From 1187c575ed3a26c9bfa3b3731b15bb8d61fe38b7 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Tue, 8 Mar 2016 22:46:54 +0100
Subject: [PATCH 01/10] Gyro Calibration scaled to looptime setting
---
src/main/io/rc_controls.c | 3 ++-
src/main/main.c | 2 +-
src/main/sensors/gyro.c | 6 +++---
3 files changed, 6 insertions(+), 5 deletions(-)
diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
index c89c50bef..2a66bb19a 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@@ -34,6 +34,7 @@
#include "drivers/system.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
+#include "drivers/gyro_sync.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
@@ -215,7 +216,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
// GYRO calibration
- gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
+ gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES);
#ifdef GPS
if (feature(FEATURE_GPS)) {
diff --git a/src/main/main.c b/src/main/main.c
index d856a36ea..e0c80f93b 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -598,7 +598,7 @@ void init(void)
if (masterConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
- gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
+ gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES);
#ifdef BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 5fe75d281..824969413 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -79,7 +79,7 @@ bool isOnFinalGyroCalibrationCycle(void)
bool isOnFirstGyroCalibrationCycle(void)
{
- return calibratingG == CALIBRATING_GYRO_CYCLES;
+ return calibratingG == (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
}
static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
@@ -108,10 +108,10 @@ static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThresho
float dev = devStandardDeviation(&var[axis]);
// check deviation and startover in case the model was moved
if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
- gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
+ gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES);
return;
}
- gyroZero[axis] = (g[axis] + (CALIBRATING_GYRO_CYCLES / 2)) / CALIBRATING_GYRO_CYCLES;
+ gyroZero[axis] = (g[axis] + ((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES / 2)) / (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
}
}
From 21bc85335e47b401facc9b76140d530c8680df1f Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Wed, 9 Mar 2016 00:05:13 +0100
Subject: [PATCH 02/10] pidUpdateCountdown set based on condition
---
src/main/mw.c | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/src/main/mw.c b/src/main/mw.c
index 70396af39..d9ad9453b 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -741,6 +741,14 @@ void taskMotorUpdate(void) {
}
}
+uint8_t setPidUpdateCountDown(void) {
+ if (masterConfig.gyro_soft_lpf_hz) {
+ return masterConfig.pid_process_denom - 1;
+ } else {
+ return 1;
+ }
+}
+
// Check for oneshot125 protection. With fast looptimes oneshot125 pulse duration gets more near the pid looptime
bool shouldUpdateMotorsAfterPIDLoop(void) {
if (targetPidLooptime > 375 ) {
@@ -782,7 +790,7 @@ void taskMainPidLoopCheck(void) {
if (pidUpdateCountdown) {
pidUpdateCountdown--;
} else {
- pidUpdateCountdown = masterConfig.pid_process_denom - 1;
+ pidUpdateCountdown = setPidUpdateCountDown();
taskMainPidLoop();
if (shouldUpdateMotorsAfterPIDLoop()) taskMotorUpdate();
runTaskMainSubprocesses = true;
From 03cc5fa4388ef21670e818b688e37aef90865723 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Wed, 9 Mar 2016 22:31:16 +0100
Subject: [PATCH 03/10] Function for calculating calibration cycles
---
src/main/io/rc_controls.c | 2 +-
src/main/main.c | 2 +-
src/main/sensors/gyro.c | 10 +++++++---
src/main/sensors/gyro.h | 1 +
4 files changed, 10 insertions(+), 5 deletions(-)
diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
index 2a66bb19a..03a108d6f 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@@ -216,7 +216,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
// GYRO calibration
- gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES);
