/target.c @@ -29,8 +29,8 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S2_OUT - DMA1_ST4 DEF_TIM(TIM2, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S3_OUT - DMA1_ST1 DEF_TIM(TIM9, CH2, PA3, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S4_OUT - no DMA - //DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S4_OUT - DMA1_ST3 (Could be DMA1_ST1 with dmaopt=0) - DEF_TIM(TIM3, CH4, PB0, TIM_USE_OUTPUT_AUTO | TIM_USE_LED, 0, 0 ), // S5_OUT - DMA1_ST2 + //DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 1 ), // S4_OUT - DMA1_ST3 (Could be DMA1_ST1 with dmaopt=0) + DEF_TIM(TIM3, CH4, PB0, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S5_OUT - DMA1_ST2 -- used to be TIM_USE_LED DEF_TIM(TIM3, CH3, PB1, TIM_USE_OUTPUT_AUTO, 0, 0 ), // S6_OUT - DMA1_ST7 }; diff --git a/src/main/target/DALRCF405/target.c b/src/main/target/DALRCF405/target.c index 816ad3cdeca..e428504c1bc 100644 --- a/src/main/target/DALRCF405/target.c +++ b/src/main/target/DALRCF405/target.c @@ -26,7 +26,7 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1 (1,7) DEF_TIM(TIM8, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0, 0), // S2 (2,2) - DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 0), // S3 (2,6) + DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 1), // S3 (2,6) DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 1), // S4 (2,1) (2.3 2.6) DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 1), // S5 (2,4) (2.2) DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 (1,2) diff --git a/src/main/target/F4BY/target.c b/src/main/target/F4BY/target.c index 8d1b4622f69..b1654e27ec0 100644 --- a/src/main/target/F4BY/target.c +++ b/src/main/target/F4BY/target.c @@ -6,14 +6,6 @@ #include "drivers/timer.h" timerHardware_t timerHardware[] = { - // DEF_TIM(TIM3, CH4, PC9, TIM_USE_PPM | TIM_USE_PWM, 0, 0), // S1_IN - // DEF_TIM(TIM3, CH3, PC8, TIM_USE_PWM, 0, 0), // S2_IN - // DEF_TIM(TIM3, CH1, PC6, TIM_USE_PWM, 0, 0), // S3_IN - // DEF_TIM(TIM3, CH2, PC7, TIM_USE_PWM, 0, 0), // S4_IN - // DEF_TIM(TIM4, CH4, PD15, TIM_USE_PWM, 0, 0), // S5_IN - // DEF_TIM(TIM4, CH3, PD14, TIM_USE_PWM, 0, 0), // S6_IN - // DEF_TIM(TIM4, CH2, PD13, TIM_USE_PWM, 0, 0), // S7_IN - // DEF_TIM(TIM4, CH1, PD12, TIM_USE_PWM, 0, 0), // S8_IN DEF_TIM(TIM2, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1_OUT DEF_TIM(TIM2, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 0), // S2_OUT @@ -25,6 +17,16 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM1, CH4, PE14, TIM_USE_OUTPUT_AUTO, 0, 0), // S8_OUT DEF_TIM(TIM9, CH2, PE6, TIM_USE_ANY, 0, 0), // sonar echo if needed + + + // DEF_TIM(TIM3, CH4, PC9, TIM_USE_PPM | TIM_USE_PWM, 0, 0), // S1_IN + // DEF_TIM(TIM3, CH3, PC8, TIM_USE_PWM, 0, 0), // S2_IN + // DEF_TIM(TIM3, CH1, PC6, TIM_USE_PWM, 0, 0), // S3_IN + // DEF_TIM(TIM3, CH2, PC7, TIM_USE_PWM, 0, 0), // S4_IN + // DEF_TIM(TIM4, CH4, PD15, TIM_USE_PWM, 0, 0), // S5_IN + // DEF_TIM(TIM4, CH3, PD14, TIM_USE_PWM, 0, 0), // S6_IN + // DEF_TIM(TIM4, CH2, PD13, TIM_USE_PWM, 0, 0), // S7_IN + // DEF_TIM(TIM4, CH1, PD12, TIM_USE_PWM, 0, 0), // S8_IN }; const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/FLYWOOF405PRO/CMakeLists.txt b/src/main/target/FLYWOOF405PRO/CMakeLists.txt index 8447a117c00..2c5382d82ef 100644 --- a/src/main/target/FLYWOOF405PRO/CMakeLists.txt +++ b/src/main/target/FLYWOOF405PRO/CMakeLists.txt @@ -1 +1,2 @@ target_stm32f405xg(FLYWOOF405PRO) +target_stm32f405xg(FLYWOOF405HD) \ No newline at end of file diff --git a/src/main/target/FLYWOOF405PRO/config.c b/src/main/target/FLYWOOF405PRO/config.c new file mode 100644 index 00000000000..dfe6c0ce100 --- /dev/null +++ b/src/main/target/FLYWOOF405PRO/config.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 "platform.h" + +#include "fc/fc_msp_box.h" + +#include "io/piniobox.h" + +#include "drivers/pwm_output.h" +#include "drivers/pwm_mapping.h" + +void targetConfiguration(void) +{ + // Make sure S1-S4 default to Motors + + timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS; + timerOverridesMutable(timer2id(TIM2))->outputMode = OUTPUT_MODE_MOTORS; +} diff --git a/src/main/target/FLYWOOF405PRO/target.c b/src/main/target/FLYWOOF405PRO/target.c index c0f1c4eec2d..d4dd134dddc 100644 --- a/src/main/target/FLYWOOF405PRO/target.c +++ b/src/main/target/FLYWOOF405PRO/target.c @@ -24,15 +24,12 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1 D(1,3,2) DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S2 D(1,0,2) - DEF_TIM(TIM2, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 1), // S3 D(1,7,5) DEF_TIM(TIM2, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0), // S4 D(1,2,5) DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0), // S5 D(2,4,7) DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 - - DEF_TIM(TIM1, CH2, PA9, TIM_USE_LED, 0, 0), //2812LED D(1,5,3) // DEF_TIM(TIM10, CH1, PB8, TIM_USE_PPM, 0, 0), // PPM }; diff --git a/src/main/target/FLYWOOF405PRO/target.h b/src/main/target/FLYWOOF405PRO/target.h index 14b5e9e03cb..a5a02c5fe84 100644 --- a/src/main/target/FLYWOOF405PRO/target.h +++ b/src/main/target/FLYWOOF405PRO/target.h @@ -17,9 +17,13 @@ #pragma once +#ifdef FLYWOOF405PRO #define TARGET_BOARD_IDENTIFIER "F4PR" #define USBD_PRODUCT_STRING "FLYWOOF405PRO" - +#else +#define TARGET_BOARD_IDENTIFIER "F4HD" +#define USBD_PRODUCT_STRING "FLYWOOF405HD" +#endif #define LED0 PC14 //Green #define BEEPER PC13 @@ -84,11 +88,12 @@ #define SPI3_MISO_PIN PC11 #define SPI3_MOSI_PIN PC12 +#ifdef FLYWOOF405PRO #define USE_OSD #define USE_MAX7456 #define MAX7456_SPI_BUS BUS_SPI3 -#define MAX7456_CS_PIN PB14// - +#define MAX7456_CS_PIN PB14 +#endif // *************** Onboard flash ******************** #define USE_FLASHFS @@ -109,6 +114,10 @@ #define UART1_TX_PIN PB6 #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 @@ -125,7 +134,7 @@ #define UART6_TX_PIN PC6 #define UART6_RX_PIN PC7 -#define SERIAL_PORT_COUNT 6 +#define SERIAL_PORT_COUNT 7 #define DEFAULT_RX_TYPE RX_TYPE_SERIAL #define SERIALRX_PROVIDER SERIALRX_SBUS @@ -159,6 +168,6 @@ #define TARGET_IO_PORTA 0xffff #define TARGET_IO_PORTB 0xffff #define TARGET_IO_PORTC 0xffff -#define TARGET_IO_PORTD (BIT(2)) +#define TARGET_IO_PORTD 0xffff #define MAX_PWM_OUTPUT_PORTS 8 diff --git a/src/main/target/FLYWOOF411/target.c b/src/main/target/FLYWOOF411/target.c index 3946ad0b404..764d29e3144 100644 --- a/src/main/target/FLYWOOF411/target.c +++ b/src/main/target/FLYWOOF411/target.c @@ -39,8 +39,8 @@ timerHardware_t timerHardware[] = { #else DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 1), // S1_OUT 2,1 DEF_TIM(TIM1, CH2, PA9, TIM_USE_OUTPUT_AUTO, 0, 1), // S2_OUT 2,2 - DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 0), // S3_OUT 2,6 - DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR , 0, 0), // S4_OUT 1,7 + DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 1), // S3_OUT 2,6 + DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR , 0, 0), // S4_OUT 1,7 DEF_TIM(TIM3, CH4, PB1, TIM_USE_ANY, 0, 0), // RSSI 1,2 DEF_TIM(TIM5, CH4, PA3, TIM_USE_ANY, 0, 1), // RX2 1,0 diff --git a/src/main/target/FLYWOOF722PRO/CMakeLists.txt b/src/main/target/FLYWOOF722PRO/CMakeLists.txt new file mode 100644 index 00000000000..1906be3d599 --- /dev/null +++ b/src/main/target/FLYWOOF722PRO/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32f722xe(FLYWOOF722PRO) diff --git a/src/main/target/FLYWOOF722PRO/config.c b/src/main/target/FLYWOOF722PRO/config.c new file mode 100644 index 00000000000..57ecfa64ff6 --- /dev/null +++ b/src/main/target/FLYWOOF722PRO/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 "platform.h" +#include "drivers/pwm_mapping.h" +#include "fc/fc_msp_box.h" +#include "io/piniobox.h" + +void targetConfiguration(void) +{ + pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; + timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS; + timerOverridesMutable(timer2id(TIM2))->outputMode = OUTPUT_MODE_MOTORS; +} diff --git a/src/main/target/FLYWOOF722PRO/target.c b/src/main/target/FLYWOOF722PRO/target.c new file mode 100644 index 00000000000..e8b78979f95 --- /dev/null +++ b/src/main/target/FLYWOOF722PRO/target.c @@ -0,0 +1,48 @@ +/* + * 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_ICM42605, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN); +BUSDEV_REGISTER_SPI_TAG(busdev_BMI270, DEVHW_BMI270, BMI270_SPI_BUS, BMI270_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_BMI270_ALIGN); + +timerHardware_t timerHardware[] = { + //DEF_TIM(TIM8, CH1, PC6, TIM_USE_PPM,0, 0), // PPM&SBUS + + DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S1 - D(1,2) + DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S2 - D(1,4) + DEF_TIM(TIM2, CH2, PB3, TIM_USE_OUTPUT_AUTO, 0, 0), // S3 - D(1,6) + DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0), // S4 - D(1,5) + DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S5 - D(2,4) + DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 - D(2,1) + DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 - D(1,0) + DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 - D(1,3) + + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // LED STRIP(1,5) +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/FLYWOOF722PRO/target.h b/src/main/target/FLYWOOF722PRO/target.h new file mode 100644 index 00000000000..3f11b44e317 --- /dev/null +++ b/src/main/target/FLYWOOF722PRO/target.h @@ -0,0 +1,159 @@ +/* + * 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 . + */ + +#define TARGET_BOARD_IDENTIFIER "FWF7" +#define USBD_PRODUCT_STRING "FLYWOOF722PRO" + +/*** Indicators ***/ +#define LED0 PC15 +#define USE_BEEPER +#define BEEPER PC14 +#define BEEPER_INVERTED + +/*** SPI/I2C bus ***/ +#define USE_SPI +#define USE_SPI_DEVICE_1 // Gyro 1/2 +#define SPI1_SCK_PIN PA5 +#define SPI1_MISO_PIN PA6 +#define SPI1_MOSI_PIN PA7 + +#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS + +#define USE_IMU_MPU6000 +#define IMU_MPU6000_ALIGN CW0_DEG +#define MPU6000_SPI_BUS BUS_SPI1 +#define MPU6000_CS_PIN PA4 + +#define USE_IMU_ICM42605 +#define IMU_ICM42605_ALIGN CW270_DEG +#define ICM42605_SPI_BUS BUS_SPI1 +#define ICM42605_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_SPI_DEVICE_2 // MAX7456 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_SPI_DEVICE_3 // FLASH +#define SPI3_SCK_PIN PC10 +#define SPI3_MISO_PIN PC11 +#define SPI3_MOSI_PIN PB5 + +#define USE_I2C +#define USE_I2C_DEVICE_1 // I2C pads +#define I2C1_SCL PB8 +#define I2C1_SDA PB9 + +/*** Onboard flash ***/ +#define USE_FLASHFS +#define USE_FLASH_M25P16 +#define M25P16_CS_PIN PC13 +#define M25P16_SPI_BUS BUS_SPI3 + +/*** OSD ***/ +#define USE_OSD +#define USE_MAX7456 +#define MAX7456_CS_PIN PB12 +#define MAX7456_SPI_BUS BUS_SPI2 + +/*** Serial ports ***/ +#define USB_IO +#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 + +/*** BARO & MAG ***/ +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C1 +#define USE_BARO_BMP280 +#define USE_BARO_MS5611 +#define USE_BARO_DPS310 +#define USE_BARO_SPL06 + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C1 +#define USE_MAG_ALL + +/*** ADC ***/ +#define USE_ADC +#define ADC_CHANNEL_1_PIN PC0 +#define ADC_CHANNEL_2_PIN PC1 +#define ADC_CHANNEL_3_PIN PC2 + +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_1 +#define VBAT_ADC_CHANNEL ADC_CHN_2 +#define RSSI_ADC_CHANNEL ADC_CHN_3 + + +/*** PINIO ***/ +#define USE_PINIO +#define USE_PINIOBOX +#define PINIO1_PIN PB0 + +/*** LED STRIP ***/ +#define USE_LED_STRIP +#define WS2811_PIN PA8 + +/*** Default settings ***/ +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT +#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX) +#define CURRENT_METER_SCALE_DEFAULT 170 +#define SERIALRX_UART SERIAL_PORT_USART1 +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_SBUS + +/*** Timer/PWM output ***/ +#define USE_SERIAL_4WAY_BLHELI_INTERFACE +#define MAX_PWM_OUTPUT_PORTS 8 +#define USE_DSHOT +#define USE_ESC_SENSOR + +/*** Used pins ***/ +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD (BIT(2)) diff --git a/src/main/target/FLYWOOF745/target.c