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trashed uvop keil file since that was system-specific stuff.
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applied mwc-dev GPS code with bits of tarducopter code by sbaron. Thanks again. Moved some of the GPS config stuff into cli - gps_lpf, min/max nav speed, nav_controls_heading. Remember I don't test any GPS functionality at all, so if this makes your quad fly towards North Korea at over 9000cm/sec, this is NOT my problem.
spacing fixes in a couple files.
trashed old serial code that was under #if 0


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@161 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
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timecop committed Jun 6, 2012
1 parent 12d6c41 commit 19ca859
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Showing 9 changed files with 6,545 additions and 6,852 deletions.
1,329 changes: 0 additions & 1,329 deletions baseflight.uvopt
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5,458 changes: 2,855 additions & 2,603 deletions obj/baseflight.hex
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5,460 changes: 2,901 additions & 2,559 deletions obj/baseflight_fy90q.hex
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41 changes: 27 additions & 14 deletions src/cli.c
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Original file line number Diff line number Diff line change
Expand Up @@ -103,6 +103,8 @@ const clivalue_t valueTable[] = {
{ "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 },
{ "motor_pwm_rate", VAR_UINT16, &cfg.motor_pwm_rate, 50, 498 },
{ "servo_pwm_rate", VAR_UINT16, &cfg.servo_pwm_rate, 50, 498 },
{ "serial_baudrate", VAR_UINT32, &cfg.serial_baudrate, 1200, 115200 },
{ "gps_baudrate", VAR_UINT32, &cfg.gps_baudrate, 1200, 115200 },
{ "spektrum_hires", VAR_UINT8, &cfg.spektrum_hires, 0, 1 },
{ "vbatscale", VAR_UINT8, &cfg.vbatscale, 10, 200 },
{ "vbatmaxcellvoltage", VAR_UINT8, &cfg.vbatmaxcellvoltage, 10, 50 },
Expand All @@ -127,20 +129,31 @@ const clivalue_t valueTable[] = {
{ "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
{ "gyro_cmpf_factor", VAR_UINT16, &cfg.gyro_cmpf_factor, 100, 1000 },
{ "mag_declination", VAR_INT16, &cfg.mag_declination, -18000, 18000 },
{ "gps_baudrate", VAR_UINT32, &cfg.gps_baudrate, 1200, 115200 },
{ "serial_baudrate", VAR_UINT32, &cfg.serial_baudrate, 1200, 115200 },
{ "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200},
{ "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200},
{ "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200},
{ "p_roll", VAR_UINT8, &cfg.P8[ROLL], 0, 200},
{ "i_roll", VAR_UINT8, &cfg.I8[ROLL], 0, 200},
{ "d_roll", VAR_UINT8, &cfg.D8[ROLL], 0, 200},
{ "p_yaw", VAR_UINT8, &cfg.P8[YAW], 0, 200},
{ "i_yaw", VAR_UINT8, &cfg.I8[YAW], 0, 200},
{ "d_yaw", VAR_UINT8, &cfg.D8[YAW], 0, 200},
{ "p_level", VAR_UINT8, &cfg.P8[PIDLEVEL], 0, 200},
{ "i_level", VAR_UINT8, &cfg.I8[PIDLEVEL], 0, 200},
{ "d_level", VAR_UINT8, &cfg.D8[PIDLEVEL], 0, 200},
{ "gps_pos_p", VAR_UINT8, &cfg.P8[PIDPOS], 0, 200 },
{ "gps_pos_i", VAR_UINT8, &cfg.I8[PIDPOS], 0, 200 },
{ "gps_pos_d", VAR_UINT8, &cfg.D8[PIDPOS], 0, 200 },
{ "gps_posr_p", VAR_UINT8, &cfg.P8[PIDPOSR], 0, 200 },
{ "gps_posr_i", VAR_UINT8, &cfg.I8[PIDPOSR], 0, 200 },
{ "gps_posr_d", VAR_UINT8, &cfg.D8[PIDPOSR], 0, 200 },
{ "gps_nav_p", VAR_UINT8, &cfg.P8[PIDNAVR], 0, 200 },
{ "gps_nav_i", VAR_UINT8, &cfg.I8[PIDNAVR], 0, 200 },
{ "gps_nav_d", VAR_UINT8, &cfg.D8[PIDNAVR], 0, 200 },
{ "gps_wp_radius", VAR_UINT16, &cfg.gps_wp_radius, 0, 2000 },
{ "nav_controls_heading", VAR_UINT8, &cfg.nav_controls_heading, 0, 1 },
{ "nav_speed_min", VAR_UINT16, &cfg.nav_speed_min, 10, 2000 },
{ "nav_speed_max", VAR_UINT16, &cfg.nav_speed_max, 10, 2000 },
{ "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200 },
{ "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200 },
{ "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200 },
{ "p_roll", VAR_UINT8, &cfg.P8[ROLL], 0, 200 },
{ "i_roll", VAR_UINT8, &cfg.I8[ROLL], 0, 200 },
{ "d_roll", VAR_UINT8, &cfg.D8[ROLL], 0, 200 },
{ "p_yaw", VAR_UINT8, &cfg.P8[YAW], 0, 200 },
{ "i_yaw", VAR_UINT8, &cfg.I8[YAW], 0, 200 },
{ "d_yaw", VAR_UINT8, &cfg.D8[YAW], 0, 200 },
{ "p_level", VAR_UINT8, &cfg.P8[PIDLEVEL], 0, 200 },
{ "i_level", VAR_UINT8, &cfg.I8[PIDLEVEL], 0, 200 },
{ "d_level", VAR_UINT8, &cfg.D8[PIDLEVEL], 0, 200 },
};

