static void Set_nextwp(void) //返回航点完成标志位，完成为1
{
if(Waypoint[wp][0]!= 0)
{
GPS_set_next_wp(&Waypoint[wp][LAT], &Waypoint[wp][LON]);
wp++; //wp总是指向下一个航点 非当前目的航点号
}
}
void updateGpsWaypointsAndMode(void)
{
static uint8_t GPSNavReset = 1;
if (STATE(GPS_FIX) && GPS_numSat >= 5) {
// if both GPS_HOME & GPS_HOLD are checked => GPS_HOME is the priority
if (rcOptions[BOXGPSHOME]) {
if (!STATE(GPS_HOME_MODE)) {
ENABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPSNavReset = 0;
GPS_set_next_wp(&GPS_home[LAT], &GPS_home[LON]);
nav_mode = NAV_MODE_WP;
}
} else {
DISABLE_STATE(GPS_HOME_MODE);
if (rcOptions[BOXGPSHOLD] && areSticksInApModePosition(gpsProfile->ap_mode)) {
if (!FLIGHT_MODE(GPS_HOLD_MODE)) {
ENABLE_STATE(GPS_HOLD_MODE);
GPSNavReset = 0;
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
}
} else {
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
// both boxes are unselected here, nav is reset if not already done
if (GPSNavReset == 0) {
GPSNavReset = 1;
GPS_reset_nav();
}
}
}
} else {
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
nav_mode = NAV_MODE_NONE;
}
}
void evaluateCommand() {
uint32_t tmp=0;
switch(cmdMSP[CURRENTPORT]) {
case MSP_SET_RAW_RC:
s_struct_w((uint8_t*)&rcSerial,16);
rcSerialCount = 1000; // 1s transition
break;
#if GPS
case MSP_SET_RAW_GPS:
f.GPS_FIX = read8();
GPS_numSat = read8();
GPS_coord[LAT] = read32();
GPS_coord[LON] = read32();
GPS_altitude = read16();
GPS_speed = read16();
GPS_update |= 2; // New data signalisation to GPS functions
headSerialReply(0);
break;
#endif
case MSP_SET_PID:
s_struct_w((uint8_t*)&conf.pid[0].P8,3*PIDITEMS);
break;
case MSP_SET_BOX:
s_struct_w((uint8_t*)&conf.activate[0],CHECKBOXITEMS*2);
break;
case MSP_SET_RC_TUNING:
s_struct_w((uint8_t*)&conf.rcRate8,7);
break;
#if !defined(DISABLE_SETTINGS_TAB)
case MSP_SET_MISC:
struct {
uint16_t a,b,c,d,e,f;
uint32_t g;
uint16_t h;
uint8_t i,j,k,l;
} set_misc;
s_struct_w((uint8_t*)&set_misc,22);
#if defined(POWERMETER)
conf.powerTrigger1 = set_misc.a / PLEVELSCALE;
#endif
conf.minthrottle = set_misc.b;
#ifdef FAILSAFE
conf.failsafe_throttle = set_misc.e;
#endif
#if MAG
conf.mag_declination = set_misc.h;
#endif
#if defined(VBAT)
conf.vbatscale = set_misc.i;
conf.vbatlevel_warn1 = set_misc.j;
conf.vbatlevel_warn2 = set_misc.k;
conf.vbatlevel_crit = set_misc.l;
#endif
break;
case MSP_MISC:
struct {
uint16_t a,b,c,d,e,f;
uint32_t g;
uint16_t h;
uint8_t i,j,k,l;
} misc;
misc.a = intPowerTrigger1;
misc.b = conf.minthrottle;
misc.c = MAXTHROTTLE;
misc.d = MINCOMMAND;
#ifdef FAILSAFE
misc.e = conf.failsafe_throttle;
#else
misc.e = 0;
#endif
#ifdef LOG_PERMANENT
misc.f = plog.arm;
misc.g = plog.lifetime + (plog.armed_time / 1000000); // <- computation must be moved outside from serial
#else
misc.f = 0; misc.g =0;
#endif
#if MAG
misc.h = conf.mag_declination;
#else
misc.h = 0;
#endif
#ifdef VBAT
misc.i = conf.vbatscale;
misc.j = conf.vbatlevel_warn1;
misc.k = conf.vbatlevel_warn2;
misc.l = conf.vbatlevel_crit;
#else
misc.i = 0;misc.j = 0;misc.k = 0;misc.l = 0;
#endif
s_struct((uint8_t*)&misc,22);
break;
#endif
#if defined (DYNBALANCE)
case MSP_SET_MOTOR:
s_struct_w((uint8_t*)&motor,16);
break;
#endif
#ifdef MULTIPLE_CONFIGURATION_PROFILES
case MSP_SELECT_SETTING:
if(!f.ARMED) {
global_conf.currentSet = read8();
if(global_conf.currentSet>2) global_conf.currentSet = 0;
writeGlobalSet(0);
readEEPROM();
}
headSerialReply(0);
break;
#endif
case MSP_SET_HEAD:
s_struct_w((uint8_t*)&magHold,2);
break;
case MSP_IDENT:
struct {
uint8_t v,t,msp_v;
uint32_t cap;
} id;
id.v = VERSION;
id.t = MULTITYPE;
id.msp_v = MSP_VERSION;
id.cap = capability|DYNBAL<<2|FLAP<<3;
s_struct((uint8_t*)&id,7);
break;
case MSP_STATUS:
struct {
uint16_t cycleTime,i2c_errors_count,sensor;
uint32_t flag;
uint8_t set;
} st;
st.cycleTime = cycleTime;
st.i2c_errors_count = i2c_errors_count;
st.sensor = ACC|BARO<<1|MAG<<2|GPS<<3|SONAR<<4;
#if ACC
if(f.ANGLE_MODE) tmp |= 1<<BOXANGLE;
if(f.HORIZON_MODE) tmp |= 1<<BOXHORIZON;
#endif
#if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))
if(f.BARO_MODE) tmp |= 1<<BOXBARO;
#endif
#if MAG
if(f.MAG_MODE) tmp |= 1<<BOXMAG;
#if !defined(FIXEDWING)
if(f.HEADFREE_MODE) tmp |= 1<<BOXHEADFREE;
if(rcOptions[BOXHEADADJ]) tmp |= 1<<BOXHEADADJ;
#endif
#endif
#if defined(SERVO_TILT) || defined(GIMBAL)|| defined(SERVO_MIX_TILT)
if(rcOptions[BOXCAMSTAB]) tmp |= 1<<BOXCAMSTAB;
#endif
#if defined(CAMTRIG)
if(rcOptions[BOXCAMTRIG]) tmp |= 1<<BOXCAMTRIG;
#endif
#if GPS
if(f.GPS_HOME_MODE) tmp |= 1<<BOXGPSHOME;
if(f.GPS_HOLD_MODE) tmp |= 1<<BOXGPSHOLD;
#endif
#if defined(FIXEDWING) || defined(HELICOPTER)
if(f.PASSTHRU_MODE) tmp |= 1<<BOXPASSTHRU;
#endif
#if defined(BUZZER)
if(rcOptions[BOXBEEPERON]) tmp |= 1<<BOXBEEPERON;
#endif
#if defined(LED_FLASHER)
if(rcOptions[BOXLEDMAX]) tmp |= 1<<BOXLEDMAX;
if(rcOptions[BOXLEDLOW]) tmp |= 1<<BOXLEDLOW;
#endif
#if defined(LANDING_LIGHTS_DDR)
if(rcOptions[BOXLLIGHTS]) tmp |= 1<<BOXLLIGHTS;
#endif
#if defined(VARIOMETER)
if(rcOptions[BOXVARIO]) tmp |= 1<<BOXVARIO;
#endif
#if defined(INFLIGHT_ACC_CALIBRATION)
if(rcOptions[BOXCALIB]) tmp |= 1<<BOXCALIB;
#endif
#if defined(GOVERNOR_P)
if(rcOptions[BOXGOV]) tmp |= 1<<BOXGOV;
#endif
#if defined(OSD_SWITCH)
if(rcOptions[BOXOSD]) tmp |= 1<<BOXOSD;
#endif
if(f.ARMED) tmp |= 1<<BOXARM;
st.flag = tmp;
st.set = global_conf.currentSet;
s_struct((uint8_t*)&st,11);
break;
case MSP_RAW_IMU:
#if defined(DYNBALANCE)
for(uint8_t axis=0;axis<3;axis++) {imu.gyroData[axis]=imu.gyroADC[axis];imu.accSmooth[axis]= imu.accADC[axis];} // Send the unfiltered Gyro & Acc values to gui.
#endif
s_struct((uint8_t*)&imu,18);
break;
case MSP_SERVO:
s_struct((uint8_t*)&servo,16);
break;
case MSP_SERVO_CONF:
s_struct((uint8_t*)&conf.servoConf[0].min,56); // struct servo_conf_ is 7 bytes length: min:2 / max:2 / middle:2 / rate:1 ---- 8 servo => 8x7 = 56
break;
case MSP_SET_SERVO_CONF:
s_struct_w((uint8_t*)&conf.servoConf[0].min,56);
break;
case MSP_MOTOR:
s_struct((uint8_t*)&motor,16);
break;
case MSP_RC:
s_struct((uint8_t*)&rcData,RC_CHANS*2);
break;
#if GPS
case MSP_RAW_GPS:
headSerialReply(16);
serialize8(f.GPS_FIX);
serialize8(GPS_numSat);
serialize32(GPS_coord[LAT]);
serialize32(GPS_coord[LON]);
serialize16(GPS_altitude);
serialize16(GPS_speed);
serialize16(GPS_ground_course); // added since r1172
break;
case MSP_COMP_GPS:
headSerialReply(5);
serialize16(GPS_distanceToHome);
serialize16(GPS_directionToHome);
serialize8(GPS_update & 1);
break;
#endif
case MSP_ATTITUDE:
s_struct((uint8_t*)&att,6);
break;
case MSP_ALTITUDE:
s_struct((uint8_t*)&alt,6);
break;
case MSP_ANALOG:
s_struct((uint8_t*)&analog,7);
break;
case MSP_RC_TUNING:
s_struct((uint8_t*)&conf.rcRate8,7);
break;
case MSP_PID:
s_struct((uint8_t*)&conf.pid[0].P8,3*PIDITEMS);
break;
case MSP_PIDNAMES:
serializeNames(pidnames);
break;
case MSP_BOX:
s_struct((uint8_t*)&conf.activate[0],2*CHECKBOXITEMS);
break;
case MSP_BOXNAMES:
serializeNames(boxnames);
break;
case MSP_BOXIDS:
headSerialReply(CHECKBOXITEMS);
for(uint8_t i=0;i<CHECKBOXITEMS;i++) {
serialize8(pgm_read_byte(&(boxids[i])));
}
break;
case MSP_MOTOR_PINS:
s_struct((uint8_t*)&PWM_PIN,8);
break;
#if defined(USE_MSP_WP)
case MSP_WP:
{
int32_t lat = 0,lon = 0;
uint8_t wp_no = read8(); //get the wp number
headSerialReply(18);
if (wp_no == 0) {
lat = GPS_home[LAT];
lon = GPS_home[LON];
} else if (wp_no == 16) {
lat = GPS_hold[LAT];
lon = GPS_hold[LON];
}
serialize8(wp_no);
serialize32(lat);
serialize32(lon);
serialize32(AltHold); //altitude (cm) will come here -- temporary implementation to test feature with apps
serialize16(0); //heading will come here (deg)
serialize16(0); //time to stay (ms) will come here
serialize8(0); //nav flag will come here
}
break;
case MSP_SET_WP:
{
int32_t lat = 0,lon = 0,alt = 0;
uint8_t wp_no = read8(); //get the wp number
lat = read32();
lon = read32();
alt = read32(); // to set altitude (cm)
read16(); // future: to set heading (deg)
read16(); // future: to set time to stay (ms)
read8(); // future: to set nav flag
if (wp_no == 0) {
GPS_home[LAT] = lat;
GPS_home[LON] = lon;
f.GPS_HOME_MODE = 0; // with this flag, GPS_set_next_wp will be called in the next loop -- OK with SERIAL GPS / OK with I2C GPS
f.GPS_FIX_HOME = 1;
if (alt != 0) AltHold = alt; // temporary implementation to test feature with apps
} else if (wp_no == 16) { // OK with SERIAL GPS -- NOK for I2C GPS / needs more code dev in order to inject GPS coord inside I2C GPS
GPS_hold[LAT] = lat;
GPS_hold[LON] = lon;
if (alt != 0) AltHold = alt; // temporary implementation to test feature with apps
#if !defined(I2C_GPS)
nav_mode = NAV_MODE_WP;
GPS_set_next_wp(&GPS_hold[LAT],&GPS_hold[LON]);
#endif
}
}
headSerialReply(0);
break;
#endif
case MSP_RESET_CONF:
if(!f.ARMED) LoadDefaults();
headSerialReply(0);
break;
case MSP_ACC_CALIBRATION:
if(!f.ARMED) calibratingA=512;
headSerialReply(0);
break;
case MSP_MAG_CALIBRATION:
if(!f.ARMED) f.CALIBRATE_MAG = 1;
headSerialReply(0);
break;
#if defined(SPEK_BIND)
case MSP_BIND:
spekBind();
headSerialReply(0);
break;
#endif
case MSP_EEPROM_WRITE:
writeParams(0);
headSerialReply(0);
break;
case MSP_DEBUG:
s_struct((uint8_t*)&debug,8);
break;
#ifdef DEBUGMSG
case MSP_DEBUGMSG:
{
uint8_t size = debugmsg_available();
if (size > 16) size = 16;
headSerialReply(size);
debugmsg_serialize(size);
}
break;
#endif
default: // we do not know how to handle the (valid) message, indicate error MSP $M!