+ gyroSetCalibrationCycles(calculateCalibratingCycles());
#ifdef GPS
if (feature(FEATURE_GPS)) {
diff --git a/src/main/main.c b/src/main/main.c
index e0c80f93b..f75dc570e 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -598,7 +598,7 @@ void init(void)
if (masterConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
- gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES);
+ gyroSetCalibrationCycles(calculateCalibratingCycles());
#ifdef BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 824969413..de3412760 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -77,9 +77,13 @@ bool isOnFinalGyroCalibrationCycle(void)
return calibratingG == 1;
}
+uint16_t calculateCalibratingCycles(void) {
+ return (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
+}
+
bool isOnFirstGyroCalibrationCycle(void)
{
- return calibratingG == (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
+ return calibratingG == calculateCalibratingCycles();
}
static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
@@ -108,10 +112,10 @@ static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThresho
float dev = devStandardDeviation(&var[axis]);
// check deviation and startover in case the model was moved
if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
- gyroSetCalibrationCycles((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES);
+ gyroSetCalibrationCycles(calculateCalibratingCycles());
return;
}
- gyroZero[axis] = (g[axis] + ((CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES / 2)) / (CALIBRATING_GYRO_CYCLES / targetLooptime) * CALIBRATING_GYRO_CYCLES;
+ gyroZero[axis] = (g[axis] + (calculateCalibratingCycles() / 2)) / calculateCalibratingCycles();
}
}
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index bb7a152f0..48e5e677e 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -43,4 +43,5 @@ void useGyroConfig(gyroConfig_t *gyroConfigToUse, float gyro_lpf_hz);
void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
void gyroUpdate(void);
bool isGyroCalibrationComplete(void);
+uint16_t calculateCalibratingCycles(void);
From fa63ab52e148cd8cb03053085e638ddd0a492632 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Thu, 10 Mar 2016 00:27:44 +0100
Subject: [PATCH 04/10] Disabling of 3D Feature on switch
---
.testThrottle.c.swp | Bin 0 -> 1024 bytes
src/main/flight/mixer.c | 10 +++++-----
src/main/io/rc_controls.h | 3 ++-
src/main/io/rc_curves.c | 5 ++++-
src/main/io/serial_msp.c | 3 ++-
src/main/mw.c | 14 ++++++++++++--
src/main/version.h | 2 +-
7 files changed, 26 insertions(+), 11 deletions(-)
create mode 100644 .testThrottle.c.swp
diff --git a/.testThrottle.c.swp b/.testThrottle.c.swp
new file mode 100644
index 0000000000000000000000000000000000000000..d53eb7fc58a9e35a883bcc6a29354427711bf836
GIT binary patch
literal 1024
zcmYc?$V<%2S1{5u(KBK|0ylIR7?SdfGK-PKa4}0#i*hsb5=-)n%*@PiDFTY?=ccA)
zChCKY)ptoONz_kCElbVGFUU>JE74C%ElEtv$xP2E(Jx6YE(ysf$}cI&N!3fnW8$dP
PXb6mk00|)wimny_;r1ZO
literal 0
HcmV?d00001
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 29c0ac41b..f61c068ee 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -822,18 +822,18 @@ void mixTable(void)
int16_t throttleMin, throttleMax;
static int16_t throttlePrevious = 0; // Store the last throttle direction for deadband transitions
- // Find min and max throttle based on condition. Use rcData for 3D to prevent loss of power due to min_check
+ // Find min and max throttle based on condition.
if (feature(FEATURE_3D)) {
if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
- if ((rcData[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
+ if ((rcCommand[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle;
- throttlePrevious = throttle = rcData[THROTTLE];
- } else if (rcData[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
+ throttlePrevious = throttle = rcCommand[THROTTLE];
+ } else if (rcCommand[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
throttleMax = escAndServoConfig->maxthrottle;
throttleMin = flight3DConfig->deadband3d_high;
- throttlePrevious = throttle = rcData[THROTTLE];
+ throttlePrevious = throttle = rcCommand[THROTTLE];