b/src/main/target/FLYWOOF745/target.c index a82a708f51a..a68d3d3199f 100644 --- a/src/main/target/FLYWOOF745/target.c +++ b/src/main/target/FLYWOOF745/target.c @@ -30,17 +30,17 @@ #include "drivers/pinio.h" timerHardware_t timerHardware[] = { - // 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 +// DEF_TIM(TIM1, CH3, PE13, TIM_USE_PPM, 0, 1), // PPM, +// DMA2_ST6 + 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 + 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/FLYWOOF745/target.h b/src/main/target/FLYWOOF745/target.h index c2b1937c611..d00c2455945 100644 --- a/src/main/target/FLYWOOF745/target.h +++ b/src/main/target/FLYWOOF745/target.h @@ -41,6 +41,16 @@ #define MPU6000_CS_PIN SPI4_NSS_PIN #define MPU6000_SPI_BUS BUS_SPI4 +#define USE_IMU_BMI270 +#define IMU_BMI270_ALIGN CW270_DEG +#define BMI270_CS_PIN SPI4_NSS_PIN +#define BMI270_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 USB_IO #define USE_VCP #define VBUS_SENSING_ENABLED diff --git a/src/main/target/FOXEERF745AIO/target.c b/src/main/target/FOXEERF745AIO/target.c index f724f65913c..382306a8d50 100644 --- a/src/main/target/FOXEERF745AIO/target.c +++ b/src/main/target/FOXEERF745AIO/target.c @@ -25,12 +25,12 @@ timerHardware_t timerHardware[] = { - DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // LED STRIP - D(2, 6, 0) - DEF_TIM(TIM3, CH1, PB4, TIM_USE_MOTOR, 0, 0), // M1 - D(1, 4, 5) DEF_TIM(TIM3, CH2, PB5, TIM_USE_MOTOR, 0, 0), // M2 - D(1, 5, 5) DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // M3 - D(1, 2, 5) DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // M4 - D(1, 7, 5) + // + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // LED STRIP - D(2, 6, 0) }; diff --git a/src/main/target/FRSKYPILOT/target.c b/src/main/target/FRSKYPILOT/target.c index 50b82d7687e..95989f5f42a 100644 --- a/src/main/target/FRSKYPILOT/target.c +++ b/src/main/target/FRSKYPILOT/target.c @@ -39,13 +39,9 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 DEF_TIM(TIM4, CH3, PB8, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 DEF_TIM(TIM4, CH4, PB9, TIM_USE_OUTPUT_AUTO, 0, 0), // S9 -#ifdef FRSKYPILOT_LED - DEF_TIM(TIM2, CH2, PA1, TIM_USE_LED | TIM_USE_LED, 0, 0), // S10 now LED, S11 & S12 UART 3 only -#else DEF_TIM(TIM2, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 0), // S10 DEF_TIM(TIM2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 0, 0), // S11 DEF_TIM(TIM2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0, 0), // S12 -#endif DEF_TIM(TIM5, CH1, PA0, TIM_USE_BEEPER, 0, 0), // beeper }; 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/HAKRCF405V2/target.c b/src/main/target/HAKRCF405V2/target.c index a44aabc0142..a0e79ff5b88 100644 --- a/src/main/target/HAKRCF405V2/target.c +++ b/src/main/target/HAKRCF405V2/target.c @@ -26,7 +26,7 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S2_OUT D2_ST7 DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 1), // S3_OUT D2_ST1 DEF_TIM(TIM1, CH2, PA9, TIM_USE_OUTPUT_AUTO, 0, 1), // S4_OUT D2_ST2 - DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 0), // S5_OUT D2_ST6 + DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 1), // S5_OUT D2_ST6 DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S6_OUT D1_ST4 DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S7_OUT D1_ST7 DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8_OUT D1_ST2 diff --git a/src/main/target/HAKRCF722V2/target.c b/src/main/target/HAKRCF722V2/target.c index 02098ce755d..9738db56d0c 100644 --- a/src/main/target/HAKRCF722V2/target.c +++ b/src/main/target/HAKRCF722V2/target.c @@ -39,7 +39,7 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM1, CH2, PA9, TIM_USE_OUTPUT_AUTO, 0, 1), // S4 DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S5 DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 - DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 + DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 1), // S7 DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 DEF_TIM(TIM2, CH2, PB3, TIM_USE_LED, 0, 0), // 2812LED diff --git a/src/main/target/IFLIGHTF4_SUCCEXD/target.h b/src/main/target/IFLIGHTF4_SUCCEXD/target.h index 6ba059bb63c..3cc4f030721 100644 --- a/src/main/target/IFLIGHTF4_SUCCEXD/target.h +++ b/src/main/target/IFLIGHTF4_SUCCEXD/target.h @@ -39,6 +39,11 @@ #define MPU6000_CS_PIN PA4 #define MPU6000_SPI_BUS BUS_SPI1 +#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 diff --git a/src/main/target/IFLIGHT_BLITZ_ATF435/target.c b/src/main/target/IFLIGHT_BLITZ_ATF435/target.c index 2de0fd50578..947d19c0d20 100644 --- a/src/main/target/IFLIGHT_BLITZ_ATF435/target.c +++ b/src/main/target/IFLIGHT_BLITZ_ATF435/target.c @@ -41,7 +41,7 @@ timerHardware_t timerHardware[] = { DEF_TIM(TMR4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0,11), // S5 DEF_TIM(TMR4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0,10), // S6 DEF_TIM(TMR2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 0,5), //S7 - DEF_TIM(TMR2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0,6), //S8 + DEF_TIM(TMR2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0,6), //S8 DEF_TIM(TMR1, CH1, PA8, TIM_USE_LED, 0, 0), // LED STRIP }; diff --git a/src/main/target/JHEF405PRO/CMakeLists.txt b/src/main/target/JHEF405PRO/CMakeLists.txt new file mode 100644 index 00000000000..939221cf744 --- /dev/null +++ b/src/main/target/JHEF405PRO/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32f405xg(JHEF405PRO SKIP_RELEASES) diff --git a/src/main/target/JHEF405PRO/target.c b/src/main/target/JHEF405PRO/target.c new file mode 100644 index 00000000000..23c1604c0ca --- /dev/null +++ b/src/main/target/JHEF405PRO/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/pwm_mapping.h" +#include "drivers/timer.h" + +timerHardware_t timerHardware[] = { + DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // S1 + DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // S2 + DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, 0, 1), // S3 + DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, 0, 0), // S4 + + DEF_TIM(TIM4, CH3, PB8, TIM_USE_PPM, 0, 0), // PPM + DEF_TIM(TIM1, CH2, PA9, TIM_USE_LED, 0, 1 ), //LED +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/JHEF405PRO/target.h b/src/main/target/JHEF405PRO/target.h new file mode 100644 index 00000000000..43547cd2efa --- /dev/null +++ b/src/main/target/JHEF405PRO/target.h @@ -0,0 +1,154 @@ +/* + * This 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. + * + * This software 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 software. If not, see . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "JHEF405PRO" +#define USBD_PRODUCT_STRING "JHEF405PRO" + +#define LED0 PC14 +#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_ICM42605 +#define IMU_ICM42605_ALIGN CW90_DEG +#define ICM42605_CS_PIN PB12 +#define ICM42605_SPI_BUS BUS_SPI1 + +#define USE_EXTI +#define GYRO_INT_EXTI PB13 +#define USE_MPU_DATA_READY_SIGNAL + +// *************** SPI3 OSD & Flash *************************** +#define USE_SPI_DEVICE_3 +#define SPI3_SCK_PIN PC10 +#define SPI3_MISO_PIN PC11 +#define SPI3_MOSI_PIN PC12 + +// OSD +#define USE_OSD +#define USE_MAX7456 +#define MAX7456_SPI_BUS BUS_SPI3 +#define MAX7456_CS_PIN PB14 + +// Flash +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT +#define USE_FLASHFS +#define USE_FLASH_M25P16 +#define M25P16_CS_PIN PB3 +#define M25P16_SPI_BUS BUS_SPI3 + +// *************** I2C /Baro/Mag ********************* +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB8 +#define I2C1_SDA PB9 +#define DEFAULT_I2C_BUS BUS_I2C1 + +// Baro +#define USE_BARO +#define BARO_I2C_BUS DEFAULT_I2C_BUS +#define USE_BARO_DPS310 + +// Mag +#define USE_MAG +#define USE_MAG_ALL +#define MAG_I2C_BUS DEFAULT_I2C_BUS + +// Temperature +#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS + +// Range finder +#define USE_RANGEFINDER +#define USE_RANGEFINDER_HCSR04_I2C +#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS + +// PITOT +#define PITOT_I2C_BUS DEFAULT_I2C_BUS + +// *************** UART ***************************** +#define USB_IO +#define USE_VCP +#define VBUS_SENSING_PIN PA8 // TODO validate +#define VBUS_SENSING_ENABLED + +#define USE_UART1 +#define UART1_RX_PIN PA10 +#define UART1_TX_PIN PB6 + +#define USE_UART2 +#define UART2_RX_PIN PD6 +#define UART2_TX_PIN PD5 + +#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 SERIAL_PORT_COUNT 6 + +// *************** 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 PC2 +#define ADC_CHANNEL_3_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 CURRENT_METER_SCALE 250 + +// *************** OTHERS ************************* +#define DEFAULT_FEATURES (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_OSD | FEATURE_TELEMETRY) + +// Rx defaults +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_CRSF +#define SERIALRX_UART SERIAL_PORT_USART2 + + +// *************** LED2812 ************************ +#define USE_LED_STRIP +#define WS2811_PIN PA9 + + + +#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 + +//TIMER +#define MAX_PWM_OUTPUT_PORTS 4 + +#define USE_DSHOT 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/MATEKF405/target.c b/src/main/target/MATEKF405/target.c index 1706954b7f9..5b6f0ce559d 100644 --- a/src/main/target/MATEKF405/target.c +++ b/src/main/target/MATEKF405/target.c @@ -29,7 +29,7 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 1), // S3 UP(2,1) DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S4 UP(2,1) - DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO | TIM_USE_LED , 0, 0), // S5 UP(1,7) + DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0), // S5 UP(1,7) -- LED DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 UP(2,5) DEF_TIM(TIM4, CH3, PB8, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 D(1,7)!S5 UP(2,6) diff --git a/src/main/target/NEUTRONRCF435MINI/target.c b/src/main/target/NEUTRONRCF435MINI/target.c index 9400ae4be1b..0933322bb14 100644 --- a/src/main/target/NEUTRONRCF435MINI/target.c +++ b/src/main/target/NEUTRONRCF435MINI/target.c @@ -26,13 +26,13 @@ timerHardware_t timerHardware[] = { - DEF_TIM(TMR1, CH1, PA8, TIM_USE_ANY |TIM_USE_LED, 0,6), // PWM1 - LED MCO1 DMA1 CH2 - DEF_TIM(TMR4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0,0), // motor1 DMA2 CH7 DEF_TIM(TMR4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0,2), // motor2 DMA2 CH6 DEF_TIM(TMR2, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0,1), // motor3 DMA2 CH5 DEF_TIM(TMR3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0,3), // motor4 DMA2 CH4 - + // + DEF_TIM(TMR1, CH1, PA8, TIM_USE_ANY |TIM_USE_LED, 0,6), // PWM1 - LED MCO1 DMA1 CH2 + // }; const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/NEUTRONRCF435WING/target.c b/src/main/target/NEUTRONRCF435WING/target.c index b1cd9031cc3..428654ebed3 100644 --- a/src/main/target/NEUTRONRCF435WING/target.c +++ b/src/main/target/NEUTRONRCF435WING/target.c @@ -26,8 +26,6 @@ timerHardware_t timerHardware[] = { - DEF_TIM(TMR1, CH1, PA8, TIM_USE_ANY |TIM_USE_LED, 0,7), // PWM1 - LED MCO1 DMA1 CH2 - DEF_TIM(TMR4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0,0), // motor1 DMA2 CH7 DEF_TIM(TMR1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0,2), // motor2 DMA2 CH6 DEF_TIM(TMR2, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0,1), // motor3 DMA2 CH5 @@ -38,6 +36,7 @@ timerHardware_t timerHardware[] = { DEF_TIM(TMR3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0,8), // PWM3 - OUT7 DMA2 CH3 DEF_TIM(TMR2, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0,11), // PWM4 - OUT8 DMA1 CH7 + DEF_TIM(TMR1, CH1, PA8, TIM_USE_ANY |TIM_USE_LED, 0,7), // PWM1 - LED MCO1 DMA1 CH2 }; const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/OMNIBUSF4/CMakeLists.txt b/src/main/target/OMNIBUSF4/CMakeLists.txt index 72f3bbeca87..a6ccb483bf5 100644 --- a/src/main/target/OMNIBUSF4/CMakeLists.txt +++ b/src/main/target/OMNIBUSF4/CMakeLists.txt @@ -3,7 +3,6 @@ target_stm32f405xg(DYSF4PROV2) target_stm32f405xg(OMNIBUSF4) # the OMNIBUSF4SD has an SDCARD instead of flash, a