headSerialError(0);
break;
}
tailSerialReply();
}
void loop(void)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
uint8_t axis, i;
int16_t error, errorAngle;
int16_t delta, deltaSum;
int16_t PTerm, ITerm, PTermACC, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
static int16_t lastGyro[3] = { 0, 0, 0 };
static int16_t delta1[3], delta2[3];
static int16_t errorGyroI[3] = { 0, 0, 0 };
static int16_t errorAngleI[2] = { 0, 0 };
static uint32_t rcTime = 0;
static int16_t initialThrottleHold;
static uint32_t loopTime;
uint16_t auxState = 0;
int16_t prop;
// this will return false if spektrum is disabled. shrug.
if (spektrumFrameComplete())
computeRC();
if ((int32_t)(currentTime - rcTime) >= 0) { // 50Hz
rcTime = currentTime + 20000;
// TODO clean this up. computeRC should handle this check
if (!feature(FEATURE_SPEKTRUM))
computeRC();
// Failsafe routine
if (feature(FEATURE_FAILSAFE)) {
if (failsafeCnt > (5 * cfg.failsafe_delay) && f.ARMED) { // Stabilize, and set Throttle to specified level
for (i = 0; i < 3; i++)
rcData[i] = cfg.midrc; // after specified guard time after RC signal is lost (in 0.1sec)
rcData[THROTTLE] = cfg.failsafe_throttle;
if (failsafeCnt > 5 * (cfg.failsafe_delay + cfg.failsafe_off_delay)) { // Turn OFF motors after specified Time (in 0.1sec)
f.ARMED = 0; // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
f.OK_TO_ARM = 0; // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
}
failsafeEvents++;
}
if (failsafeCnt > (5 * cfg.failsafe_delay) && !f.ARMED) { // Turn off "Ok To arm to prevent the motors from spinning after repowering the RX with low throttle and aux to arm
f.ARMED = 0; // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
f.OK_TO_ARM = 0; // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
}
failsafeCnt++;
}
if (rcData[THROTTLE] < cfg.mincheck) {
errorGyroI[ROLL] = 0;
errorGyroI[PITCH] = 0;
errorGyroI[YAW] = 0;
errorAngleI[ROLL] = 0;
errorAngleI[PITCH] = 0;
rcDelayCommand++;
if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck && !f.ARMED) {
if (rcDelayCommand == 20) {
calibratingG = 1000;
if (feature(FEATURE_GPS))
GPS_reset_home_position();
}
} else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (!f.ARMED && rcData[YAW] < cfg.mincheck && rcData[PITCH] > cfg.maxcheck && rcData[ROLL] > cfg.maxcheck)) {
if (rcDelayCommand == 20) {
if (AccInflightCalibrationMeasurementDone) { // trigger saving into eeprom after landing
AccInflightCalibrationMeasurementDone = 0;
AccInflightCalibrationSavetoEEProm = 1;
} else {
AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
if (AccInflightCalibrationArmed) {
toggleBeep = 2;
} else {
toggleBeep = 3;
}
}
}
} else if (cfg.activate[BOXARM] > 0) {
if (rcOptions[BOXARM] && f.OK_TO_ARM) {
// TODO: feature(FEATURE_FAILSAFE) && failsafeCnt == 0
f.ARMED = 1;
headFreeModeHold = heading;
} else if (f.ARMED)
f.ARMED = 0;
rcDelayCommand = 0;
} else if ((rcData[YAW] < cfg.mincheck || (cfg.retarded_arm == 1 && rcData[ROLL] < cfg.mincheck)) && f.ARMED) {
if (rcDelayCommand == 20)
f.ARMED = 0; // rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged
} else if ((rcData[YAW] > cfg.maxcheck || (rcData[ROLL] > cfg.maxcheck && cfg.retarded_arm == 1)) && rcData[PITCH] < cfg.maxcheck && !f.ARMED && calibratingG == 0 && f.ACC_CALIBRATED) {
if (rcDelayCommand == 20) {
f.ARMED = 1;
headFreeModeHold = heading;
}
} else
rcDelayCommand = 0;
} else if (rcData[THROTTLE] > cfg.maxcheck && !f.ARMED) {
if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck) { // throttle=max, yaw=left, pitch=min
if (rcDelayCommand == 20)
calibratingA = 400;
rcDelayCommand++;
} else if (rcData[YAW] > cfg.maxcheck && rcData[PITCH] < cfg.mincheck) { // throttle=max, yaw=right, pitch=min
if (rcDelayCommand == 20)
f.CALIBRATE_MAG = 1; // MAG calibration request
rcDelayCommand++;
} else if (rcData[PITCH] > cfg.maxcheck) {
cfg.angleTrim[PITCH] += 2;
writeParams(1);
#ifdef LEDRING
if (feature(FEATURE_LED_RING))
ledringBlink();
#endif
} else if (rcData[PITCH] < cfg.mincheck) {
cfg.angleTrim[PITCH] -= 2;
writeParams(1);
#ifdef LEDRING
if (feature(FEATURE_LED_RING))
ledringBlink();
#endif
} else if (rcData[ROLL] > cfg.maxcheck) {
cfg.angleTrim[ROLL] += 2;
writeParams(1);
#ifdef LEDRING
if (feature(FEATURE_LED_RING))
ledringBlink();
#endif
} else if (rcData[ROLL] < cfg.mincheck) {
cfg.angleTrim[ROLL] -= 2;
writeParams(1);
#ifdef LEDRING
if (feature(FEATURE_LED_RING))
ledringBlink();
#endif
} else {
rcDelayCommand = 0;
}
}
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > cfg.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = 0;
}
if (rcOptions[BOXPASSTHRU]) { // Use the Passthru Option to activate : Passthru = TRUE Meausrement started, Land and passtrhu = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
InflightcalibratingA = 50;
} else if (AccInflightCalibrationMeasurementDone && !f.ARMED) {
AccInflightCalibrationMeasurementDone = 0;
AccInflightCalibrationSavetoEEProm = 1;
}
}
for(i = 0; i < 4; i++)
auxState |= (rcData[AUX1 + i] < 1300) << (3 * i) | (1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (3 * i + 1) | (rcData[AUX1 + i] > 1700) << (3 * i + 2);
for(i = 0; i < CHECKBOXITEMS; i++)
rcOptions[i] = (auxState & cfg.activate[i]) > 0;
// note: if FAILSAFE is disable, failsafeCnt > 5*FAILSAVE_DELAY is always false
if ((rcOptions[BOXANGLE] || (failsafeCnt > 5 * cfg.failsafe_delay)) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
if (!f.ANGLE_MODE) {
errorAngleI[ROLL] = 0;
errorAngleI[PITCH] = 0;
f.ANGLE_MODE = 1;
}
} else {
f.ANGLE_MODE = 0; // failsave support
}
if (rcOptions[BOXHORIZON]) {
if (!f.HORIZON_MODE) {
errorAngleI[ROLL] = 0;
errorAngleI[PITCH] = 0;
f.HORIZON_MODE = 1;
}
} else {
f.HORIZON_MODE = 0;
}
if ((rcOptions[BOXARM]) == 0)
f.OK_TO_ARM = 1;
if (f.ANGLE_MODE || f.HORIZON_MODE) {
LED1_ON;
} else {
LED1_OFF;
}
#ifdef BARO
if (sensors(SENSOR_BARO)) {
if (rcOptions[BOXBARO]) {
if (!f.BARO_MODE) {
f.BARO_MODE = 1;
AltHold = EstAlt;
initialThrottleHold = rcCommand[THROTTLE];
errorAltitudeI = 0;
BaroPID = 0;
}
} else
f.BARO_MODE = 0;
}
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
if (rcOptions[BOXMAG]) {
if (!f.MAG_MODE) {
f.MAG_MODE = 1;
magHold = heading;
}
} else
f.MAG_MODE = 0;
if (rcOptions[BOXHEADFREE]) {
if (!f.HEADFREE_MODE) {
f.HEADFREE_MODE = 1;
}
} else {
f.HEADFREE_MODE = 0;
}
if (rcOptions[BOXHEADADJ]) {
headFreeModeHold = heading; // acquire new heading
}
}
#endif
if (sensors(SENSOR_GPS)) {
if (f.GPS_FIX && GPS_numSat >= 5) {
if (rcOptions[BOXGPSHOME]) {
if (!f.GPS_HOME_MODE) {
f.GPS_HOME_MODE = 1;
GPS_set_next_wp(&GPS_home[LAT], &GPS_home[LON]);
nav_mode = NAV_MODE_WP;
}
} else {
f.GPS_HOME_MODE = 0;
}
if (rcOptions[BOXGPSHOLD]) {
if (!f.GPS_HOLD_MODE) {
f.GPS_HOLD_MODE = 1;
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
}
} else {
f.GPS_HOLD_MODE = 0;
}
}
}
if (rcOptions[BOXPASSTHRU]) {
f.PASSTHRU_MODE = 1;
} else {
f.PASSTHRU_MODE = 0;
}
if (cfg.mixerConfiguration == MULTITYPE_FLYING_WING || cfg.mixerConfiguration == MULTITYPE_AIRPLANE) {
f.HEADFREE_MODE = 0;
}
} else { // not in rc loop
static int8_t taskOrder = 0; // never call all function in the same loop, to avoid high delay spikes
switch (taskOrder++ % 4) {
case 0:
#ifdef MAG
if (sensors(SENSOR_MAG))
Mag_getADC();
#endif
break;
case 1:
#ifdef BARO
if (sensors(SENSOR_BARO))
Baro_update();
#endif
break;
case 2:
#ifdef BARO
if (sensors(SENSOR_BARO))
getEstimatedAltitude();
#endif
break;
case 3:
#ifdef SONAR
if (sensors(SENSOR_SONAR)) {
Sonar_update();
debug[2] = sonarAlt;
}
#endif
break;
default:
taskOrder = 0;
break;
}
}
currentTime = micros();
if (cfg.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
loopTime = currentTime + cfg.looptime;
computeIMU();
// Measure loop rate just afer reading the sensors
currentTime = micros();
cycleTime = (int32_t)(currentTime - previousTime);
previousTime = currentTime;
#ifdef MPU6050_DMP
mpu6050DmpLoop();
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
if (abs(rcCommand[YAW]) < 70 && f.MAG_MODE) {
int16_t dif = heading - magHold;
if (dif <= -180)
dif += 360;
if (dif >= +180)
dif -= 360;
if (f.SMALL_ANGLES_25)
rcCommand[YAW] -= dif * cfg.P8[PIDMAG] / 30; // 18 deg
} else
magHold = heading;
}
#endif
#ifdef BARO
if (sensors(SENSOR_BARO)) {
if (f.BARO_MODE) {
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) {
f.BARO_MODE = 0; // so that a new althold reference is defined
}
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
}
}
#endif
if (sensors(SENSOR_GPS)) {
// Check that we really need to navigate ?