} else if ((throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Deadband handling from negative to positive
throttle = throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle;
diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
index 8cdc3c775..c512ed64b 100644
--- a/src/main/io/rc_controls.h
+++ b/src/main/io/rc_controls.h
@@ -49,7 +49,8 @@ typedef enum {
BOXBLACKBOX,
BOXFAILSAFE,
BOXAIRMODE,
- BOXACROPLUS,
+ BOXACROPLUS,
+ BOX3DDISABLESWITCH,
CHECKBOX_ITEM_COUNT
} boxId_e;
diff --git a/src/main/io/rc_curves.c b/src/main/io/rc_curves.c
index 80b0bd4aa..e6abf1d86 100644
--- a/src/main/io/rc_curves.c
+++ b/src/main/io/rc_curves.c
@@ -24,6 +24,8 @@
#include "io/rc_curves.h"
+#include "config/config.h"
+
int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
int16_t lookupYawRC[YAW_LOOKUP_LENGTH]; // lookup table for expo & RC rate YAW
int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
@@ -48,6 +50,7 @@ void generateYawCurve(controlRateConfig_t *controlRateConfig)
void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoConfig_t *escAndServoConfig)
{
uint8_t i;
+ uint16_t minThrottle = (feature(FEATURE_3D && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) ? PWM_RANGE_MIN : escAndServoConfig->minthrottle);
for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
int16_t tmp = 10 * i - controlRateConfig->thrMid8;
@@ -57,6 +60,6 @@ void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoCo
if (tmp < 0)
y = controlRateConfig->thrMid8;
lookupThrottleRC[i] = 10 * controlRateConfig->thrMid8 + tmp * (100 - controlRateConfig->thrExpo8 + (int32_t) controlRateConfig->thrExpo8 * (tmp * tmp) / (y * y)) / 10;
- lookupThrottleRC[i] = escAndServoConfig->minthrottle + (int32_t) (escAndServoConfig->maxthrottle - escAndServoConfig->minthrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
+ lookupThrottleRC[i] = minThrottle + (int32_t) (escAndServoConfig->maxthrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
}
}
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 122f2e77b..a2a09fabf 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -217,6 +217,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXFAILSAFE, "FAILSAFE;", 27 },
{ BOXAIRMODE, "AIR MODE;", 28 },
{ BOXACROPLUS, "ACRO PLUS;", 29 },
+ { BOX3DDISABLESWITCH, "DISABLE 3D SWITCH;", 30},
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@@ -544,7 +545,7 @@ void mspInit(serialConfig_t *serialConfig)
activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
activeBoxIds[activeBoxIdCount++] = BOXACROPLUS;
-
+ activeBoxIds[activeBoxIdCount++] = BOX3DDISABLESWITCH;
if (sensors(SENSOR_BARO)) {
activeBoxIds[activeBoxIdCount++] = BOXBARO;
diff --git a/src/main/mw.c b/src/main/mw.c
index d9ad9453b..2c8dad31a 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -270,11 +270,21 @@ void annexCode(void)
rcCommand[axis] = -rcCommand[axis];
}
- tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
- tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck);
+ if (feature(FEATURE_3D)) {
+ tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
+ tmp = (uint32_t)(tmp - PWM_RANGE_MIN);
+ } else {
+ tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
+ tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck);
+ }
tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
+ if (IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH) && !failsafeIsActive()) {
+ fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
+ rcCommand[THROTTLE] = masterConfig.rxConfig.midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - masterConfig.rxConfig.midrc);
+ }
+
if (FLIGHT_MODE(HEADFREE_MODE)) {
float radDiff = degreesToRadians(DECIDEGREES_TO_DEGREES(attitude.values.yaw) - headFreeModeHold);
float cosDiff = cos_approx(radDiff);
diff --git a/src/main/version.h b/src/main/version.h
index f2581c2ec..65e7dc436 100644
--- a/src/main/version.h
+++ b/src/main/version.h
@@ -17,7 +17,7 @@
#define FC_VERSION_MAJOR 2 // increment when a major release is made (big new feature, etc)
#define FC_VERSION_MINOR 5 // increment when a minor release is made (small new feature, change etc)