BMP280 baro and therefore a slightly different ppm/pwm and SPI mapping target_stm32f405xg(OMNIBUSF4PRO) -target_stm32f405xg(OMNIBUSF4PRO_LEDSTRIPM5) target_stm32f405xg(OMNIBUSF4V3_S5_S6_2SS) target_stm32f405xg(OMNIBUSF4V3_S5S6_SS) target_stm32f405xg(OMNIBUSF4V3_S6_SS) diff --git a/src/main/target/OMNIBUSF4/target.c b/src/main/target/OMNIBUSF4/target.c index 86485aa49fc..be85e9fbce3 100644 --- a/src/main/target/OMNIBUSF4/target.c +++ b/src/main/target/OMNIBUSF4/target.c @@ -41,15 +41,12 @@ timerHardware_t timerHardware[] = { #elif defined(OMNIBUSF4V3_S6_SS) DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 0), // S5_OUT DEF_TIM(TIM1, CH1, PA8, TIM_USE_ANY, 0, 0), // S6_OUT SOFTSERIAL -#elif defined(OMNIBUSF4PRO_LEDSTRIPM5) - DEF_TIM(TIM5, CH2, PA1, TIM_USE_LED, 0, 0), // S5_OUT LED strip - DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 0), // S6_OUT #else - DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO | TIM_USE_LED, 0, 0), // S5_OUT MOTOR, SERVO or LED + DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 0), // S5_OUT MOTOR, SERVO or LED DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 0), // S6_OUT #endif -#if (defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3)) && !defined(OMNIBUSF4PRO_LEDSTRIPM5) +#if (defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3)) DEF_TIM(TIM4, CH1, PB6, TIM_USE_LED, 0, 0), // LED strip for F4 V2 / F4-Pro-0X and later (RCD_CS for F4) #endif diff --git a/src/main/target/SAGEATF4/target.c b/src/main/target/SAGEATF4/target.c index 2d951598ae0..06f571c949b 100644 --- a/src/main/target/SAGEATF4/target.c +++ b/src/main/target/SAGEATF4/target.c @@ -26,19 +26,19 @@ timerHardware_t timerHardware[] = { - // DEF_TIM(TMR5, CH4, PA3, TIM_USE_PPM, 0, 4), // PPM UART2_RX_PIN DMA1 CH5 + // DEF_TIM(TMR5, CH4, PA3, TIM_USE_PPM, 0, 4), // PPM UART2_RX_PIN DMA1 CH5 - DEF_TIM(TMR4, CH1, PB6, TIM_USE_MOTOR, 0,0), // motor1 DMA1 CH1 - DEF_TIM(TMR4, CH2, PB7, TIM_USE_MOTOR, 0,1), // motor2 DMA1 CH2 - DEF_TIM(TMR4, CH3, PB8, TIM_USE_MOTOR, 0,2), // motor3 DMA1 CH3 - DEF_TIM(TMR4, CH4, PB9, TIM_USE_MOTOR, 0,3), // motor4 DMA1 CH4 + DEF_TIM(TMR4, CH1, PB6, TIM_USE_MOTOR, 0,0), // motor1 DMA1 CH1 + DEF_TIM(TMR4, CH2, PB7, TIM_USE_MOTOR, 0,1), // motor2 DMA1 CH2 + DEF_TIM(TMR4, CH3, PB8, TIM_USE_MOTOR, 0,2), // motor3 DMA1 CH3 + DEF_TIM(TMR4, CH4, PB9, TIM_USE_MOTOR, 0,3), // motor4 DMA1 CH4 DEF_TIM(TMR3, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0,8), // PWM1 - OUT5 DMA2 CH2 DMA2_CHANNEL1->ADC DEF_TIM(TMR3, CH2, PC7, TIM_USE_OUTPUT_AUTO, 0,9), // PWM2 - OUT6 DMA2 CH3 DEF_TIM(TMR3, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0,10), // PWM3 - OUT7 DMA2 CH4 DEF_TIM(TMR3, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0,11), // PWM4 - OUT8 DMA2 CH5 - DEF_TIM(TMR2, CH3, PB10, TIM_USE_ANY | TIM_USE_LED, 0,5), // PWM1 - LED MCO1 DMA1 CH6 + DEF_TIM(TMR2, CH3, PB10, TIM_USE_ANY | TIM_USE_LED, 0,5), // PWM1 - LED MCO1 DMA1 CH6 DEF_TIM(TMR5, CH4, PB11, TIM_USE_ANY | TIM_USE_BEEPER, 0,6), // PWM2 - BB DMA1 CH7 }; 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 e8861eec56d..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 } diff --git a/src/main/target/SITL/target.h b/src/main/target/SITL/target.h index 3fbe45a5cab..f6d80f74971 100644 --- a/src/main/target/SITL/target.h +++ b/src/main/target/SITL/target.h @@ -74,6 +74,10 @@ #define USE_MSP_OSD #define USE_OSD +#define USE_SERIAL_GIMBAL +#define USE_HEADTRACKER +#define USE_HEADTRACKER_SERIAL +#define USE_HEADTRACKER_MSP #undef USE_DASHBOARD @@ -97,6 +101,7 @@ #undef USE_BRUSHED_ESC_AUTODETECT #undef USE_SERIAL_4WAY_BLHELI_BOOTLOADER #undef USE_SERIAL_4WAY_SK_BOOTLOADER +#undef USE_ADAPTIVE_FILTER #undef USE_I2C #undef USE_SPI diff --git a/src/main/target/SPEEDYBEEF405MINI/CMakeLists.txt b/src/main/target/SPEEDYBEEF405MINI/CMakeLists.txt index e18c0cd5ada..c4105609952 100644 --- a/src/main/target/SPEEDYBEEF405MINI/CMakeLists.txt +++ b/src/main/target/SPEEDYBEEF405MINI/CMakeLists.txt @@ -1,2 +1 @@ target_stm32f405xg(SPEEDYBEEF405MINI) -target_stm32f405xg(SPEEDYBEEF405MINI_6OUTPUTS) diff --git a/src/main/target/SPEEDYBEEF405MINI/target.c b/src/main/target/SPEEDYBEEF405MINI/target.c index 3cc7fbbebba..b1e6e10f6f4 100644 --- a/src/main/target/SPEEDYBEEF405MINI/target.c +++ b/src/main/target/SPEEDYBEEF405MINI/target.c @@ -32,15 +32,10 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 1, 0), // S3 DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 1, 0), // S4 -#ifdef SPEEDYBEEF405MINI_6OUTPUTS - DEF_TIM(TIM12, CH1, PB14, TIM_USE_OUTPUT_AUTO, 1, 0), // CAM_CTRL - DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 0), // LED -#else - DEF_TIM(TIM12, CH1, PB14, TIM_USE_ANY, 1, 0), // CAM_CTRL - DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // LED -#endif + DEF_TIM(TIM12, CH1, PB14, TIM_USE_ANY, 1, 0), // CAM_CTRL + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // LED - DEF_TIM(TIM5, CH3, PA2, TIM_USE_ANY, 0, 0), //TX2 softserial1_Tx + DEF_TIM(TIM5, CH3, PA2, TIM_USE_ANY, 0, 0), //TX2 softserial1_Tx }; const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/SPRACINGF7DUAL/target.c b/src/main/target/SPRACINGF7DUAL/target.c index e94835b93c2..ead356956a4 100644 --- a/src/main/target/SPRACINGF7DUAL/target.c +++ b/src/main/target/SPRACINGF7DUAL/target.c @@ -56,7 +56,6 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // ESC 7 DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // ESC 8 - DEF_TIM(TIM2, CH2, PA1, TIM_USE_LED, 0, 0), // LED Strip // Additional 2 PWM channels available on UART3 RX/TX pins // However, when using led strip the timer cannot be used, but no code appears to prevent that right now DEF_TIM(TIM2, CH3, PB10, TIM_USE_MOTOR, 0, 0), // Shared with UART3 TX PIN and SPI3 TX (OSD) @@ -67,6 +66,9 @@ timerHardware_t timerHardware[] = { // However, when using transponder the timer cannot be used, but no code appears to prevent that right now DEF_TIM(TIM1, CH2, PA9, TIM_USE_SERVO | TIM_USE_PWM, 0, 1), // PWM 3 DEF_TIM(TIM1, CH3, PA10, TIM_USE_SERVO | TIM_USE_PWM, 