if ((!f.GPS_HOME_MODE && !f.GPS_HOLD_MODE) || !f.GPS_FIX_HOME) {
// If not. Reset nav loops and all nav related parameters
GPS_reset_nav();
} else {
float sin_yaw_y = sinf(heading * 0.0174532925f);
float cos_yaw_x = cosf(heading * 0.0174532925f);
if (cfg.nav_slew_rate) {
nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -cfg.nav_slew_rate, cfg.nav_slew_rate); // TODO check this on uint8
nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -cfg.nav_slew_rate, cfg.nav_slew_rate);
GPS_angle[ROLL] = (nav_rated[LON] * cos_yaw_x - nav_rated[LAT] * sin_yaw_y) / 10;
GPS_angle[PITCH] = (nav_rated[LON] * sin_yaw_y + nav_rated[LAT] * cos_yaw_x) / 10;
} else {
GPS_angle[ROLL] = (nav[LON] * cos_yaw_x - nav[LAT] * sin_yaw_y) / 10;
GPS_angle[PITCH] = (nav[LON] * sin_yaw_y + nav[LAT] * cos_yaw_x) / 10;
}
}
}
// **** PITCH & ROLL & YAW PID ****
prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
for (axis = 0; axis < 3; axis++) {
if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
// 50 degrees max inclination
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
#ifdef LEVEL_PDF
PTermACC = -(int32_t)angle[axis] * cfg.P8[PIDLEVEL] / 100;
#else
PTermACC = (int32_t)errorAngle * cfg.P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
#endif
PTermACC = constrain(PTermACC, -cfg.D8[PIDLEVEL] * 5, +cfg.D8[PIDLEVEL] * 5);
errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
ITermACC = ((int32_t)errorAngleI[axis] * cfg.I8[PIDLEVEL]) >> 12;
}
if (!f.ANGLE_MODE || axis == 2) { // MODE relying on GYRO or YAW axis
error = (int32_t)rcCommand[axis] * 10 * 8 / cfg.P8[axis];
error -= gyroData[axis];
PTermGYRO = rcCommand[axis];
errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
if (abs(gyroData[axis]) > 640)
errorGyroI[axis] = 0;
ITermGYRO = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;
}
static void evaluateCommand(void)
{
uint32_t i, tmp, junk;
uint8_t wp_no;
int32_t lat = 0, lon = 0, alt = 0;
switch (cmdMSP) {
case MSP_SET_RAW_RC:
for (i = 0; i < 8; i++)
rcData[i] = read16();
headSerialReply(0);
break;
case MSP_SET_ACC_TRIM:
cfg.angleTrim[PITCH] = read16();
cfg.angleTrim[ROLL] = read16();
headSerialReply(0);
break;
case MSP_SET_RAW_GPS:
f.GPS_FIX = read8();
GPS_numSat = read8();
GPS_coord[LAT] = read32();
GPS_coord[LON] = read32();
GPS_altitude = read16();
GPS_speed = read16();
GPS_update |= 2; // New data signalisation to GPS functions
headSerialReply(0);
break;
case MSP_SET_PID:
for (i = 0; i < PIDITEMS; i++) {
cfg.P8[i] = read8();
cfg.I8[i] = read8();
cfg.D8[i] = read8();
}
headSerialReply(0);
break;
case MSP_SET_BOX:
for (i = 0; i < numberBoxItems; i++)
cfg.activate[availableBoxes[i]] = read16();
headSerialReply(0);
break;
case MSP_SET_RC_TUNING:
cfg.rcRate8 = read8();
cfg.rcExpo8 = read8();
cfg.rollPitchRate = read8();
cfg.yawRate = read8();
cfg.dynThrPID = read8();
cfg.thrMid8 = read8();
cfg.thrExpo8 = read8();
headSerialReply(0);
break;
case MSP_SET_MISC:
read16(); // powerfailmeter
mcfg.minthrottle = read16();
read32(); // mcfg.maxthrottle, mcfg.mincommand
cfg.failsafe_throttle = read16();
read16();
read32();
cfg.mag_declination = read16() * 10;
mcfg.vbatscale = read8(); // actual vbatscale as intended
mcfg.vbatmincellvoltage = read8(); // vbatlevel_warn1 in MWC2.3 GUI
mcfg.vbatmaxcellvoltage = read8(); // vbatlevel_warn2 in MWC2.3 GUI
read8(); // vbatlevel_crit (unused)
headSerialReply(0);
break;
case MSP_SET_MOTOR:
for (i = 0; i < 8; i++)
motor_disarmed[i] = read16();
break;
case MSP_SELECT_SETTING:
if (!f.ARMED) {
mcfg.current_profile = read8();
if (mcfg.current_profile > 2)
mcfg.current_profile = 0;
// this writes new profile index and re-reads it
writeEEPROM(0, false);
}
headSerialReply(0);
break;
case MSP_SET_HEAD:
magHold = read16();
headSerialReply(0);
break;
case MSP_IDENT:
headSerialReply(7);
serialize8(VERSION); // multiwii version
serialize8(mcfg.mixerConfiguration); // type of multicopter
serialize8(MSP_VERSION); // MultiWii Serial Protocol Version
serialize32(CAP_PLATFORM_32BIT | CAP_DYNBALANCE | (mcfg.flaps_speed ? CAP_FLAPS : 0)); // "capability"
break;
case MSP_STATUS:
headSerialReply(11);
serialize16(cycleTime);
serialize16(i2cGetErrorCounter());
serialize16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
// OK, so you waste all the f*****g time to have BOXNAMES and BOXINDEXES etc, and then you go ahead and serialize enabled shit simply by stuffing all
// the bits in order, instead of setting the enabled bits based on BOXINDEX. WHERE IS THE F*****G LOGIC IN THIS, FUCKWADS.
// Serialize the boxes in the order we delivered them, until multiwii retards fix their shit
junk = 0;
tmp = f.ANGLE_MODE << BOXANGLE | f.HORIZON_MODE << BOXHORIZON |
f.BARO_MODE << BOXBARO | f.MAG_MODE << BOXMAG | f.HEADFREE_MODE << BOXHEADFREE | rcOptions[BOXHEADADJ] << BOXHEADADJ |
rcOptions[BOXCAMSTAB] << BOXCAMSTAB | rcOptions[BOXCAMTRIG] << BOXCAMTRIG |
f.GPS_HOME_MODE << BOXGPSHOME | f.GPS_HOLD_MODE << BOXGPSHOLD |
f.PASSTHRU_MODE << BOXPASSTHRU |
rcOptions[BOXBEEPERON] << BOXBEEPERON |
rcOptions[BOXLEDMAX] << BOXLEDMAX |
rcOptions[BOXLLIGHTS] << BOXLLIGHTS |
rcOptions[BOXVARIO] << BOXVARIO |
rcOptions[BOXCALIB] << BOXCALIB |
rcOptions[BOXGOV] << BOXGOV |
rcOptions[BOXOSD] << BOXOSD |
f.ARMED << BOXARM;
for (i = 0; i < numberBoxItems; i++) {
int flag = (tmp & (1 << availableBoxes[i]));
if (flag)
junk |= 1 << i;
}
serialize32(junk);
serialize8(mcfg.current_profile);
break;
case MSP_RAW_IMU:
headSerialReply(18);
// Retarded hack until multiwiidorks start using real units for sensor data
if (acc_1G > 1024) {
for (i = 0; i < 3; i++)
serialize16(accSmooth[i] / 8);
} else {
for (i = 0; i < 3; i++)
serialize16(accSmooth[i]);
}
for (i = 0; i < 3; i++)
serialize16(gyroData[i]);
for (i = 0; i < 3; i++)
serialize16(magADC[i]);
break;
case MSP_SERVO:
s_struct((uint8_t *)&servo, 16);
break;
case MSP_SERVO_CONF:
headSerialReply(56);
for (i = 0; i < MAX_SERVOS; i++) {
serialize16(cfg.servoConf[i].min);
serialize16(cfg.servoConf[i].max);
serialize16(cfg.servoConf[i].middle);
serialize8(cfg.servoConf[i].rate);
}
break;
case MSP_SET_SERVO_CONF:
headSerialReply(0);
for (i = 0; i < MAX_SERVOS; i++) {
cfg.servoConf[i].min = read16();
cfg.servoConf[i].max = read16();
cfg.servoConf[i].middle = read16();
cfg.servoConf[i].rate = read8();
}
break;
case MSP_MOTOR:
s_struct((uint8_t *)motor, 16);
break;
case MSP_RC:
headSerialReply(16);
for (i = 0; i < 8; i++)
serialize16(rcData[i]);
break;
case MSP_RAW_GPS:
headSerialReply(16);
serialize8(f.GPS_FIX);
serialize8(GPS_numSat);
serialize32(GPS_coord[LAT]);
serialize32(GPS_coord[LON]);
serialize16(GPS_altitude);
serialize16(GPS_speed);
serialize16(GPS_ground_course);
break;
case MSP_COMP_GPS:
headSerialReply(5);
serialize16(GPS_distanceToHome);
serialize16(GPS_directionToHome);
serialize8(GPS_update & 1);
break;
case MSP_ATTITUDE:
headSerialReply(8);
for (i = 0; i < 2; i++)
serialize16(angle[i]);
serialize16(heading);
serialize16(headFreeModeHold);
break;
case MSP_ALTITUDE:
headSerialReply(6);
serialize32(EstAlt);
serialize16(vario);
break;
case MSP_ANALOG:
headSerialReply(5);
serialize8(vbat);
serialize16(0); // power meter trash
serialize16(rssi);
break;
case MSP_RC_TUNING:
headSerialReply(7);
serialize8(cfg.rcRate8);
serialize8(cfg.rcExpo8);
serialize8(cfg.rollPitchRate);
serialize8(cfg.yawRate);
serialize8(cfg.dynThrPID);
serialize8(cfg.thrMid8);
serialize8(cfg.thrExpo8);
break;
case MSP_PID:
headSerialReply(3 * PIDITEMS);
for (i = 0; i < PIDITEMS; i++) {
serialize8(cfg.P8[i]);
serialize8(cfg.I8[i]);
serialize8(cfg.D8[i]);
}
break;
case MSP_PIDNAMES:
headSerialReply(sizeof(pidnames) - 1);
serializeNames(pidnames);
break;
case MSP_BOX:
headSerialReply(2 * numberBoxItems);
for (i = 0; i < numberBoxItems; i++)
serialize16(cfg.activate[availableBoxes[i]]);
break;
case MSP_BOXNAMES:
// headSerialReply(sizeof(boxnames) - 1);
serializeBoxNamesReply();
break;
case MSP_BOXIDS:
headSerialReply(numberBoxItems);
for (i = 0; i < numberBoxItems; i++)
serialize8(availableBoxes[i]);
break;
case MSP_MISC:
headSerialReply(2 * 6 + 4 + 2 + 4);
serialize16(0); // intPowerTrigger1 (aka useless trash)
serialize16(mcfg.minthrottle);
serialize16(mcfg.maxthrottle);
serialize16(mcfg.mincommand);
serialize16(cfg.failsafe_throttle);
serialize16(0); // plog useless shit
serialize32(0); // plog useless shit
serialize16(cfg.mag_declination / 10); // TODO check this shit
serialize8(mcfg.vbatscale);
serialize8(mcfg.vbatmincellvoltage);
serialize8(mcfg.vbatmaxcellvoltage);
serialize8(0);
break;
case MSP_MOTOR_PINS:
headSerialReply(8);
for (i = 0; i < 8; i++)
serialize8(i + 1);
break;
case MSP_WP:
wp_no = read8(); // get the wp number
headSerialReply(18);
if (wp_no == 0) {
lat = GPS_home[LAT];
lon = GPS_home[LON];
} else if (wp_no == 16) {
lat = GPS_hold[LAT];
lon = GPS_hold[LON];
}
serialize8(wp_no);
serialize32(lat);
serialize32(lon);
serialize32(AltHold); // altitude (cm) will come here -- temporary implementation to test feature with apps
serialize16(0); // heading will come here (deg)
serialize16(0); // time to stay (ms) will come here
serialize8(0); // nav flag will come here
break;
case MSP_SET_WP:
wp_no = read8(); //get the wp number
lat = read32();
lon = read32();
alt = read32(); // to set altitude (cm)
read16(); // future: to set heading (deg)
read16(); // future: to set time to stay (ms)
read8(); // future: to set nav flag
if (wp_no == 0) {
GPS_home[LAT] = lat;
GPS_home[LON] = lon;
f.GPS_HOME_MODE = 0; // with this flag, GPS_set_next_wp will be called in the next loop -- OK with SERIAL GPS / OK with I2C GPS
f.GPS_FIX_HOME = 1;
if (alt != 0)
AltHold = alt; // temporary implementation to test feature with apps
} else if (wp_no == 16) { // OK with SERIAL GPS -- NOK for I2C GPS / needs more code dev in order to inject GPS coord inside I2C GPS
GPS_hold[LAT] = lat;
GPS_hold[LON] = lon;
if (alt != 0)
AltHold = alt; // temporary implementation to test feature with apps
nav_mode = NAV_MODE_WP;
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
}
headSerialReply(0);
break;
case MSP_RESET_CONF:
if (!f.ARMED)
checkFirstTime(true);
headSerialReply(0);
break;
case MSP_ACC_CALIBRATION:
if (!f.ARMED)
calibratingA = CALIBRATING_ACC_CYCLES;
headSerialReply(0);
break;
case MSP_MAG_CALIBRATION:
if (!f.ARMED)
f.CALIBRATE_MAG = 1;
headSerialReply(0);
break;
case MSP_EEPROM_WRITE:
writeEEPROM(0, true);
headSerialReply(0);
break;
case MSP_DEBUG:
headSerialReply(8);
// make use of this crap, output some useful QA statistics
debug[3] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000); // XX0YY [crystal clock : core clock]
for (i = 0; i < 4; i++)
serialize16(debug[i]); // 4 variables are here for general monitoring purpose
break;
// Additional commands that are not compatible with MultiWii
case MSP_ACC_TRIM:
headSerialReply(4);
serialize16(cfg.angleTrim[PITCH]);
serialize16(cfg.angleTrim[ROLL]);
break;
case MSP_UID:
headSerialReply(12);
serialize32(U_ID_0);
serialize32(U_ID_1);
serialize32(U_ID_2);
break;
case MSP_GPSSVINFO:
headSerialReply(1 + (GPS_numCh * 4));
serialize8(GPS_numCh);
for (i = 0; i < GPS_numCh; i++){
serialize8(GPS_svinfo_chn[i]);
serialize8(GPS_svinfo_svid[i]);
serialize8(GPS_svinfo_quality[i]);
serialize8(GPS_svinfo_cno[i]);
}
break;
default: // we do not know how to handle the (valid) message, indicate error MSP $M!