-#define FC_VERSION_PATCH_LEVEL 3 // increment when a bug is fixed
+#define FC_VERSION_PATCH_LEVEL 4 // increment when a bug is fixed
#define STR_HELPER(x) #x
#define STR(x) STR_HELPER(x)
From 1e8f2bacb871dac9630698f3641b71301d838bab Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Thu, 10 Mar 2016 00:35:19 +0100
Subject: [PATCH 05/10] Oops only 3D Mode needs this
---
src/main/mw.c | 2 +-
testThrottle.c.save | 5 +++++
2 files changed, 6 insertions(+), 1 deletion(-)
create mode 100644 testThrottle.c.save
diff --git a/src/main/mw.c b/src/main/mw.c
index 2c8dad31a..d8e2f3082 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -280,7 +280,7 @@ void annexCode(void)
tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
- if (IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH) && !failsafeIsActive()) {
+ if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH) && !failsafeIsActive()) {
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = masterConfig.rxConfig.midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - masterConfig.rxConfig.midrc);
}
diff --git a/testThrottle.c.save b/testThrottle.c.save
new file mode 100644
index 000000000..51cab990b
--- /dev/null
+++ b/testThrottle.c.save
@@ -0,0 +1,5 @@
+#include "stdint.h"
+#include "stdio.h"
+
+
+int main()
From e9731ea5e62430321e77998d7432898c62fb9bc1 Mon Sep 17 00:00:00 2001
From: Brian Balogh <bbalogh@users.noreply.github.com>
Date: Thu, 10 Mar 2016 15:42:32 -0500
Subject: [PATCH 06/10] Cleanup temp files and add them to .gitignore
---
.gitignore | 2 ++
.testThrottle.c.swp | Bin 1024 -> 0 bytes
testThrottle.c.save | 5 -----
3 files changed, 2 insertions(+), 5 deletions(-)
delete mode 100644 .testThrottle.c.swp
delete mode 100644 testThrottle.c.save
diff --git a/.gitignore b/.gitignore
index 34dd269dd..245d33be9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,6 +5,8 @@
*.dep
*.bak
*.uvgui.*
+*.swp
+*.save
.project
.settings
.cproject
diff --git a/.testThrottle.c.swp b/.testThrottle.c.swp
deleted file mode 100644
index d53eb7fc58a9e35a883bcc6a29354427711bf836..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
literal 1024
zcmYc?$V<%2S1{5u(KBK|0ylIR7?SdfGK-PKa4}0#i*hsb5=-)n%*@PiDFTY?=ccA)
zChCKY)ptoONz_kCElbVGFUU>JE74C%ElEtv$xP2E(Jx6YE(ysf$}cI&N!3fnW8$dP
PXb6mk00|)wimny_;r1ZO
diff --git a/testThrottle.c.save b/testThrottle.c.save
deleted file mode 100644
index 51cab990b..000000000
--- a/testThrottle.c.save
+++ /dev/null
@@ -1,5 +0,0 @@
-#include "stdint.h"
-#include "stdio.h"
-
-
-int main()
From 3df01ac21d4951544285933f5935804aaa7dee10 Mon Sep 17 00:00:00 2001
From: KiteAnton <anton.stalheim@gmail.com>
Date: Sat, 12 Mar 2016 09:01:26 +0100
Subject: [PATCH 07/10] Output all profiles and rateprofiles in cli dump
---
src/main/io/serial_cli.c | 68 +++++++++++++++++++++++++---------------
1 file changed, 43 insertions(+), 25 deletions(-)
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 6595b1f0f..58e704e97 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -109,6 +109,8 @@ static void cliAdjustmentRange(char *cmdline);
static void cliMotorMix(char *cmdline);
static void cliDefaults(char *cmdline);
static void cliDump(char *cmdLine);
+void cliDumpProfile(uint8_t profileIndex);
+void cliDumpRateProfile(uint8_t rateProfileIndex) ;
static void cliExit(char *cmdline);
static void cliFeature(char *cmdline);
static void cliMotor(char *cmdline);
@@ -1789,8 +1791,6 @@ typedef enum {
DUMP_RATES = (1 << 2),
} dumpFlags_e;
-#define DUMP_ALL (DUMP_MASTER | DUMP_PROFILE | DUMP_RATES)
-
static const char* const sectionBreak = "\r\n";
@@ -1806,7 +1806,7 @@ static void cliDump(char *cmdline)
float thr, roll, pitch, yaw;
#endif
- uint8_t dumpMask = DUMP_ALL;
+ uint8_t dumpMask = DUMP_MASTER;
if (strcasecmp(cmdline, "master") == 0) {
dumpMask = DUMP_MASTER; // only
}
@@ -1958,38 +1958,56 @@ static void cliDump(char *cmdline)
cliPrint("\r\n# rxfail\r\n");
cliRxFail("");
+
+ uint8_t activeProfile = masterConfig.current_profile_index;
+ uint8_t i;
+ for (i=0; i<MAX_PROFILE_COUNT;i++)
+ cliDumpProfile(i);
+
+ changeProfile(activeProfile);