0, 1), // PWM 4 + + + DEF_TIM(TIM2, CH2, PA1, TIM_USE_LED, 0, 0), // LED Strip }; const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/TAKERF722SE/target.c b/src/main/target/TAKERF722SE/target.c index d67062a9fbc..c49e383a72f 100644 --- a/src/main/target/TAKERF722SE/target.c +++ b/src/main/target/TAKERF722SE/target.c @@ -40,7 +40,7 @@ timerHardware_t timerHardware[] = { 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), + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), }; const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/TMOTORF7V2/target.c b/src/main/target/TMOTORF7V2/target.c index c21b0f0229a..df6004b7a2f 100644 --- a/src/main/target/TMOTORF7V2/target.c +++ b/src/main/target/TMOTORF7V2/target.c @@ -35,8 +35,8 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 - DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // LED DEF_TIM(TIM2, CH2, PB3, TIM_USE_PWM | TIM_USE_SERVO, 0, 0), // "C.C" + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // LED }; const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/TMOTORVELOXF7V2/target.c b/src/main/target/TMOTORVELOXF7V2/target.c index 7d9ae0d3292..b5f56ea6b79 100644 --- a/src/main/target/TMOTORVELOXF7V2/target.c +++ b/src/main/target/TMOTORVELOXF7V2/target.c @@ -37,7 +37,7 @@ timerHardware_t timerHardware[] = { DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 UP1-6 D(1, 0, 2) // used to be fw motor DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 UP1-6 D(1, 3, 2) // used to be fw motor - DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 1), // LED + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 1), // LED }; const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); 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 d146ebb9790..8bb735fc437 100644 --- a/src/main/target/common.h +++ b/src/main/target/common.h @@ -84,6 +84,8 @@ #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 @@ -115,8 +117,6 @@ #define NAV_NON_VOLATILE_WAYPOINT_CLI -#define NAV_AUTO_MAG_DECLINATION_PRECISE - #define USE_D_BOOST #define USE_ANTIGRAVITY @@ -190,6 +190,10 @@ #define ADSB_LIMIT_CM 6400000 #endif +#define USE_SERIAL_GIMBAL +#define USE_HEADTRACKER +#define USE_HEADTRACKER_SERIAL +#define USE_HEADTRACKER_MSP //Designed to free space of F722 and F411 MCUs #if (MCU_FLASH_SIZE > 512) @@ -211,3 +215,4 @@ #endif #define USE_EZ_TUNE +#define USE_ADAPTIVE_FILTER diff --git a/src/main/telemetry/crsf.c b/src/main/telemetry/crsf.c index 5ed25de73be..8b7f289db20 100755 --- a/src/main/telemetry/crsf.c +++ b/src/main/telemetry/crsf.c @@ -354,11 +354,11 @@ static void crsfFrameFlightMode(sbuf_t *dst) flightMode = "HOR"; } else if (FLIGHT_MODE(ANGLEHOLD_MODE)) { flightMode = "ANGH"; - } #ifdef USE_FW_AUTOLAND - } else if (FLIGHT_MODE(NAV_FW_AUTOLAND)) { - flightMode = "LAND"; + } 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 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/test/unit/CMakeLists.txt b/src/test/unit/CMakeLists.txt index ebfd3b78d4f..300721b8f53 100644 --- a/src/test/unit/CMakeLists.txt +++ b/src/test/unit/CMakeLists.txt @@ -40,6 +40,9 @@ set_property(SOURCE osd_unittest.cc PROPERTY definitions OSD_UNIT_TEST USE_MSP_D set_property(SOURCE gps_ublox_unittest.cc PROPERTY depends "io/gps_ublox_utils.c") set_property(SOURCE gps_ublox_unittest.cc PROPERTY definitions GPS_UBLOX_UNIT_TEST) +set_property(SOURCE gimbal_serial_unittest.cc PROPERTY depends "io/gimbal_serial.c" "drivers/gimbal_common.c" "common/maths.c") +set_property(SOURCE gimbal_serial_unittest.cc PROPERTY definitions USE_SERIAL_GIMBAL GIMBAL_UNIT_TEST) + function(unit_test src) get_filename_component(basename ${src} NAME) string(REPLACE ".cc" "" name ${basename} ) diff --git a/src/test/unit/gimbal_serial_unittest.cc b/src/test/unit/gimbal_serial_unittest.cc new file mode 100644 index 00000000000..1f0c47231c6 --- /dev/null +++ b/src/test/unit/gimbal_serial_unittest.cc @@ -0,0 +1,50 @@ +/* + * This file is part of INAV. + * + * 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 INAV. If not, see . + */ + +#include +#include +#include +#include + +#include "gtest/gtest.h" +#include "unittest_macros.h" + +#include "io/gimbal_serial.h" +#include "drivers/headtracker_common.h" + +void dumpMemory(uint8_t *mem, int size) +{ + for(int i =0; i < size; ++i) { + printf("%02x ", mem[i]); + } + printf("\n"); +} + +TEST(GimbalSerialTest, TestGimbalSerialScale) +{ + int16_t res16 = gimbal_scale12(1000, 2000, 2000); + EXPECT_TRUE(res16 == 2047); + res16 = gimbal_scale12(1000, 2000, 1000); + printf("res16: %i\n", res16); + EXPECT_TRUE(res16 == -2048); + res16 = gimbal_scale12(1000, 2000, 1500); + printf("res16: %i\n", res16); + EXPECT_TRUE(res16 == -1); + res16 = gimbal_scale12(1000, 2000, 1501); + printf("res16: %i\n", res16); + EXPECT_TRUE(res16 == 3); +} \ No newline at end of file diff --git a/src/test/unit/maths_unittest.cc b/src/test/unit/maths_unittest.cc index 538f28086af..77779d366e2 100644 --- a/src/test/unit/maths_unittest.cc +++ b/src/test/unit/maths_unittest.cc @@ -128,28 +128,28 @@ void expectVectorsAreEqual(fpVector3_t *a, fpVector3_t *b) TEST(MathsUnittest, TestRotateVectorWithNoAngle) { - fpVector3_t vector = { 1.0f, 0.0f, 0.0f}; + fpVector3_t vector = { .x = 1.0f, .y = 0.0f, .z = 0.0f}; fp_angles_t euler_angles = {.raw={0.0f, 0.0f, 0.0f}}; fpMat3_t rmat; rotationMatrixFromAngles(&rmat, &euler_angles); rotationMatrixRotateVector(&vector, &vector, &rmat); - fpVector3_t expected_result = { 1.0f, 0.0f, 0.0f}; + fpVector3_t expected_result = { .x = 1.0f, .y = 0.0f, .z = 0.0f}; expectVectorsAreEqual(&vector, &expected_result); } TEST(MathsUnittest, TestRotateVectorAroundAxis) { // Rotate a vector <1, 0, 0> around an each axis x y and z. - fpVector3_t vector = { 1.0f, 0.0f, 0.0f}; + fpVector3_t vector = { .x = 1.0f, .y = 0.0f, .z = 0.0f}; fp_angles_t euler_angles = {.raw={90.0f, 0.0f, 0.0f}}; fpMat3_t rmat; rotationMatrixFromAngles(&rmat, &euler_angles); rotationMatrixRotateVector(&vector, &vector, &rmat); - fpVector3_t expected_result = { 1.0f, 0.0f, 0.0f}; + fpVector3_t expected_result = { .x = 1.0f, .y = 0.0f, .z = 0.0f}; expectVectorsAreEqual(&vector, &expected_result); } diff --git a/src/utils/declination.py b/src/utils/declination.py index 44f5c9f21db..da0f805b392 100755 --- a/src/utils/declination.py +++ b/src/utils/declination.py @@ -1,133 +1,252 @@ -#!