headSerialError(0);
break;
}
tailSerialReply();
}
static void evaluateCommand(void)
{
uint32_t i, j, tmp, junk;
#ifdef GPS
uint8_t wp_no;
int32_t lat = 0, lon = 0, alt = 0;
#endif
const char *build = __DATE__;
switch (currentPortState->cmdMSP) {
case MSP_SET_RAW_RC:
for (i = 0; i < 8; i++)
rcData[i] = read16();
headSerialReply(0);
mspFrameRecieve();
break;
case MSP_SET_ACC_TRIM:
cfg.angleTrim[PITCH] = read16();
cfg.angleTrim[ROLL] = read16();
headSerialReply(0);
break;
#ifdef GPS
case MSP_SET_RAW_GPS:
f.GPS_FIX = read8();
GPS_numSat = read8();
GPS_coord[LAT] = read32();
GPS_coord[LON] = read32();
GPS_altitude = read16();
GPS_speed = read16();
GPS_update |= 2; // New data signalisation to GPS functions
headSerialReply(0);
break;
#endif
case MSP_SET_PID:
for (i = 0; i < PIDITEMS; i++) {
cfg.P8[i] = read8();
cfg.I8[i] = read8();
cfg.D8[i] = read8();
}
headSerialReply(0);
break;
case MSP_SET_BOX:
for (i = 0; i < numberBoxItems; i++)
cfg.activate[availableBoxes[i]] = read16();
headSerialReply(0);
break;
case MSP_SET_RC_TUNING:
cfg.rcRate8 = read8();
cfg.rcExpo8 = read8();
cfg.rollPitchRate = read8();
cfg.yawRate = read8();
cfg.dynThrPID = read8();
cfg.thrMid8 = read8();
cfg.thrExpo8 = read8();
headSerialReply(0);
break;
case MSP_SET_MISC:
tmp = read16();
// sanity check
if (tmp < 1600 && tmp > 1400)
mcfg.midrc = tmp;
mcfg.minthrottle = read16();
mcfg.maxthrottle = read16();
mcfg.mincommand = read16();
cfg.failsafe_throttle = read16();
mcfg.gps_type = read8();
mcfg.gps_baudrate = read8();
mcfg.gps_ubx_sbas = read8();
mcfg.multiwiicurrentoutput = read8();
mcfg.rssi_aux_channel = read8();
read8();
cfg.mag_declination = read16() * 10;
mcfg.vbatscale = read8(); // actual vbatscale as intended
mcfg.vbatmincellvoltage = read8(); // vbatlevel_warn1 in MWC2.3 GUI
mcfg.vbatmaxcellvoltage = read8(); // vbatlevel_warn2 in MWC2.3 GUI
mcfg.vbatwarningcellvoltage = read8(); // vbatlevel when buzzer starts to alert
headSerialReply(0);
break;
case MSP_SET_MOTOR:
for (i = 0; i < 8; i++)
motor_disarmed[i] = read16();
headSerialReply(0);
break;
case MSP_SELECT_SETTING:
if (!f.ARMED) {
mcfg.current_profile = read8();
if (mcfg.current_profile > 2)
mcfg.current_profile = 0;
// this writes new profile index and re-reads it
writeEEPROM(0, false);
}
headSerialReply(0);
break;
case MSP_SET_HEAD:
magHold = read16();
headSerialReply(0);
break;
case MSP_IDENT:
headSerialReply(7);
serialize8(VERSION); // multiwii version
serialize8(mcfg.mixerConfiguration); // type of multicopter
serialize8(MSP_VERSION); // MultiWii Serial Protocol Version
serialize32(CAP_PLATFORM_32BIT | CAP_BASEFLIGHT_CONFIG | CAP_DYNBALANCE | CAP_FW_FLAPS); // "capability"
break;
case MSP_STATUS:
headSerialReply(11);
serialize16(cycleTime);
serialize16(i2cGetErrorCounter());
serialize16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
// OK, so you waste all the f*****g time to have BOXNAMES and BOXINDEXES etc, and then you go ahead and serialize enabled shit simply by stuffing all
// the bits in order, instead of setting the enabled bits based on BOXINDEX. WHERE IS THE F*****G LOGIC IN THIS, FUCKWADS.
// Serialize the boxes in the order we delivered them, until multiwii retards fix their shit
junk = 0;
tmp = f.ANGLE_MODE << BOXANGLE | f.HORIZON_MODE << BOXHORIZON |
f.BARO_MODE << BOXBARO | f.MAG_MODE << BOXMAG | f.HEADFREE_MODE << BOXHEADFREE | rcOptions[BOXHEADADJ] << BOXHEADADJ |
rcOptions[BOXCAMSTAB] << BOXCAMSTAB | rcOptions[BOXCAMTRIG] << BOXCAMTRIG |
f.GPS_HOME_MODE << BOXGPSHOME | f.GPS_HOLD_MODE << BOXGPSHOLD |
f.PASSTHRU_MODE << BOXPASSTHRU |
rcOptions[BOXBEEPERON] << BOXBEEPERON |
rcOptions[BOXLEDMAX] << BOXLEDMAX |
rcOptions[BOXLLIGHTS] << BOXLLIGHTS |
rcOptions[BOXVARIO] << BOXVARIO |
rcOptions[BOXCALIB] << BOXCALIB |
rcOptions[BOXGOV] << BOXGOV |
rcOptions[BOXOSD] << BOXOSD |
rcOptions[BOXTELEMETRY] << BOXTELEMETRY |
rcOptions[BOXSERVO1] << BOXSERVO1 |
rcOptions[BOXSERVO2] << BOXSERVO2 |
rcOptions[BOXSERVO3] << BOXSERVO3 |
f.ARMED << BOXARM;
for (i = 0; i < numberBoxItems; i++) {
int flag = (tmp & (1 << availableBoxes[i]));
if (flag)
junk |= 1 << i;
}
serialize32(junk);
serialize8(mcfg.current_profile);
break;
case MSP_RAW_IMU:
headSerialReply(18);
// Retarded hack until multiwiidorks start using real units for sensor data
if (acc_1G > 1024) {
for (i = 0; i < 3; i++)
serialize16(accSmooth[i] / 8);
} else {
for (i = 0; i < 3; i++)
serialize16(accSmooth[i]);
}
for (i = 0; i < 3; i++)
serialize16(gyroData[i]);
for (i = 0; i < 3; i++)
serialize16(magADC[i]);
break;
case MSP_SERVO:
s_struct((uint8_t *)&servo, 16);
break;
case MSP_SERVO_CONF:
headSerialReply(56);
for (i = 0; i < MAX_SERVOS; i++) {
serialize16(cfg.servoConf[i].min);
serialize16(cfg.servoConf[i].max);
serialize16(cfg.servoConf[i].middle);
serialize8(getOldServoConfig(i));
}
break;
case MSP_SET_SERVO_CONF:
headSerialReply(0);
for (i = 0; i < MAX_SERVOS; i++) {
cfg.servoConf[i].min = read16();
cfg.servoConf[i].max = read16();
cfg.servoConf[i].middle = read16();
tmp = read8();
// trash old servo direction
cfg.servoConf[i].rate = tmp & 0xfc;
// store old style servo direction depending on current mixer configuration
switch (mcfg.mixerConfiguration) {
case MULTITYPE_BI:
storeOldServoConfig(i, tmp, 4, 1, INPUT_PITCH);
storeOldServoConfig(i, tmp, 5, 1, INPUT_PITCH);
storeOldServoConfig(i, tmp, 4, 2, INPUT_YAW);
storeOldServoConfig(i, tmp, 5, 2, INPUT_YAW);
break;
case MULTITYPE_TRI:
storeOldServoConfig(i, tmp, 5, 1, INPUT_YAW);
break;
case MULTITYPE_FLYING_WING:
storeOldServoConfig(i, tmp, 3, 1, INPUT_PITCH);
storeOldServoConfig(i, tmp, 4, 1, INPUT_PITCH);
storeOldServoConfig(i, tmp, 3, 2, INPUT_ROLL);
storeOldServoConfig(i, tmp, 4, 2, INPUT_ROLL);
break;
case MULTITYPE_DUALCOPTER:
storeOldServoConfig(i, tmp, 4, 1, INPUT_PITCH);
storeOldServoConfig(i, tmp, 5, 1, INPUT_ROLL);
break;
case MULTITYPE_SINGLECOPTER:
storeOldServoConfig(i, tmp, 3, 1, INPUT_PITCH);
storeOldServoConfig(i, tmp, 4, 1, INPUT_PITCH);
storeOldServoConfig(i, tmp, 5, 1, INPUT_ROLL);
storeOldServoConfig(i, tmp, 6, 1, INPUT_ROLL);
storeOldServoConfig(i, tmp, 3, 2, INPUT_YAW);
storeOldServoConfig(i, tmp, 4, 2, INPUT_YAW);
storeOldServoConfig(i, tmp, 5, 2, INPUT_YAW);
storeOldServoConfig(i, tmp, 6, 2, INPUT_YAW);
break;
}
}
break;
case MSP_MOTOR:
s_struct((uint8_t *)motor, 16);
break;
case MSP_RC:
headSerialReply(16);
for (i = 0; i < 8; i++)
serialize16(rcData[i]);
break;
#ifdef GPS
case MSP_RAW_GPS:
headSerialReply(16);
serialize8(f.GPS_FIX);
serialize8(GPS_numSat);
serialize32(GPS_coord[LAT]);
serialize32(GPS_coord[LON]);
serialize16(GPS_altitude);
serialize16(GPS_speed);
serialize16(GPS_ground_course);
break;
case MSP_COMP_GPS:
headSerialReply(5);
serialize16(GPS_distanceToHome);
serialize16(GPS_directionToHome);
serialize8(GPS_update & 1);
break;
#endif
case MSP_ATTITUDE:
headSerialReply(6);
for (i = 0; i < 2; i++)
serialize16(angle[i]);
serialize16(heading);
break;
case MSP_ALTITUDE:
headSerialReply(6);
serialize32(EstAlt);
serialize16(vario);
break;
case MSP_ANALOG:
headSerialReply(7);
serialize8((uint8_t)constrain(vbat, 0, 255));
serialize16((uint16_t)constrain(mAhdrawn, 0, 0xFFFF)); // milliamphours drawn from battery
serialize16(rssi);
if (mcfg.multiwiicurrentoutput)
serialize16((uint16_t)constrain((abs(amperage) * 10), 0, 0xFFFF)); // send amperage in 0.001 A steps
else
serialize16((uint16_t)constrain(abs(amperage), 0, 0xFFFF)); // send amperage in 0.01 A steps
break;
case MSP_RC_TUNING:
headSerialReply(7);
serialize8(cfg.rcRate8);
serialize8(cfg.rcExpo8);
serialize8(cfg.rollPitchRate);
serialize8(cfg.yawRate);
serialize8(cfg.dynThrPID);
serialize8(cfg.thrMid8);
serialize8(cfg.thrExpo8);
break;
case MSP_PID:
headSerialReply(3 * PIDITEMS);
for (i = 0; i < PIDITEMS; i++) {
serialize8(cfg.P8[i]);
serialize8(cfg.I8[i]);
serialize8(cfg.D8[i]);
}
break;
case MSP_PIDNAMES:
headSerialReply(sizeof(pidnames) - 1);
serializeNames(pidnames);
break;
case MSP_BOX:
headSerialReply(2 * numberBoxItems);
for (i = 0; i < numberBoxItems; i++)
serialize16(cfg.activate[availableBoxes[i]]);
break;
case MSP_BOXNAMES:
// headSerialReply(sizeof(boxnames) - 1);
serializeBoxNamesReply();
break;
case MSP_BOXIDS:
headSerialReply(numberBoxItems);
for (i = 0; i < numberBoxItems; i++) {
for (j = 0; j < CHECKBOXITEMS; j++) {
if (boxes[j].permanentId == availableBoxes[i])
serialize8(boxes[j].permanentId);
}
}
break;
case MSP_MISC:
headSerialReply(2 * 6 + 4 + 2 + 4);
serialize16(mcfg.midrc);
serialize16(mcfg.minthrottle);
serialize16(mcfg.maxthrottle);
serialize16(mcfg.mincommand);
serialize16(cfg.failsafe_throttle);
serialize8(mcfg.gps_type);
serialize8(mcfg.gps_baudrate);
serialize8(mcfg.gps_ubx_sbas);
serialize8(mcfg.multiwiicurrentoutput);
serialize8(mcfg.rssi_aux_channel);
serialize8(0);
serialize16(cfg.mag_declination / 10); // TODO check this shit
serialize8(mcfg.vbatscale);
serialize8(mcfg.vbatmincellvoltage);
serialize8(mcfg.vbatmaxcellvoltage);
serialize8(mcfg.vbatwarningcellvoltage);
break;
case MSP_MOTOR_PINS:
headSerialReply(8);
for (i = 0; i < 8; i++)
serialize8(i + 1);
break;
#ifdef GPS
case MSP_WP:
wp_no = read8(); // get the wp number
headSerialReply(18);
if (wp_no == 0) {
lat = GPS_home[LAT];
lon = GPS_home[LON];
} else if (wp_no == 16) {
lat = GPS_hold[LAT];
lon = GPS_hold[LON];
}
serialize8(wp_no);
serialize32(lat);
serialize32(lon);
serialize32(AltHold); // altitude (cm) will come here -- temporary implementation to test feature with apps
serialize16(0); // heading will come here (deg)
serialize16(0); // time to stay (ms) will come here
serialize8(0); // nav flag will come here
break;
case MSP_SET_WP:
wp_no = read8(); //get the wp number
lat = read32();
lon = read32();
alt = read32(); // to set altitude (cm)
read16(); // future: to set heading (deg)
read16(); // future: to set time to stay (ms)
read8(); // future: to set nav flag
if (wp_no == 0) {
GPS_home[LAT] = lat;
GPS_home[LON] = lon;
f.GPS_HOME_MODE = 0; // with this flag, GPS_set_next_wp will be called in the next loop -- OK with SERIAL GPS / OK with I2C GPS
f.GPS_FIX_HOME = 1;
if (alt != 0)
AltHold = alt; // temporary implementation to test feature with apps
} else if (wp_no == 16) { // OK with SERIAL GPS -- NOK for I2C GPS / needs more code dev in order to inject GPS coord inside I2C GPS
GPS_hold[LAT] = lat;
GPS_hold[LON] = lon;
if (alt != 0)
AltHold = alt; // temporary implementation to test feature with apps
nav_mode = NAV_MODE_WP;
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
}
headSerialReply(0);
break;
#endif /* GPS */
case MSP_RESET_CONF:
if (!f.ARMED)
checkFirstTime(true);
headSerialReply(0);
break;
case MSP_ACC_CALIBRATION:
if (!f.ARMED)
calibratingA = CALIBRATING_ACC_CYCLES;
headSerialReply(0);
break;
case MSP_MAG_CALIBRATION:
if (!f.ARMED)
f.CALIBRATE_MAG = 1;
headSerialReply(0);
break;
case MSP_EEPROM_WRITE:
if (f.ARMED) {
headSerialError(0);
} else {
writeEEPROM(0, true);
headSerialReply(0);
}
break;
case MSP_DEBUG:
headSerialReply(8);
// make use of this crap, output some useful QA statistics
debug[3] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000); // XX0YY [crystal clock : core clock]
for (i = 0; i < 4; i++)
serialize16(debug[i]); // 4 variables are here for general monitoring purpose
break;
// Additional commands that are not compatible with MultiWii
case MSP_ACC_TRIM:
headSerialReply(4);
serialize16(cfg.angleTrim[PITCH]);
serialize16(cfg.angleTrim[ROLL]);
break;
case MSP_UID:
headSerialReply(12);
serialize32(U_ID_0);
serialize32(U_ID_1);
serialize32(U_ID_2);
break;
#ifdef GPS
case MSP_GPSSVINFO:
headSerialReply(1 + (GPS_numCh * 4));
serialize8(GPS_numCh);
for (i = 0; i < GPS_numCh; i++) {
serialize8(GPS_svinfo_chn[i]);
serialize8(GPS_svinfo_svid[i]);
serialize8(GPS_svinfo_quality[i]);
serialize8(GPS_svinfo_cno[i]);
}
// Poll new SVINFO from GPS
gpsPollSvinfo();
break;
case MSP_GPSDEBUGINFO:
headSerialReply(16);
if (sensors(SENSOR_GPS)) {
serialize32(GPS_update_rate[1] - GPS_update_rate[0]);
serialize32(GPS_svinfo_rate[1] - GPS_svinfo_rate[0]);
} else {
serialize32(0);
serialize32(0);
}
serialize32(GPS_HorizontalAcc);
serialize32(GPS_VerticalAcc);
break;
#endif /* GPS */
case MSP_SET_CONFIG:
headSerialReply(0);
mcfg.mixerConfiguration = read8(); // multitype
featureClearAll();
featureSet(read32()); // features bitmap
mcfg.serialrx_type = read8(); // serialrx_type
mcfg.board_align_roll = read16(); // board_align_roll
mcfg.board_align_pitch = read16(); // board_align_pitch
mcfg.board_align_yaw = read16(); // board_align_yaw
mcfg.currentscale = read16();
mcfg.currentoffset = read16();
/// ???
break;
case MSP_CONFIG:
headSerialReply(1 + 4 + 1 + 2 + 2 + 2 + 4);
serialize8(mcfg.mixerConfiguration);
serialize32(featureMask());
serialize8(mcfg.serialrx_type);
serialize16(mcfg.board_align_roll);
serialize16(mcfg.board_align_pitch);
serialize16(mcfg.board_align_yaw);
serialize16(mcfg.currentscale);
serialize16(mcfg.currentoffset);
/// ???
break;
case MSP_RCMAP:
headSerialReply(MAX_INPUTS); // TODO fix this
for (i = 0; i < MAX_INPUTS; i++)
serialize8(mcfg.rcmap[i]);
break;
case MSP_SET_RCMAP:
headSerialReply(0);
for (i = 0; i < MAX_INPUTS; i++)
mcfg.rcmap[i] = read8();
break;
case MSP_REBOOT:
headSerialReply(0);
pendReboot = true;
break;
case MSP_BUILDINFO:
headSerialReply(11 + 4 + 4);
for (i = 0; i < 11; i++)
serialize8(build[i]); // MMM DD YYYY as ascii, MMM = Jan/Feb... etc
serialize32(0); // future exp
serialize32(0); // future exp
break;
default: // we do not know how to handle the (valid) message, indicate error MSP $M!
headSerialError(0);
break;
}
tailSerialReply();
}
void evaluateCommand() {
uint32_t tmp=0;
switch(cmdMSP[CURRENTPORT]) {
case MSP_PRIVATE:
//headSerialError();tailSerialReply(); // we don't have any custom msp currently, so tell the gui we do not use that
break;
case MSP_SET_RAW_RC:
s_struct_w((uint8_t*)&rcSerial,16);
rcSerialCount = 50; // 1s transition
break;
case MSP_SET_PID:
s_struct_w((uint8_t*)&conf.pid[0].P8,3*PIDITEMS);
break;
case MSP_SET_BOX:
#if EXTAUX
s_struct_w((uint8_t*)&conf.activate[0],CHECKBOXITEMS*4);
#else
s_struct_w((uint8_t*)&conf.activate[0],CHECKBOXITEMS*2);
#endif
break;
case MSP_SET_RC_TUNING:
s_struct_w((uint8_t*)&conf.rcRate8,7);
break;
#if !defined(DISABLE_SETTINGS_TAB)
case MSP_SET_MISC:
struct {
uint16_t a,b,c,d,e,f;
uint32_t g;
uint16_t h;
uint8_t i,j,k,l;
} set_misc;
s_struct_w((uint8_t*)&set_misc,22);
#if defined(POWERMETER)
conf.powerTrigger1 = set_misc.a / PLEVELSCALE;
#endif
conf.minthrottle = set_misc.b;
#ifdef FAILSAFE
conf.failsafe_throttle = set_misc.e;
#endif
#if MAG
conf.mag_declination = set_misc.h;
#endif
#if defined(VBAT)
conf.vbatscale = set_misc.i;
conf.vbatlevel_warn1 = set_misc.j;
conf.vbatlevel_warn2 = set_misc.k;
conf.vbatlevel_crit = set_misc.l;
#endif
break;
case MSP_MISC:
struct {
uint16_t a,b,c,d,e,f;
uint32_t g;
uint16_t h;
uint8_t i,j,k,l;
} misc;
misc.a = intPowerTrigger1;
misc.b = conf.minthrottle;
misc.c = MAXTHROTTLE;
misc.d = MINCOMMAND;
#ifdef FAILSAFE
misc.e = conf.failsafe_throttle;
#else
misc.e = 0;
#endif
#ifdef LOG_PERMANENT
misc.f = plog.arm;
misc.g = plog.lifetime + (plog.armed_time / 1000000); // <- computation must be moved outside from serial
#else
misc.f = 0; misc.g =0;
#endif
#if MAG
misc.h = conf.mag_declination;
#else
misc.h = 0;
#endif
#ifdef VBAT
misc.i = conf.vbatscale;
misc.j = conf.vbatlevel_warn1;
misc.k = conf.vbatlevel_warn2;
misc.l = conf.vbatlevel_crit;
#else
misc.i = 0;misc.j = 0;misc.k = 0;misc.l = 0;
#endif
s_struct((uint8_t*)&misc,22);
break;
#endif
#if defined (DYNBALANCE)
case MSP_SET_MOTOR:
s_struct_w((uint8_t*)&motor,16);
break;
#endif
#ifdef MULTIPLE_CONFIGURATION_PROFILES
case MSP_SELECT_SETTING:
if(!f.ARMED) {
global_conf.currentSet = read8();
if(global_conf.currentSet>2) global_conf.currentSet = 0;
writeGlobalSet(0);
readEEPROM();
}
//headSerialReply(0);tailSerialReply();
break;
#endif
case MSP_SET_HEAD:
s_struct_w((uint8_t*)&magHold,2);
break;
case MSP_IDENT:
struct {
uint8_t v,t,msp_v;
uint32_t cap;
} id;
id.v = VERSION;
id.t = MULTITYPE;
id.msp_v = MSP_VERSION;
id.cap = capability|DYNBAL<<2|FLAP<<3|NAVCAP<<4|EXTAUX<<5|((uint32_t)NAVI_VERSION<<28); //Navi version is stored in the upper four bits;
s_struct((uint8_t*)&id,7);
break;
case MSP_STATUS:
struct {
uint16_t cycleTime,i2c_errors_count,sensor;
uint32_t flag;
uint8_t set;
} st;
st.cycleTime = cycleTime;
st.i2c_errors_count = i2c_errors_count;
st.sensor = ACC|BARO<<1|MAG<<2|GPS<<3|SONAR<<4;
#if ACC
if(f.ANGLE_MODE) tmp |= 1<<BOXANGLE;
if(f.HORIZON_MODE) tmp |= 1<<BOXHORIZON;
#endif
#if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))
if(f.BARO_MODE) tmp |= 1<<BOXBARO;
#endif
if(f.MAG_MODE) tmp |= 1<<BOXMAG;
#if !defined(FIXEDWING)
#if defined(HEADFREE)
if(f.HEADFREE_MODE) tmp |= 1<<BOXHEADFREE;
if(rcOptions[BOXHEADADJ]) tmp |= 1<<BOXHEADADJ;
#endif
#endif
#if defined(SERVO_TILT) || defined(GIMBAL)|| defined(SERVO_MIX_TILT)
if(rcOptions[BOXCAMSTAB]) tmp |= 1<<BOXCAMSTAB;
#endif
#if defined(CAMTRIG)
if(rcOptions[BOXCAMTRIG]) tmp |= 1<<BOXCAMTRIG;
#endif
#if GPS
switch (f.GPS_mode) {
case GPS_MODE_HOLD:
tmp |= 1<<BOXGPSHOLD;
break;
case GPS_MODE_RTH:
tmp |= 1<<BOXGPSHOME;
break;
case GPS_MODE_NAV:
tmp |= 1<<BOXGPSNAV;
break;
}
#endif
#if defined(FIXEDWING) || defined(HELICOPTER)
if(f.PASSTHRU_MODE) tmp |= 1<<BOXPASSTHRU;
#endif
#if defined(BUZZER)
if(rcOptions[BOXBEEPERON]) tmp |= 1<<BOXBEEPERON;
#endif
#if defined(LED_FLASHER)
if(rcOptions[BOXLEDMAX]) tmp |= 1<<BOXLEDMAX;
if(rcOptions[BOXLEDLOW]) tmp |= 1<<BOXLEDLOW;
#endif
#if defined(LANDING_LIGHTS_DDR)
if(rcOptions[BOXLLIGHTS]) tmp |= 1<<BOXLLIGHTS;
#endif
#if defined(VARIOMETER)
if(rcOptions[BOXVARIO]) tmp |= 1<<BOXVARIO;
#endif
#if defined(INFLIGHT_ACC_CALIBRATION)
if(rcOptions[BOXCALIB]) tmp |= 1<<BOXCALIB;
#endif
#if defined(GOVERNOR_P)
if(rcOptions[BOXGOV]) tmp |= 1<<BOXGOV;
#endif
#if defined(OSD_SWITCH)
if(rcOptions[BOXOSD]) tmp |= 1<<BOXOSD;
#endif
if(f.ARMED) tmp |= 1<<BOXARM;
st.flag = tmp;
st.set = global_conf.currentSet;
s_struct((uint8_t*)&st,11);
break;
case MSP_RAW_IMU:
#if defined(DYNBALANCE)
for(uint8_t axis=0;axis<3;axis++) {imu.gyroData[axis]=imu.gyroADC[axis];imu.accSmooth[axis]= imu.accADC[axis];} // Send the unfiltered Gyro & Acc values to gui.