+
}
if (dumpMask & DUMP_PROFILE) {
- cliPrint("\r\n# dump profile\r\n");
+ cliDumpProfile(masterConfig.current_profile_index);
+
+ }
+ if (dumpMask & DUMP_RATES) {
+ cliDumpRateProfile(currentProfile->activeRateProfile);
+ }
+
+}
+void cliDumpProfile(uint8_t profileIndex) {
+ if (profileIndex >= MAX_PROFILE_COUNT) // Faulty values
+ return;
+
+ changeProfile(profileIndex);
cliPrint("\r\n# profile\r\n");
cliProfile("");
-
printSectionBreak();
-
dumpValues(PROFILE_VALUE);
-
- cliPrint("\r\n# rateprofile\r\n");
- cliRateProfile("");
-
- printSectionBreak();
-
- dumpValues(PROFILE_RATE_VALUE);
- }
- if (dumpMask & DUMP_RATES) {
- cliPrint("\r\n# dump rates\r\n");
-
- cliPrint("\r\n# rateprofile\r\n");
- cliRateProfile("");
-
- printSectionBreak();
-
- dumpValues(PROFILE_RATE_VALUE);
- }
-
+ uint8_t currentRateIndex = currentProfile->activeRateProfile;
+ uint8_t i;
+ for (i=0; i<MAX_RATEPROFILES; i++)
+ cliDumpRateProfile(i);
+
+ changeControlRateProfile(currentRateIndex);
+ cliPrintf("\r\n# Active rateprofile for profile %d, \r\n", profileIndex); // output rateprofile again to mark "active rateprofile"
+ cliRateProfile("");
}
+void cliDumpRateProfile(uint8_t rateProfileIndex) {
+ if (rateProfileIndex >= MAX_RATEPROFILES) // Faulty values
+ return;
+
+ changeControlRateProfile(rateProfileIndex);
+ cliPrint("\r\n# rateprofile\r\n");
+ cliRateProfile("");
+ printSectionBreak();
+ dumpValues(PROFILE_RATE_VALUE);
+
+}
void cliEnter(serialPort_t *serialPort)
{
cliMode = 1;
From ee57ba387a24848958ae4895e74503a0ae3cbf59 Mon Sep 17 00:00:00 2001
From: KiteAnton <anton.stalheim@gmail.com>
Date: Sat, 12 Mar 2016 10:30:26 +0100
Subject: [PATCH 08/10] Fix beeper dump output bug
---
src/main/io/serial_cli.c | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 58e704e97..bc0275874 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -1901,7 +1901,7 @@ static void cliDump(char *cmdline)
if (mask & (1 << i))
cliPrintf("beeper -%s\r\n", beeperNameForTableIndex(i));
else
- cliPrintf("beeper %s\r\n", beeperNameForTableIndex(i));
+ cliPrintf("beeper %s\r\n", beeperNameForTableIndex(i));
}
#endif
From 3fa671e47995d6b78032be15a720c497dfa44e28 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Wed, 16 Mar 2016 07:31:16 +1100
Subject: [PATCH 09/10] Adjusted pulse MHZ for onshot back to 12
---
src/main/drivers/light_ws2811strip_stm32f30x.c | 1 -
src/main/drivers/pwm_mapping.h | 2 +-
src/main/drivers/pwm_output.c | 8 +++-----
src/main/drivers/timer.h | 7 +++++++
src/main/io/serial_msp.c | 3 +--
5 files changed, 12 insertions(+), 9 deletions(-)
diff --git a/src/main/drivers/light_ws2811strip_stm32f30x.c b/src/main/drivers/light_ws2811strip_stm32f30x.c
index 853f81b81..1685dcb1f 100644
--- a/src/main/drivers/light_ws2811strip_stm32f30x.c
+++ b/src/main/drivers/light_ws2811strip_stm32f30x.c
@@ -39,7 +39,6 @@
#define WS2811_IRQ DMA1_Channel3_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH3_HANDLER
-
#endif
void ws2811DMAHandler(DMA_Channel_TypeDef *channel) {
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index ab6b58893..fade65b1c 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -36,8 +36,8 @@
#define MAX_INPUTS 8
#define PWM_TIMER_MHZ 1
-#define ONESHOT_TIMER_MHZ 24
//these three have to be the same because of the ppmAvoidPWMTimerClash functions
+#define ONESHOT_TIMER_MHZ 12
#define MULTISHOT_TIMER_MHZ 12
#define PWM_BRUSHED_TIMER_MHZ 12
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 6f95ef59a..ba1ec28cf 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -28,7 +28,6 @@
#include "flight/failsafe.h" // FIXME dependency into the main code from a driver
#include "pwm_mapping.h"
-
#include "pwm_output.h"
typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
@@ -99,7 +98,6 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
configTimeBase(timerHardware->tim, period, mhz);
pwmGPIOConfig(timerHardware->gpio, timerHardware->pin, Mode_AF_PP);
-
pwmOCConfig(timerHardware->tim, timerHardware->channel, value);
if (timerHardware->outputEnable)
TIM_CtrlPWMOutputs(timerHardware->tim, ENABLE);