#define VALUE_COUNT (sizeof(valueTable) / sizeof(valueTable[0]))
Expand Down
67 changes: 39 additions & 28 deletions src/config.c
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Original file line number Diff line number Diff line change
Expand Up @@ -7,21 +7,21 @@
#endif

#define FLASH_PAGE_SIZE ((uint16_t)0x400)
#define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * (FLASH_PAGE_COUNT - 1)) // use the last KB for storage
#define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * (FLASH_PAGE_COUNT - 1)) // use the last KB for storage

config_t cfg;
const char rcChannelLetters[] = "AERT1234";

static uint32_t enabledSensors = 0;
uint8_t checkNewConf = 18;
uint8_t checkNewConf = 19;

void parseRcChannels(const char *input)
{
const char *c, *s;

for (c = input; *c; c++) {
s = strchr(rcChannelLetters, *c);
if (s)
if (s)
cfg.rcmap[s - rcChannelLetters] = c - input;
}
}
Expand All @@ -31,25 +31,25 @@ void readEEPROM(void)
uint8_t i;

// Read flash
memcpy(&cfg, (char *)FLASH_WRITE_ADDR, sizeof(config_t));
memcpy(&cfg, (char *) FLASH_WRITE_ADDR, sizeof(config_t));

for(i = 0; i < 6; i++)
lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t)cfg.rcRate8 / 2500;
for (i = 0; i < 6; i++)
lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 2500;

for(i = 0; i < 11; i++) {
for (i = 0; i < 11; i++) {
int16_t tmp = 10 * i - cfg.thrMid8;
uint8_t y = 1;
if (tmp > 0)
if (tmp > 0)
y = 100 - cfg.thrMid8;
if (tmp < 0)
y = cfg.thrMid8;
lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t)cfg.thrExpo8 * (tmp * tmp) / (y * y) ) / 10; // [0;1000]
lookupThrottleRC[i] = cfg.minthrottle + (int32_t)(cfg.maxthrottle - cfg.minthrottle)* lookupThrottleRC[i] / 1000; // [0;1000] -> [MINTHROTTLE;MAXTHROTTLE]
lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t) cfg.thrExpo8 * (tmp * tmp) / (y * y)) / 10; // [0;1000]
lookupThrottleRC[i] = cfg.minthrottle + (int32_t) (cfg.maxthrottle - cfg.minthrottle) * lookupThrottleRC[i] / 1000; // [0;1000] -> [MINTHROTTLE;MAXTHROTTLE]
}

cfg.wing_left_mid = constrain(cfg.wing_left_mid, WING_LEFT_MIN, WING_LEFT_MAX); //LEFT
cfg.wing_right_mid = constrain(cfg.wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT
cfg.tri_yaw_middle = constrain(cfg.tri_yaw_middle, cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
cfg.tri_yaw_middle = constrain(cfg.tri_yaw_middle, cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
}

void writeParams(uint8_t b)
Expand All @@ -60,12 +60,12 @@ void writeParams(uint8_t b)
FLASH_Unlock();

FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);

if (FLASH_ErasePage(FLASH_WRITE_ADDR) == FLASH_COMPLETE) {
for (i = 0; i < sizeof(config_t); i += 4) {
status = FLASH_ProgramWord(FLASH_WRITE_ADDR + i, *(uint32_t *)((char *)&cfg + i));
status = FLASH_ProgramWord(FLASH_WRITE_ADDR + i, *(uint32_t *) ((char *) &cfg + i));
if (status != FLASH_COMPLETE)
break; // TODO: fail
break; // TODO: fail
}
}

Expand All @@ -80,7 +80,7 @@ void checkFirstTime(bool reset)
{
uint8_t test_val, i;

test_val = *(uint8_t *)FLASH_WRITE_ADDR;
test_val = *(uint8_t *) FLASH_WRITE_ADDR;

if (!reset && test_val == checkNewConf)
return;
Expand All @@ -89,7 +89,7 @@ void checkFirstTime(bool reset)
cfg.version = checkNewConf;
cfg.mixerConfiguration = MULTITYPE_QUADX;
featureClearAll();
featureSet(FEATURE_VBAT); // | FEATURE_PPM); // sadly, this is for hackers only
featureSet(FEATURE_VBAT); // | FEATURE_PPM); // sadly, this is for hackers only

cfg.P8[ROLL] = 40;
cfg.I8[ROLL] = 30;
Expand All @@ -103,9 +103,15 @@ void checkFirstTime(bool reset)
cfg.P8[PIDALT] = 16;
cfg.I8[PIDALT] = 15;
cfg.D8[PIDALT] = 7;
cfg.P8[PIDGPS] = 50;
cfg.I8[PIDGPS] = 0;
cfg.D8[PIDGPS] = 15;
cfg.P8[PIDPOS] = 11; // POSHOLD_P * 100;
cfg.I8[PIDPOS] = 0; // POSHOLD_I * 100;
cfg.D8[PIDPOS] = 0;
cfg.P8[PIDPOSR] = 20; // POSHOLD_RATE_P * 10;
cfg.I8[PIDPOSR] = 8; // POSHOLD_RATE_I * 100;
cfg.D8[PIDPOSR] = 45; // POSHOLD_RATE_D * 1000;
cfg.P8[PIDNAVR] = 14; // NAV_P * 10;
cfg.I8[PIDNAVR] = 20; // NAV_I * 100;
cfg.D8[PIDNAVR] = 80; // NAV_D * 1000;
cfg.P8[PIDVEL] = 0;
cfg.I8[PIDVEL] = 0;
cfg.D8[PIDVEL] = 0;
Expand All @@ -127,12 +133,12 @@ void checkFirstTime(bool reset)
cfg.accZero[0] = 0;
cfg.accZero[1] = 0;
cfg.accZero[2] = 0;
cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
cfg.acc_hardware = ACC_DEFAULT; // default/autodetect
cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
cfg.acc_hardware = ACC_DEFAULT; // default/autodetect
cfg.acc_lpf_factor = 4;
cfg.gyro_cmpf_factor = 310; // default MWC
cfg.gyro_lpf = 42;
cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
cfg.vbatscale = 110;
cfg.vbatmaxcellvoltage = 43;
cfg.vbatmincellvoltage = 33;
Expand All @@ -145,12 +151,12 @@ void checkFirstTime(bool reset)
cfg.midrc = 1500;
cfg.mincheck = 1100;
cfg.maxcheck = 1900;
cfg.retarded_arm = 0; // disable arm/disarm on roll left/right
cfg.retarded_arm = 0; // disable arm/disarm on roll left/right

// Failsafe Variables
cfg.failsafe_delay = 10; // 1sec
cfg.failsafe_off_delay = 200; // 20sec
cfg.failsafe_throttle = 1200; // decent default which should always be below hover throttle for people.
cfg.failsafe_delay = 10; // 1sec
cfg.failsafe_off_delay = 200; // 20sec
cfg.failsafe_throttle = 1200; // decent default which should always be below hover throttle for people.

// Motor/ESC/Servo
cfg.minthrottle = 1150;
Expand Down Expand Up @@ -178,8 +184,13 @@ void checkFirstTime(bool reset)
cfg.gimbal_roll_max = 2000;
cfg.gimbal_roll_mid = 1500;

// gps baud-rate
cfg.gps_baudrate = 9600;
// gps/nav stuff
cfg.gps_baudrate = 9600;
cfg.gps_wp_radius = 200;
cfg.gps_lpf = 20;
cfg.nav_controls_heading = 1;
cfg.nav_speed_min = 100;
cfg.nav_speed_max = 300;

// serial(uart1) baudrate
cfg.serial_baudrate = 115200;
Expand Down

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