#endif
s_struct((uint8_t*)&imu,18);
break;
case MSP_SERVO:
s_struct((uint8_t*)&servo,16);
break;
case MSP_SERVO_CONF:
s_struct((uint8_t*)&conf.servoConf[0].min,56); // struct servo_conf_ is 7 bytes length: min:2 / max:2 / middle:2 / rate:1 ---- 8 servo => 8x7 = 56
break;
case MSP_SET_SERVO_CONF:
s_struct_w((uint8_t*)&conf.servoConf[0].min,56);
break;
case MSP_MOTOR:
s_struct((uint8_t*)&motor,16);
break;
case MSP_ACC_TRIM:
s_struct((uint8_t*)&conf.angleTrim[0],4);
break;
case MSP_SET_ACC_TRIM:
s_struct_w((uint8_t*)&conf.angleTrim[0],4);
break;
case MSP_RC:
s_struct((uint8_t*)&rcData,RC_CHANS*2);
break;
#if GPS
case MSP_SET_RAW_GPS:
struct {
uint8_t a,b;
int32_t c,d;
int16_t e;
uint16_t f;
} set_set_raw_gps;
s_struct_w((uint8_t*)&set_set_raw_gps,14);
f.GPS_FIX = set_set_raw_gps.a;
GPS_numSat = set_set_raw_gps.b;
GPS_coord[LAT] = set_set_raw_gps.c;
GPS_coord[LON] = set_set_raw_gps.d;
GPS_altitude = set_set_raw_gps.e;
GPS_speed = set_set_raw_gps.f;
GPS_update |= 2; // New data signalisation to GPS functions
break;
case MSP_RAW_GPS:
struct {
uint8_t a,b;
int32_t c,d;
int16_t e;
uint16_t f,g;
} msp_raw_gps;
msp_raw_gps.a = f.GPS_FIX;
msp_raw_gps.b = GPS_numSat;
msp_raw_gps.c = GPS_coord[LAT];
msp_raw_gps.d = GPS_coord[LON];
msp_raw_gps.e = GPS_altitude;
msp_raw_gps.f = GPS_speed;
msp_raw_gps.g = GPS_ground_course;
s_struct((uint8_t*)&msp_raw_gps,16);
break;
case MSP_COMP_GPS:
struct {
uint16_t a;
int16_t b;
uint8_t c;
} msp_comp_gps;
msp_comp_gps.a = GPS_distanceToHome;
msp_comp_gps.b = GPS_directionToHome;
msp_comp_gps.c = GPS_update & 1;
s_struct((uint8_t*)&msp_comp_gps,5);
break;
#if defined(USE_MSP_WP)
case MSP_SET_NAV_CONFIG:
s_struct_w((uint8_t*)&GPS_conf,sizeof(GPS_conf));
break;
case MSP_NAV_CONFIG:
s_struct((uint8_t*)&GPS_conf,sizeof(GPS_conf));
break;
case MSP_NAV_STATUS: // to move to struct transmission
headSerialReply(7);
serialize8(f.GPS_mode);
serialize8(NAV_state);
serialize8(mission_step.action);
serialize8(mission_step.number);
serialize8(NAV_error);
serialize16( (int16_t)(target_bearing/100));
//serialize16(magHold);
tailSerialReply();
break;
case MSP_WP: // to move to struct transmission
{
uint8_t wp_no;
uint8_t flag;
bool success;
wp_no = read8(); //get the wp number
headSerialReply(21);
if (wp_no == 0) { //Get HOME coordinates
serialize8(wp_no);
serialize8(mission_step.action);
serialize32(GPS_home[LAT]);
serialize32(GPS_home[LON]);
flag = MISSION_FLAG_HOME;
}
if (wp_no == 255) { //Get poshold coordinates
serialize8(wp_no);
serialize8(mission_step.action);
serialize32(GPS_hold[LAT]);
serialize32(GPS_hold[LON]);
flag = MISSION_FLAG_HOLD;
}
if ((wp_no>0) && (wp_no<255)) {
if (NAV_state == NAV_STATE_NONE) {
success = recallWP(wp_no);
serialize8(wp_no);
serialize8(mission_step.action);
serialize32(mission_step.pos[LAT]);
serialize32(mission_step.pos[LON]);
if (success == true) flag = mission_step.flag;
else flag = MISSION_FLAG_CRC_ERROR; //CRC error
} else {
serialize8(wp_no);
serialize8(0);
serialize32(GPS_home[LAT]);
serialize32(GPS_home[LON]);
flag = MISSION_FLAG_NAV_IN_PROG;
}
}
serialize32(mission_step.altitude);
serialize16(mission_step.parameter1);
serialize16(mission_step.parameter2);
serialize16(mission_step.parameter3);
serialize8(flag);
tailSerialReply();
}
break;
case MSP_SET_WP: // to move to struct transmission
//TODO: add I2C_gps handling
{
uint8_t wp_no = read8(); //Get the step number
if (NAV_state == NAV_STATE_HOLD_INFINIT && wp_no == 255) { //Special case - during stable poshold we allow change the hold position
mission_step.number = wp_no;
mission_step.action = MISSION_HOLD_UNLIM;
uint8_t temp = read8();
mission_step.pos[LAT] = read32();
mission_step.pos[LON] = read32();
mission_step.altitude = read32();
mission_step.parameter1 = read16();
mission_step.parameter2 = read16();
mission_step.parameter3 = read16();
mission_step.flag = read8();
if (mission_step.altitude != 0) set_new_altitude(mission_step.altitude);
GPS_set_next_wp(&mission_step.pos[LAT], &mission_step.pos[LON], &GPS_coord[LAT], &GPS_coord[LON]);
if ((wp_distance/100) >= GPS_conf.safe_wp_distance) NAV_state = NAV_STATE_NONE;
else NAV_state = NAV_STATE_WP_ENROUTE;
break;
}
if (NAV_state == NAV_STATE_NONE) { // The Nav state is not zero, so navigation is in progress, silently ignore SET_WP command)
mission_step.number = wp_no;
mission_step.action = read8();
mission_step.pos[LAT] = read32();
mission_step.pos[LON] = read32();
mission_step.altitude = read32();
mission_step.parameter1 = read16();
mission_step.parameter2 = read16();
mission_step.parameter3 = read16();
mission_step.flag = read8();
//It's not sure, that we want to do poshold change via mission planner so perhaps the next if is deletable
/*
if (mission_step.number == 255) //Set up new hold position via mission planner, It must set the action to MISSION_HOLD_INFINIT
{
if (mission_step.altitude !=0) set_new_altitude(mission_step.altitude); //Set the altitude
GPS_set_next_wp(&mission_step.pos[LAT], &mission_step.pos[LON], &GPS_coord[LAT], &GPS_coord[LON]);
NAV_state = NAV_STATE_WP_ENROUTE; //Go to that position, then it will switch to poshold unlimited when reached
}
*/
if (mission_step.number == 0) { //Set new Home position
GPS_home[LAT] = mission_step.pos[LAT];
GPS_home[LON] = mission_step.pos[LON];
}
if (mission_step.number >0 && mission_step.number<255) //Not home and not poshold, we are free to store it in the eprom
if (mission_step.number <= getMaxWPNumber()) // Do not thrash the EEPROM with invalid wp number
storeWP();
//headSerialReply(0);tailSerialReply();
}
}
break;
#endif //USE_MSP_WP
#endif //GPS
case MSP_ATTITUDE:
s_struct((uint8_t*)&att,6);
break;
case MSP_ALTITUDE:
s_struct((uint8_t*)&alt,6);
break;
case MSP_ANALOG:
s_struct((uint8_t*)&analog,7);
break;
case MSP_RC_TUNING:
s_struct((uint8_t*)&conf.rcRate8,7);
break;
case MSP_PID:
s_struct((uint8_t*)&conf.pid[0].P8,3*PIDITEMS);
break;
case MSP_PIDNAMES:
serializeNames(pidnames);
break;
case MSP_BOX:
#if EXTAUX
s_struct((uint8_t*)&conf.activate[0],4*CHECKBOXITEMS);
#else
s_struct((uint8_t*)&conf.activate[0],2*CHECKBOXITEMS);
#endif
break;
case MSP_BOXNAMES:
serializeNames(boxnames);
break;
case MSP_BOXIDS:
headSerialReply(CHECKBOXITEMS);
for(uint8_t i=0;i<CHECKBOXITEMS;i++)
serialize8(pgm_read_byte(&(boxids[i])));
tailSerialReply();
break;
case MSP_MOTOR_PINS:
s_struct((uint8_t*)&PWM_PIN,8);
break;
case MSP_RESET_CONF:
if(!f.ARMED) LoadDefaults();
//headSerialReply(0);tailSerialReply();
break;
case MSP_ACC_CALIBRATION:
if(!f.ARMED) calibratingA=512;
//headSerialReply(0);tailSerialReply();
break;
case MSP_MAG_CALIBRATION:
if(!f.ARMED) f.CALIBRATE_MAG = 1;
//headSerialReply(0);tailSerialReply();
break;
#if defined(SPEK_BIND)
case MSP_BIND:
spekBind();
//headSerialReply(0);tailSerialReply();
break;
#endif
case MSP_EEPROM_WRITE:
writeParams(0);
//headSerialReply(0);tailSerialReply();
break;
case MSP_DEBUG:
s_struct((uint8_t*)&debug,8);
break;
#ifdef DEBUGMSG
case MSP_DEBUGMSG:
{
uint8_t size = debugmsg_available();
if (size > 16) size = 16;
headSerialReply(size);
debugmsg_serialize(size);
tailSerialReply();
}
break;
#endif
default: // we do not know how to handle the (valid) message, indicate error MSP $M!