@@ -134,6 +132,7 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
{
*motors[index]->ccr = value;
}
+
#if defined(STM32F10X) && !defined(CC3D)
static void pwmWriteOneshot125(uint8_t index, uint16_t value)
{
@@ -147,7 +146,7 @@ static void pwmWriteOneshot42(uint8_t index, uint16_t value)
#else
static void pwmWriteOneshot125(uint8_t index, uint16_t value)
{
- *motors[index]->ccr = value * 3; // 24Mhz -> 8Mhz
+ *motors[index]->ccr = value * 3;
}
static void pwmWriteOneshot42(uint8_t index, uint16_t value)
@@ -158,7 +157,7 @@ static void pwmWriteOneshot42(uint8_t index, uint16_t value)
static void pwmWriteMultiShot(uint8_t index, uint16_t value)
{
- *motors[index]->ccr = (uint16_t)((float)(value-1000) / 4.1666f)+ 60;
+ *motors[index]->ccr = (uint16_t)((float)(value-1000) / 4.1666f) + 60;
}
void pwmWriteMotor(uint8_t index, uint16_t value)
@@ -235,7 +234,6 @@ void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIn
} else {
motors[motorIndex]->pwmWritePtr = pwmWriteOneshot125;
}
-
}
void pwmMultiShotPwmRateMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
index 14c937155..31aed125b 100644
--- a/src/main/drivers/timer.h
+++ b/src/main/drivers/timer.h
@@ -17,6 +17,13 @@
#pragma once
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+#include "gpio.h"
+#include "system.h"
+
#if !defined(USABLE_TIMER_CHANNEL_COUNT)
#define USABLE_TIMER_CHANNEL_COUNT 14
#endif
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 3f35b3f84..11113add3 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -671,8 +671,7 @@ static uint32_t packFlightModeFlags(void)
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE|
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXACROPLUS)) << BOXACROPLUS|
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXALWAYSSTABILIZED)) << BOXALWAYSSTABILIZED|
- IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTEST1)) << BOXTEST1|
- IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTEST2)) << BOXTEST2;
+ IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTEST1)) << BOXTEST1;
for (i = 0; i < activeBoxIdCount; i++) {
int flag = (tmp & (1 << activeBoxIds[i]));
From 1afa103250ba451ae0d182efa98271f5ae925019 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Thu, 17 Mar 2016 18:52:14 +1100
Subject: [PATCH 10/10] set motor_pwm_rate at 2600 by default, and use_pwm_rate
feature on for F4s.
---
src/main/config/config.c | 11 ++++++++++-
src/main/target/NAZE/target.h | 6 +++---
2 files changed, 13 insertions(+), 4 deletions(-)
diff --git a/src/main/config/config.c b/src/main/config/config.c
index e18f3dba8..db8a7425d 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -75,7 +75,12 @@
#include "config/config_master.h"
#define BRUSHED_MOTORS_PWM_RATE 16000
+#ifdef STM32F4
+#define BRUSHLESS_MOTORS_PWM_RATE 2600
+#else
#define BRUSHLESS_MOTORS_PWM_RATE 400
+#endif // STM32F4
+
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
@@ -200,7 +205,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->dterm_lpf_hz = 0; // filtering ON by default
pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
-#if defined(STM32F411xE) || defined(STM32F40_41xxx)
+#if defined(STM32F4)
pidProfile->dterm_lpf_hz = 60; // filtering ON by default
pidProfile->P_f[ROLL] = 5.012f; // new PID for raceflight. test carefully
pidProfile->I_f[ROLL] = 1.021f;
@@ -451,6 +456,10 @@ static void resetConf(void)
featureSet(FEATURE_FAILSAFE);
featureSet(FEATURE_ONESHOT125);
featureSet(FEATURE_SBUS_INVERTER);
+
+#ifdef STM32F4
+ featureSet(FEATURE_USE_PWM_RATE);
+#endif
// global settings
masterConfig.current_profile_index = 0; // default profile
diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h
index 32255ac6b..4b3a7b816 100644
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@@ -149,9 +149,9 @@
#define LED_STRIP
-#define LED_STRIP_TIMER TIM3
-#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6
-#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
+#define LED_STRIP_TIMER TIM3
+#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6
+#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
//#define GPS
//#define GTUNE