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initial take at configurable FEATURE_3D 

completely untested and may attempt to kill you when enabled. no binary.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@360 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
master
timecop@gmail.com 12 years ago
parent
e010e3a354
commit
3afeb3d1c8
6 changed files with 53 additions and 11 deletions
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  1. 1
      src/board.h
  2. 9
      src/cli.c
  3. 4
      src/config.c
  4. 33
      src/mixer.c
  5. 13
      src/mw.c
  6. 4
      src/mw.h

1
src/board.h
View File

@ -70,6 +70,7 @@ typedef enum {
FEATURE_TELEMETRY = 1 << 11,
FEATURE_POWERMETER = 1 << 12,
FEATURE_VARIO = 1 << 13,
FEATURE_3D = 1 << 14,
} AvailableFeatures;
typedef enum {

9
src/cli.c
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@ -44,7 +44,7 @@ const char * const mixerNames[] = {
const char * const featureNames[] = {
"PPM", "VBAT", "INFLIGHT_ACC_CAL", "SPEKTRUM", "MOTOR_STOP",
"SERVO_TILT", "GYRO_SMOOTHING", "LED_RING", "GPS",
"FAILSAFE", "SONAR", "TELEMETRY", "POWERMETER", "VARIO",
"FAILSAFE", "SONAR", "TELEMETRY", "POWERMETER", "VARIO", "3D",
NULL
};
@ -53,7 +53,6 @@ const char * const sensorNames[] = {
"ACC", "BARO", "MAG", "SONAR", "GPS", NULL
};
//
const char * const accNames[] = {
"", "ADXL345", "MPU6050", "MMA845x", NULL
};
@ -108,9 +107,13 @@ const clivalue_t valueTable[] = {
{ "mincommand", VAR_UINT16, &mcfg.mincommand, 0, 2000 },
{ "mincheck", VAR_UINT16, &mcfg.mincheck, 0, 2000 },
{ "maxcheck", VAR_UINT16, &mcfg.maxcheck, 0, 2000 },
{ "retarded_arm", VAR_UINT8, &mcfg.retarded_arm, 0, 1 },
{ "deadband3d_low", VAR_UINT16, &mcfg.deadband3d_low, 0, 2000 },
{ "deadband3d_high", VAR_UINT16, &mcfg.deadband3d_high, 0, 2000 },
{ "neutral3d", VAR_UINT16, &mcfg.neutral3d, 0, 2000 },
{ "deadband3d_throttle", VAR_UINT16, &mcfg.deadband3d_throttle, 0, 2000 },
{ "motor_pwm_rate", VAR_UINT16, &mcfg.motor_pwm_rate, 50, 498 },
{ "servo_pwm_rate", VAR_UINT16, &mcfg.servo_pwm_rate, 50, 498 },
{ "retarded_arm", VAR_UINT8, &mcfg.retarded_arm, 0, 1 },
{ "serial_baudrate", VAR_UINT32, &mcfg.serial_baudrate, 1200, 115200 },
{ "gps_baudrate", VAR_UINT32, &mcfg.gps_baudrate, 1200, 115200 },
{ "spektrum_hires", VAR_UINT8, &mcfg.spektrum_hires, 0, 1 },

4
src/config.c
View File

@ -194,6 +194,10 @@ static void resetConf(void)
mcfg.minthrottle = 1150;
mcfg.maxthrottle = 1850;
mcfg.mincommand = 1000;
mcfg.deadband3d_low = 1406;
mcfg.deadband3d_high = 1514;
mcfg.neutral3d = 1460;
mcfg.deadband3d_throttle = 50;
mcfg.motor_pwm_rate = 400;
mcfg.servo_pwm_rate = 50;
// gps/nav stuff

33
src/mixer.c
View File

@ -166,6 +166,17 @@ void mixerInit(void)
currentMixer[i] = mixers[mcfg.mixerConfiguration].motor[i];
}
}
// in 3D mode, mixer gain has to be halved
if (feature(FEATURE_3D)) {
if (numberMotor > 1) {
for (i = 0; i < numberMotor; i++) {
currentMixer[i].pitch *= 0.5f;
currentMixer[i].roll *= 0.5f;
currentMixer[i].yaw *= 0.5f;
}
}
}
}
void mixerLoadMix(int index)
@ -382,14 +393,22 @@ void mixTable(void)
for (i = 0; i < numberMotor; i++) {
if (maxMotor > mcfg.maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max.
motor[i] -= maxMotor - mcfg.maxthrottle;
motor[i] = constrain(motor[i], mcfg.minthrottle, mcfg.maxthrottle);
if ((rcData[THROTTLE]) < mcfg.mincheck) {
if (!feature(FEATURE_MOTOR_STOP))
motor[i] = mcfg.minthrottle;
else
motor[i] = mcfg.mincommand;
if (feature(FEATURE_3D)) {
if ((rcData[THROTTLE]) > 1500) {
motor[i] = constrain(motor[i], mcfg.deadband3d_high, mcfg.maxthrottle);
} else {
motor[i] = constrain(motor[i], mcfg.mincommand, mcfg.deadband3d_low);
}
} else {
motor[i] = constrain(motor[i], mcfg.minthrottle, mcfg.maxthrottle);
if ((rcData[THROTTLE]) < mcfg.mincheck) {
if (!feature(FEATURE_MOTOR_STOP))
motor[i] = mcfg.minthrottle;
else
motor[i] = mcfg.mincommand;
}
}
if (!f.ARMED)
motor[i] = mcfg.mincommand;
motor[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand;
}
}

13
src/mw.c
View File

@ -433,6 +433,7 @@ void loop(void)
static uint32_t loopTime;
uint16_t auxState = 0;
static uint8_t GPSNavReset = 1;
bool isThrottleLow = false;
// this will return false if spektrum is disabled. shrug.
if (spektrumFrameComplete())
@ -444,6 +445,12 @@ void loop(void)
if (!feature(FEATURE_SPEKTRUM))
computeRC();
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!rcOptions[BOXARM])
mwDisarm();
}
// Failsafe routine
if (feature(FEATURE_FAILSAFE)) {
if (failsafeCnt > (5 * cfg.failsafe_delay) && f.ARMED) { // Stabilize, and set Throttle to specified level
@ -481,7 +488,11 @@ void loop(void)
rcSticks = stTmp;
// perform actions
if (rcData[THROTTLE] < mcfg.mincheck) {
if (feature(FEATURE_3D) && (rcData[THROTTLE] > (mcfg.midrc - mcfg.deadband3d_throttle) && rcData[THROTTLE] < (mcfg.midrc + mcfg.deadband3d_throttle)))
isThrottleLow = true;
else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < mcfg.mincheck))
isThrottleLow = true;
if (isThrottleLow) {
errorGyroI[ROLL] = 0;
errorGyroI[PITCH] = 0;
errorGyroI[YAW] = 0;

4
src/mw.h
View File

@ -238,6 +238,10 @@ typedef struct master_t {
uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000
uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
uint16_t deadband3d_low; // min 3d value
uint16_t deadband3d_high; // max 3d value
uint16_t neutral3d; // center 3d value
uint16_t deadband3d_throttle; // default throttle deadband from MIDRC
uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)

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