headSerialError();tailSerialReply();
break;
}
}
void updateGpsWaypointsAndMode(void)
{
bool resetNavNow = false;
if (STATE(GPS_FIX) && GPS_numSat >= 5) {
//
// process HOME mode
//
// HOME mode takes priority over HOLD mode.
if (IS_RC_MODE_ACTIVE(BOXGPSHOME)) {
if (!FLIGHT_MODE(GPS_HOME_MODE)) {
// Transition to HOME mode
ENABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPS_set_next_wp(&GPS_home[LAT], &GPS_home[LON]);
nav_mode = NAV_MODE_WP;
resetNavNow = true;
}
} else {
if (FLIGHT_MODE(GPS_HOME_MODE)) {
// Transition from HOME mode
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
//
// process HOLD mode
//
if (IS_RC_MODE_ACTIVE(BOXGPSHOLD) && areSticksInApModePosition(gpsProfile->ap_mode)) {
if (!FLIGHT_MODE(GPS_HOLD_MODE)) {
// Transition to HOLD mode
ENABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
resetNavNow = true;
}
} else {
if (FLIGHT_MODE(GPS_HOLD_MODE)) {
// Transition from HOLD mode
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
}
}
} else {
if (FLIGHT_MODE(GPS_HOLD_MODE | GPS_HOME_MODE)) {
// Transition from HOME or HOLD mode
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
}
if (resetNavNow) {
GPS_reset_nav();
}
}
void loop(void)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
uint8_t stTmp = 0;
uint8_t axis, i;
int16_t error, errorAngle;
int16_t PTerm, ITerm, PTermACC, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
static int16_t errorGyroI[3] = { 0, 0, 0 };
static int16_t errorAngleI[2] = { 0, 0 };
int16_t delta;
static int16_t lastGyro[3] = { 0, 0, 0 };
static int16_t delta1[3], delta2[3];
int16_t deltaSum;
static uint32_t rcTime = 0;
static int16_t initialThrottleHold;
static uint32_t loopTime;
uint16_t auxState = 0;
int16_t prop;
static uint8_t GPSNavReset = 1;
// this will return false if spektrum is disabled. shrug.
if (spektrumFrameComplete())
computeRC();
if ((int32_t)(currentTime - rcTime) >= 0) { // 50Hz
rcTime = currentTime + 20000;
// TODO clean this up. computeRC should handle this check
if (!feature(FEATURE_SPEKTRUM))
computeRC();
if (feature(FEATURE_GPS) && mcfg.gps_type == GPS_I2C)
GPS_NewData('c');
// Failsafe routine
if (feature(FEATURE_FAILSAFE)) {
if (failsafeCnt > (5 * cfg.failsafe_delay) && f.ARMED) { // Stabilize, and set Throttle to specified level
for (i = 0; i < 3; i++)
rcData[i] = mcfg.midrc; // after specified guard time after RC signal is lost (in 0.1sec)
rcData[THROTTLE] = cfg.failsafe_throttle;
if (failsafeCnt > 5 * (cfg.failsafe_delay + cfg.failsafe_off_delay)) { // Turn OFF motors after specified Time (in 0.1sec)
mwDisarm(); // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
f.OK_TO_ARM = 0; // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
}
failsafeEvents++;
}
if (failsafeCnt > (5 * cfg.failsafe_delay) && !f.ARMED) { // Turn off "Ok To arm to prevent the motors from spinning after repowering the RX with low throttle and aux to arm
mwDisarm(); // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
f.OK_TO_ARM = 0; // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
}
failsafeCnt++;
}
// end of failsafe routine - next change is made with RcOptions setting
// ------------------ STICKS COMMAND HANDLER --------------------
// checking sticks positions
for (i = 0; i < 4; i++) {
stTmp >>= 2;
if (rcData[i] > mcfg.mincheck)
stTmp |= 0x80; // check for MIN
if (rcData[i] < mcfg.maxcheck)
stTmp |= 0x40; // check for MAX
}
if (stTmp == rcSticks) {
if (rcDelayCommand < 250)
rcDelayCommand++;
} else
rcDelayCommand = 0;
rcSticks = stTmp;
// perform actions
if (rcData[THROTTLE] < mcfg.mincheck) {
errorGyroI[ROLL] = 0;
errorGyroI[PITCH] = 0;
errorGyroI[YAW] = 0;
errorAngleI[ROLL] = 0;
errorAngleI[PITCH] = 0;
if (cfg.activate[BOXARM] > 0) { // Arming/Disarming via ARM BOX
if (rcOptions[BOXARM] && f.OK_TO_ARM)
mwArm();
else if (f.ARMED)
mwDisarm();
}
}
if (rcDelayCommand == 20) {
if (f.ARMED) { // actions during armed
// Disarm on throttle down + yaw
if (cfg.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE))
mwDisarm();
// Disarm on roll (only when retarded_arm is enabled)
if (mcfg.retarded_arm && cfg.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO))
mwDisarm();
} else { // actions during not armed
i = 0;
// GYRO calibration
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
calibratingG = 1000;
if (feature(FEATURE_GPS))
GPS_reset_home_position();
if (sensors(SENSOR_BARO))
calibratingB = 10; // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
// Inflight ACC Calibration
} else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
if (AccInflightCalibrationMeasurementDone) { // trigger saving into eeprom after landing
AccInflightCalibrationMeasurementDone = 0;
AccInflightCalibrationSavetoEEProm = 1;
} else {
AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
if (AccInflightCalibrationArmed) {
toggleBeep = 2;
} else {
toggleBeep = 3;
}
}
}
// Multiple configuration profiles
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) // ROLL left -> Profile 1
i = 1;
else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) // PITCH up -> Profile 2
i = 2;
else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) // ROLL right -> Profile 3
i = 3;
if (i) {
mcfg.current_profile = i - 1;
writeEEPROM(0, false);
blinkLED(2, 40, i);
// TODO alarmArray[0] = i;
}
// Arm via YAW
if (cfg.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE))
mwArm();
// Arm via ROLL
else if (mcfg.retarded_arm && cfg.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI))
mwArm();
// Calibrating Acc
else if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE)
calibratingA = 400;
// Calibrating Mag
else if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE)
f.CALIBRATE_MAG = 1;
i = 0;
// Acc Trim
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
cfg.angleTrim[PITCH] += 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
cfg.angleTrim[PITCH] -= 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
cfg.angleTrim[ROLL] += 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
cfg.angleTrim[ROLL] -= 2;
i = 1;
}
if (i) {
writeEEPROM(1, false);
rcDelayCommand = 0; // allow autorepetition
}
}
}
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > mcfg.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = 0;
}
if (rcOptions[BOXCALIB]) { // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
InflightcalibratingA = 50;
} else if (AccInflightCalibrationMeasurementDone && !f.ARMED) {
AccInflightCalibrationMeasurementDone = 0;
AccInflightCalibrationSavetoEEProm = 1;
}
}
// Check AUX switches
for (i = 0; i < 4; i++)
auxState |= (rcData[AUX1 + i] < 1300) << (3 * i) | (1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (3 * i + 1) | (rcData[AUX1 + i] > 1700) << (3 * i + 2);
for (i = 0; i < CHECKBOXITEMS; i++)
rcOptions[i] = (auxState & cfg.activate[i]) > 0;
// note: if FAILSAFE is disable, failsafeCnt > 5 * FAILSAVE_DELAY is always false
if ((rcOptions[BOXANGLE] || (failsafeCnt > 5 * cfg.failsafe_delay)) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
if (!f.ANGLE_MODE) {
errorAngleI[ROLL] = 0;
errorAngleI[PITCH] = 0;
f.ANGLE_MODE = 1;
}
} else {
f.ANGLE_MODE = 0; // failsave support
}
if (rcOptions[BOXHORIZON]) {
f.ANGLE_MODE = 0;
if (!f.HORIZON_MODE) {
errorAngleI[ROLL] = 0;
errorAngleI[PITCH] = 0;
f.HORIZON_MODE = 1;
}
} else {
f.HORIZON_MODE = 0;
}
if ((rcOptions[BOXARM]) == 0)
f.OK_TO_ARM = 1;
if (f.ANGLE_MODE || f.HORIZON_MODE) {
LED1_ON;
} else {
LED1_OFF;
}
#ifdef BARO
if (sensors(SENSOR_BARO)) {
// Baro alt hold activate
if (rcOptions[BOXBARO]) {
if (!f.BARO_MODE) {
f.BARO_MODE = 1;
AltHold = EstAlt;
initialThrottleHold = rcCommand[THROTTLE];
errorAltitudeI = 0;
BaroPID = 0;
}
} else {
f.BARO_MODE = 0;
}
// Vario signalling activate
if (feature(FEATURE_VARIO)) {
if (rcOptions[BOXVARIO]) {
if (!f.VARIO_MODE) {
f.VARIO_MODE = 1;
}
} else {
f.VARIO_MODE = 0;
}
}
}
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
if (rcOptions[BOXMAG]) {
if (!f.MAG_MODE) {
f.MAG_MODE = 1;
magHold = heading;
}
} else {
f.MAG_MODE = 0;
}
if (rcOptions[BOXHEADFREE]) {
if (!f.HEADFREE_MODE) {
f.HEADFREE_MODE = 1;
}
} else {
f.HEADFREE_MODE = 0;
}
if (rcOptions[BOXHEADADJ]) {
headFreeModeHold = heading; // acquire new heading
}
}
#endif
if (sensors(SENSOR_GPS)) {
if (f.GPS_FIX && GPS_numSat >= 5) {
// if both GPS_HOME & GPS_HOLD are checked => GPS_HOME is the priority
if (rcOptions[BOXGPSHOME]) {
if (!f.GPS_HOME_MODE) {
f.GPS_HOME_MODE = 1;
f.GPS_HOLD_MODE = 0;
GPSNavReset = 0;
GPS_set_next_wp(&GPS_home[LAT], &GPS_home[LON]);
nav_mode = NAV_MODE_WP;
}
} else {
f.GPS_HOME_MODE = 0;
if (rcOptions[BOXGPSHOLD] && abs(rcCommand[ROLL]) < cfg.ap_mode && abs(rcCommand[PITCH]) < cfg.ap_mode) {
if (!f.GPS_HOLD_MODE) {
f.GPS_HOLD_MODE = 1;
GPSNavReset = 0;
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
}
} else {
f.GPS_HOLD_MODE = 0;
// both boxes are unselected here, nav is reset if not already done
if (GPSNavReset == 0) {
GPSNavReset = 1;
GPS_reset_nav();
}
}
}
} else {
f.GPS_HOME_MODE = 0;
f.GPS_HOLD_MODE = 0;
nav_mode = NAV_MODE_NONE;
}
}
if (rcOptions[BOXPASSTHRU]) {
f.PASSTHRU_MODE = 1;
} else {
f.PASSTHRU_MODE = 0;
}
if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE) {
f.HEADFREE_MODE = 0;
}
} else { // not in rc loop
void evaluateCommand(uint8_t c) {
uint32_t i, tmp = 0, junk;
uint8_t zczxczxczxc = 0;
const char *build = __DATE__;
switch (c) {
// adding this message as a comment will return an error status for MSP_PRIVATE (end of switch), allowing third party tools to distinguish the implementation of this message
//case MSP_PRIVATE:
// headSerialError();tailSerialReply(); // we don't have any custom msp currently, so tell the gui we do not use that
// break;
#if defined(CLEANFLIGHT)
case MSP_API_VERSION:
headSerialReply(1 + API_VERSION_LENGTH);
serialize8(MSP_PROTOCOL_VERSION);
serialize8(API_VERSION_MAJOR);
serialize8(API_VERSION_MINOR);
tailSerialReply();
USE_CLEANFLIGHT_REPLIES = 1;
break;
case MSP_FC_VARIANT:
headSerialReply(FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
for (i = 0; i < FLIGHT_CONTROLLER_IDENTIFIER_LENGTH; i++) {
serialize8(flightControllerIdentifier[i]);
}
tailSerialReply();
break;
case MSP_FC_VERSION:
headSerialReply(FLIGHT_CONTROLLER_VERSION_LENGTH);
serialize8(FC_VERSION_MAJOR);
serialize8(FC_VERSION_MINOR);
serialize8(FC_VERSION_PATCH_LEVEL);
tailSerialReply();
break;
case MSP_BOARD_INFO:
headSerialReply(
BOARD_IDENTIFIER_LENGTH +
BOARD_HARDWARE_REVISION_LENGTH
);
for (i = 0; i < BOARD_IDENTIFIER_LENGTH; i++) {
serialize8(boardIdentifier[i]);
}
//#ifdef NAZE
// serialize16(hardwareRevision);
//#else
serialize16(0); // No other build targets currently have hardware revision detection.