/usr/bin/env python - -# Ported from https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_Declination/generate -# Run this script with python3! -# To install the igrf module, use python3 -m pip install --user igrf12 -# Note that it requires a fortran compiler - -''' -generate field tables from IGRF12 +#!/usr/bin/env python3 ''' +generate field tables from IGRF13. Note that this requires python3 -import collections -import datetime -import pathlib -import sys - -import igrf -import numpy as np +To run the generator you need the igrf module. Install like this: -SAMPLING_RES = 10 -SAMPLING_MIN_LAT = -90 -SAMPLING_MAX_LAT = 90 -SAMPLING_MIN_LON = -180 -SAMPLING_MAX_LON = 180 + python3 -m pip install --user igrf -# This is used for flash constrained environments. We limit -# the latitude range to [-60, 60], so the values fit in an int8_t -SAMPLING_COMPACT_MIN_LAT = -60 -SAMPLING_COMPACT_MAX_LAT = 60 +And run: -PREPROCESSOR_SYMBOL = 'NAV_AUTO_MAG_DECLINATION_PRECISE' + python3 src/utils/declination.py -Query = collections.namedtuple('Query', ['date', 'res', 'min_lat', 'max_lat', 'min_lon', 'max_lon']) -Result = collections.namedtuple('Result', ['query', 'lats', 'lons', 'declination', 'inclination', 'intensity']) +It will updates the navigation_declination_gen.c code +''' -def write_table(f, name, table, compact): +import igrf +import numpy as np +import datetime +import pathlib +from math import sin, cos, sqrt +import math + +class Vector3(object): + '''a vector''' + def __init__(self, x=None, y=None, z=None): + if x is not None and y is not None and z is not None: + self.x = float(x) + self.y = float(y) + self.z = float(z) + elif x is not None and len(x) == 3: + self.x = float(x[0]) + self.y = float(x[1]) + self.z = float(x[2]) + elif x is not None: + raise ValueError('bad initializer') + else: + self.x = float(0) + self.y = float(0) + self.z = float(0) + + def length(self): + return sqrt(self.x**2 + self.y**2 + self.z**2) + + def __sub__(self, other): + return Vector3(self.x - other.x, self.y - other.y, self.z - other.z) + + def __mul__(self, other): + if isinstance(other, (int, float)): + return Vector3(self.x * other, self.y * other, self.z * other) + elif isinstance(other, Vector3): + return self.x * other.x + self.y * other.y + self.z * other.z + else: + raise ValueError('Multiplication with unsupported type') + +class Matrix3(object): + '''a 3x3 matrix, intended as a rotation matrix''' + def __init__(self, a=None, b=None, c=None): + if a is not None and b is not None and c is not None: + self.a = a.copy() + self.b = b.copy() + self.c = c.copy() + else: + self.identity() + + def identity(self): + self.a = Vector3(1,0,0) + self.b = Vector3(0,1,0) + self.c = Vector3(0,0,1) + + def from_euler(self, roll, pitch, yaw): + '''fill the matrix from Euler angles in radians''' + cp = cos(pitch) + sp = sin(pitch) + sr = sin(roll) + cr = cos(roll) + sy = sin(yaw) + cy = cos(yaw) + + self.a.x = cp * cy + self.a.y = (sr * sp * cy) - (cr * sy) + self.a.z = (cr * sp * cy) + (sr * sy) + self.b.x = cp * sy + self.b.y = (sr * sp * sy) + (cr * cy) + self.b.z = (cr * sp * sy) - (sr * cy) + self.c.x = -sp + self.c.y = sr * cp + self.c.z = cr * cp + + def __mul__(self, vector): + if isinstance(vector, Vector3): + x = self.a.x * vector.x + self.a.y * vector.y + self.a.z * vector.z + y = self.b.x * vector.x + self.b.y * vector.y + self.b.z * vector.z + z = self.c.x * vector.x + self.c.y * vector.y + self.c.z * vector.z + return Vector3(x, y, z) + else: + raise ValueError('Multiplication with unsupported type') + +def write_table(f, name, table): '''write one table''' - - if compact: - format_entry = lambda x: '%d' % round(x) - table_type = 'int8_t' - else: - table_type = 'float' - format_entry = lambda x: '%.5ff' % x - - num_lat = len(table) - num_lon = len(table[0]) - - f.write("static const %s %s[%u][%u] = {\n" % - (table_type, name, num_lat, num_lon)) - for i in range(num_lat): + f.write("const float %s[%u][%u] = {\n" % + (name, NUM_LAT, NUM_LON)) + for i in range(NUM_LAT): f.write(" {") - for j in range(num_lon): - f.write(format_entry(table[i][j])) - if j != num_lon - 1: + for j in range(NUM_LON): + f.write("%.5ff" % table[i][j]) + if j != NUM_LON-1: f.write(",") f.write("}") - if i != num_lat - 1: + if i != NUM_LAT-1: f.write(",") f.write("\n") f.write("};\n\n") -def declination_tables(query): - lats = np.arange(query.min_lat, query.max_lat + query.res, query.res) - lons = np.arange(query.min_lon, query.max_lon + query.res, query.res) - - num_lat = lats.size - num_lon = lons.size - - intensity = np.empty((num_lat, num_lon)) - inclination = np.empty((num_lat, num_lon)) - declination = np.empty((num_lat, num_lon)) - - for i, lat in enumerate(lats): - for j, lon in enumerate(lons): - 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 - - return Result(query=query, lats=lats, lons=lons, - declination=declination, inclination=inclination, intensity=intensity) - -def generate_constants(f, query): - f.write('#define SAMPLING_RES\t\t%.5ff\n' % query.res) - f.write('#define SAMPLING_MIN_LON\t%.5ff\n' % query.min_lon) - f.write('#define SAMPLING_MAX_LON\t%.5ff\n' % query.max_lon) - f.write('#define SAMPLING_MIN_LAT\t%.5ff\n' % query.min_lat) - f.write('#define SAMPLING_MAX_LAT\t%.5ff\n' % query.max_lat) - f.write('\n') - -def generate_tables(f, query, compact): - result = declination_tables(query) - write_table(f, 'declination_table', result.declination, compact) - - # We're not using these tables for now - #if not compact: - # write_table(f, 'inclination_table', result.inclination, False) - # write_table(f, 'intensity_table', result.intensity, False) - -def generate_code(f, date): - - compact_query = Query(date=date, res=SAMPLING_RES, - min_lat=SAMPLING_COMPACT_MIN_LAT, max_lat=SAMPLING_COMPACT_MAX_LAT, - min_lon=SAMPLING_MIN_LON, max_lon=SAMPLING_MAX_LON) +date = datetime.datetime.now() - precise_query = Query(date=date, res=SAMPLING_RES, - min_lat=SAMPLING_MIN_LAT, max_lat=SAMPLING_MAX_LAT, - min_lon=SAMPLING_MIN_LON, max_lon=SAMPLING_MAX_LON) +SAMPLING_RES = 10 +SAMPLING_MIN_LAT = -90 +SAMPLING_MAX_LAT = 90 +SAMPLING_MIN_LON = -180 +SAMPLING_MAX_LON = 180 +lats = np.arange(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+SAMPLING_RES, SAMPLING_RES) +lons = np.arange(SAMPLING_MIN_LON, SAMPLING_MAX_LON+SAMPLING_RES, SAMPLING_RES) + +NUM_LAT = lats.size +NUM_LON = lons.size + +intensity_table = np.empty((NUM_LAT, NUM_LON)) +inclination_table = np.empty((NUM_LAT, NUM_LON)) +declination_table = np.empty((NUM_LAT, NUM_LON)) + +max_error = 0 +max_error_pos = None +max_error_field = None + +def get_igrf(lat, lon): + '''return field as [declination_deg, inclination_deg, intensity_gauss]''' + mag = igrf.igrf(date, glat=lat, glon=lon, alt_km=0., isv=0, itype=1) + intensity = float(mag.total/1e5) + inclination = float(mag.incl) + declination = float(mag.decl) + return [declination, inclination, intensity] + +def interpolate_table(table, latitude_deg, longitude_deg): + '''interpolate inside a table for a given lat/lon in degrees''' + # round down to nearest sampling resolution + min_lat = int(math.floor(latitude_deg / SAMPLING_RES) * SAMPLING_RES) + min_lon = int(math.floor(longitude_deg / SAMPLING_RES) * SAMPLING_RES) + + # find index of nearest low sampling point + min_lat_index = int(math.floor((min_lat - SAMPLING_MIN_LAT) / SAMPLING_RES)) + min_lon_index = int(math.floor((min_lon - SAMPLING_MIN_LON) / SAMPLING_RES)) + + # calculate intensity + data_sw = table[min_lat_index][min_lon_index] + data_se = table[min_lat_index][min_lon_index + 1] + data_ne = table[min_lat_index + 1][min_lon_index + 1] + data_nw = table[min_lat_index + 1][min_lon_index] + + # perform bilinear interpolation on the four grid corners + data_min = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_se - data_sw) + data_sw + data_max = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_ne - data_nw) + data_nw + + value = ((latitude_deg - min_lat) / SAMPLING_RES) * (data_max - data_min) + data_min + return value + +def interpolate_field(latitude_deg, longitude_deg): + '''calculate magnetic field intensity and orientation, interpolating in tables + + returns array [declination_deg, inclination_deg, intensity] or None''' + # limit to table bounds + if latitude_deg < SAMPLING_MIN_LAT or latitude_deg >= SAMPLING_MAX_LAT: + return None + if longitude_deg < SAMPLING_MIN_LON or longitude_deg >= SAMPLING_MAX_LON: + return None + + intensity_gauss = interpolate_table(intensity_table, latitude_deg, longitude_deg) + declination_deg = interpolate_table(declination_table, latitude_deg, longitude_deg) + inclination_deg = interpolate_table(inclination_table, latitude_deg, longitude_deg) + + return [declination_deg, inclination_deg, intensity_gauss] + +def field_to_Vector3(mag): + '''return mGauss field from dec, inc and intensity''' + R = Matrix3() + mag_ef = Vector3(mag[2]*1000.0, 0.0, 0.0) + R.from_euler(0.0, -math.radians(mag[1]), math.radians(mag[0])) + return R * mag_ef + +def test_error(lat, lon): + '''check for error from lat, lon''' + global max_error, max_error_pos, max_error_field + mag1 = get_igrf(lat, lon) + mag2 = interpolate_field(lat, lon) + if mag2 is None: + return + ef1 = field_to_Vector3(mag1) + ef2 = field_to_Vector3(mag2) + err = (ef1 - ef2).length() + if err > max_error or err > 100: + print(lat, lon, err, ef1, ef2) + max_error = err + max_error_pos = (lat, lon) + max_error_field = ef1 - ef2 + +def test_max_error(lat, lon): + '''check for maximum error from lat, lon over SAMPLING_RES range''' + steps = 3 + delta = SAMPLING_RES/steps + for i in range(steps): + for j in range(steps): + lat2 = lat + i * delta + lon2 = lon + j * delta + if lat2 > SAMPLING_MAX_LAT or lon2 > SAMPLING_MAX_LON: + continue + if lat2 < SAMPLING_MIN_LAT or lon2 < SAMPLING_MIN_LON: + continue + test_error(lat2, lon2) + +for i, lat in enumerate(lats): + for j, lon in enumerate(lons): + mag = get_igrf(lat, lon) + declination_table[i][j] = mag[0] + inclination_table[i][j] = mag[1] + intensity_table[i][j] = mag[2] + +with open(pathlib.Path(__file__).parent / '..' / 'main' / 'navigation' / 'navigation_declination_gen.c', 'w') as f: f.write('/* this file is automatically generated by src/utils/declination.py - DO NOT EDIT! */\n\n\n') f.write('/* Updated on %s */\n\n\n' % date) - f.write('#include \n\n') - - - f.write('\n\n#if defined(%s)\n' % PREPROCESSOR_SYMBOL) - generate_constants(f, precise_query) - generate_tables(f, precise_query, False) - # We're not using these tables for now - # write_table(f, 'inclination_table', inclination_table) - # write_table(f, 'intensity_table', intensity_table) - f.write('#else /* !%s */\n' % PREPROCESSOR_SYMBOL) - generate_constants(f, compact_query) - generate_tables(f, compact_query, True) - f.write('#endif\n') - -if __name__ == '__main__': - - output = pathlib.PurePath(__file__).parent / '..' / 'main' / 'navigation' / 'navigation_declination_gen.c' - date = datetime.datetime.now() - with open(output, 'w') as f: - generate_code(f, date) + f.write('''const float SAMPLING_RES = %u; +const float SAMPLING_MIN_LAT = %u; +const float SAMPLING_MAX_LAT = %u; +const float SAMPLING_MIN_LON = %u; +const float SAMPLING_MAX_LON = %u; + +''' % (SAMPLING_RES, + SAMPLING_MIN_LAT, + SAMPLING_MAX_LAT, + SAMPLING_MIN_LON, + SAMPLING_MAX_LON)) + + write_table(f, 'declination_table', declination_table) + write_table(f, 'inclination_table', inclination_table) + write_table(f, 'intensity_table', intensity_table) + +print("Checking for maximum error") +for lat in range(-60, 60, 1): + for lon in range(-180, 180, 1): + test_max_error(lat, lon) +print("Generated with max error %.2f %s at (%.2f,%.2f)" % ( + max_error, max_error_field, max_error_pos[0], max_error_pos[1]))