//#endif
tailSerialReply();
break;
case MSP_BF_BUILD_INFO: // BASEFLIGHT
headSerialReply(11 + 4 + 4);
for (i = 0; i < 11; i++)
serialize8(build[i]); // MMM DD YYYY as ascii, MMM = Jan/Feb... etc
serialize32(0); // future exp
serialize32(0); // future exp
tailSerialReply();
case MSP_BUILD_INFO: // CLEANFLIGHT
headSerialReply(11 + 4 + 4);
for (i = 0; i < 11; i++)
serialize8(build[i]); // MMM DD YYYY as ascii, MMM = Jan/Feb... etc
serialize32(0); // future exp
serialize32(0); // future exp
/*headSerialReply(
BUILD_DATE_LENGTH +
BUILD_TIME_LENGTH +
GIT_SHORT_REVISION_LENGTH
);
for (i = 0; i < BUILD_DATE_LENGTH; i++) {
serialize8(buildDate[i]);
}
for (i = 0; i < BUILD_TIME_LENGTH; i++) {
serialize8(buildTime[i]);
}
for (i = 0; i < GIT_SHORT_REVISION_LENGTH; i++) {
serialize8(shortGitRevision[i]);
}*/
tailSerialReply();
break;
#endif
case MSP_SUPRESS_DATA_FROM_RX:
supress_data_from_rx = read8();
headSerialReply(1);
serialize8((uint8_t)supress_data_from_rx);
tailSerialReply();
break;
case MSP_SET_RAW_RC:
s_struct_w((uint8_t*) &rcSerial, 16);
rcSerialCount = 50; // 1s transition
break;
case MSP_SET_PID:
mspAck();
s_struct_w((uint8_t*) &conf.pid[0].P8, 3 * PIDITEMS);
break;
case MSP_SET_BOX:
mspAck();
#if EXTAUX
s_struct_w((uint8_t*)&conf.activate[0],CHECKBOXITEMS*4);
#else
s_struct_w((uint8_t*) &conf.activate[0], CHECKBOXITEMS * 2);
#endif
break;
case MSP_SET_RC_TUNING:
mspAck();
s_struct_w((uint8_t*) &conf.rcRate8, 7);
break;
#if !defined(DISABLE_SETTINGS_TAB)
case MSP_SET_MISC:
struct {
uint16_t a, b, c, d, e, f;
uint32_t g;
uint16_t h;
uint8_t i, j, k, l;
} set_misc;
mspAck();
s_struct_w((uint8_t*) &set_misc, 22);
#if defined(POWERMETER)
conf.powerTrigger1 = set_misc.a / PLEVELSCALE;
#endif
conf.minthrottle = set_misc.b;
#ifdef FAILSAFE
conf.failsafe_throttle = set_misc.e;
#endif
#if MAG
conf.mag_declination = set_misc.h;
#endif
#if defined(VBAT)
conf.vbatscale = set_misc.i;
conf.vbatlevel_warn1 = set_misc.j;
conf.vbatlevel_warn2 = set_misc.k;
conf.vbatlevel_crit = set_misc.l;
#endif
break;
case MSP_MISC:
struct {
#if defined(CLEANFLIGHT)
uint16_t a, b, c, d, e;
uint8_t f;
uint8_t g;
uint8_t h;
uint8_t i;
uint8_t j;
uint8_t k;
uint16_t l;
uint8_t m, n, o, p;
#else
uint16_t a, b, c, d, e, f;
uint32_t g;
uint16_t h;
uint8_t i, j, k, l;
#endif
} misc;
misc.a = intPowerTrigger1;
misc.b = conf.minthrottle;
misc.c = MAXTHROTTLE;
misc.d = MINCOMMAND;
#ifdef FAILSAFE
misc.e = conf.failsafe_throttle;
#else
misc.e = 0;
#endif
#if defined(CLEANFLIGHT)
#if GPS
//serialize8(masterConfig.gpsConfig.provider); // gps_type
//serialize8(0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
//serialize8(masterConfig.gpsConfig.sbasMode); // gps_ubx_sbas
#else
//f serialize8(0); // gps_type
//g serialize8(0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
//h serialize8(0); // gps_ubx_sbas
misc.f = 0;
misc.g = 1;
misc.h = 0;
#endif
// i serialize8(masterConfig.batteryConfig.multiwiiCurrentMeterOutput);
// j serialize8(masterConfig.rxConfig.rssi_channel);
// k serialize8(0);
misc.i = 0;
misc.j = 0;
misc.k = 0;
#if MAG
misc.l = conf.mag_declination;
#else
misc.l = 0;
#endif
#ifdef VBAT
misc.m = conf.vbatscale;
misc.n = conf.vbatlevel_warn1;
misc.o = conf.vbatlevel_warn2;
misc.p = conf.vbatlevel_crit;
#else
misc.m = 0; misc.n = 0; misc.o = 0; misc.p = 0;
#endif
s_struct((uint8_t*) &misc, 32);
#else
#ifdef LOG_PERMANENT
misc.f = plog.arm;
misc.g = plog.lifetime + (plog.armed_time / 1000000); // <- computation must be moved outside from serial
#else
misc.f = 0; misc.g = 0;
#endif
#if MAG
misc.h = conf.mag_declination;
#else
misc.h = 0;
#endif
#ifdef VBAT
misc.i = conf.vbatscale;
misc.j = conf.vbatlevel_warn1;
misc.k = conf.vbatlevel_warn2;
misc.l = conf.vbatlevel_crit;
#else
misc.i = 0; misc.j = 0; misc.k = 0; misc.l = 0;
#endif
s_struct((uint8_t*) &misc, 22);
#endif
break;
#endif
//#if defined (DYNBALANCE)
case MSP_SET_MOTOR:
mspAck();
s_struct_w((uint8_t*)&motor_disarmed,16);
break;
//#endif
#ifdef MULTIPLE_CONFIGURATION_PROFILES
case MSP_SELECT_SETTING:
if (!f.ARMED) {
global_conf.currentSet = read8();
if (global_conf.currentSet > 2) global_conf.currentSet = 0;
writeGlobalSet(0);
readEEPROM();
}
mspAck();
break;
#endif
case MSP_SET_HEAD:
mspAck();
s_struct_w((uint8_t*) &magHold, 2);
break;
case MSP_IDENT:
struct {
uint8_t v, t, msp_v;
uint32_t cap;
} id;
id.v = VERSION;
id.t = MULTITYPE;
id.msp_v = MSP_VERSION;
id.cap = (0 + BIND_CAPABLE) | DYNBAL << 2 | FLAP << 3 | NAVCAP << 4 | EXTAUX << 5 | ((uint32_t) NAVI_VERSION << 28); //Navi version is stored in the upper four bits;
s_struct((uint8_t*) &id, 7);
break;
case MSP_STATUS:
struct {
uint16_t cycleTime, i2c_errors_count, sensor;
uint32_t flag;
uint8_t set;
} st;
st.cycleTime = cycleTime;
st.i2c_errors_count = i2c_errors_count;
st.sensor = ACC | BARO << 1 | MAG << 2 | GPS << 3 | SONAR << 4;
#if ACC
if (f.ANGLE_MODE) tmp |= 1 << BOXANGLE;
if (f.HORIZON_MODE) tmp |= 1 << BOXHORIZON;
#endif
#if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))
if (f.BARO_MODE) tmp |= 1 << BOXBARO;
#endif
if (f.MAG_MODE) tmp |= 1 << BOXMAG;
#if !defined(FIXEDWING)
#if defined(HEADFREE)
if(f.HEADFREE_MODE) tmp |= 1<<BOXHEADFREE;
if(rcOptions[BOXHEADADJ]) tmp |= 1<<BOXHEADADJ;
#endif
#endif
#if defined(SERVO_TILT) || defined(GIMBAL)|| defined(SERVO_MIX_TILT)
if(rcOptions[BOXCAMSTAB]) tmp |= 1<<BOXCAMSTAB;
#endif
#if defined(CAMTRIG)
if(rcOptions[BOXCAMTRIG]) tmp |= 1<<BOXCAMTRIG;
#endif
#if GPS
switch (f.GPS_mode) {
case GPS_MODE_HOLD:
tmp |= 1 << BOXGPSHOLD;
break;
case GPS_MODE_RTH:
tmp |= 1 << BOXGPSHOME;
break;
case GPS_MODE_NAV:
tmp |= 1 << BOXGPSNAV;
break;
}
#endif
#if defined(FIXEDWING) || defined(HELICOPTER)
if(f.PASSTHRU_MODE) tmp |= 1<<BOXPASSTHRU;
#endif
#if defined(BUZZER)
if(rcOptions[BOXBEEPERON]) tmp |= 1<<BOXBEEPERON;
#endif
#if defined(LED_FLASHER)
if(rcOptions[BOXLEDMAX]) tmp |= 1<<BOXLEDMAX;
if(rcOptions[BOXLEDLOW]) tmp |= 1<<BOXLEDLOW;
#endif
#if defined(LANDING_LIGHTS_DDR)
if(rcOptions[BOXLLIGHTS]) tmp |= 1<<BOXLLIGHTS;
#endif
#if defined(VARIOMETER)
if(rcOptions[BOXVARIO]) tmp |= 1<<BOXVARIO;
#endif
#if defined(INFLIGHT_ACC_CALIBRATION)
if (rcOptions[BOXCALIB]) tmp |= 1 << BOXCALIB;
#endif
#if defined(GOVERNOR_P)
if(rcOptions[BOXGOV]) tmp |= 1<<BOXGOV;
#endif
#if defined(OSD_SWITCH)
if(rcOptions[BOXOSD]) tmp |= 1<<BOXOSD;
#endif
#if defined(INFLIGHT_PID_TUNING)
if (f.PIDTUNE_MODE) tmp |= 1 << BOXPIDTUNE;
#endif
#if SONAR
if (f.SONAR_MODE) tmp |= 1 << BOXSONAR;
#endif
if (f.ARMED) tmp |= 1 << BOXARM;
st.flag = tmp;
st.set = global_conf.currentSet;
s_struct((uint8_t*) &st, 11);
break;
case MSP_RAW_IMU:
//#if defined(DYNBALANCE)
for(uint8_t axis=0;axis<3;axis++) {imu.gyroData[axis]=imu.gyroADC[axis];imu.accSmooth[axis]= imu.accADC[axis];} // Send the unfiltered Gyro & Acc values to gui.
//#endif
s_struct((uint8_t*) &imu, 18);
break;
case MSP_SERVO:
s_struct((uint8_t*) &servo, 16);
break;
case MSP_SERVO_CONF:
s_struct((uint8_t*) &conf.servoConf[0].min, 56); // struct servo_conf_ is 7 bytes length: min:2 / max:2 / middle:2 / rate:1 ---- 8 servo => 8x7 = 56
break;
case MSP_SET_SERVO_CONF:
mspAck();
s_struct_w((uint8_t*) &conf.servoConf[0].min, 56);
break;
case MSP_MOTOR:
s_struct((uint8_t*) &motor, 16);
break;
case MSP_ACC_TRIM:
headSerialReply(4);
s_struct_partial((uint8_t*) &conf.angleTrim[PITCH], 2);
s_struct_partial((uint8_t*) &conf.angleTrim[ROLL], 2);
tailSerialReply();
break;
case MSP_SET_ACC_TRIM:
mspAck();
s_struct_w((uint8_t*) &conf.angleTrim[PITCH], 2);
s_struct_w((uint8_t*) &conf.angleTrim[ROLL], 2);
break;
case MSP_RC:
s_struct((uint8_t*) &rcData, RC_CHANS * 2);
break;
#if GPS
case MSP_SET_RAW_GPS:
struct {
uint8_t a, b;
int32_t c, d;
int16_t e;
uint16_t f;
} set_set_raw_gps;
mspAck();
s_struct_w((uint8_t*) &set_set_raw_gps, 14);
f.GPS_FIX = set_set_raw_gps.a;
GPS_numSat = set_set_raw_gps.b;
GPS_coord[LAT] = set_set_raw_gps.c;
GPS_coord[LON] = set_set_raw_gps.d;
GPS_altitude = set_set_raw_gps.e;
GPS_speed = set_set_raw_gps.f;
GPS_update |= 2; // New data signalisation to GPS functions
break;
case MSP_RAW_GPS:
struct {
uint8_t a, b;
int32_t c, d;
int16_t e;
uint16_t f, g;
} msp_raw_gps;
msp_raw_gps.a = f.GPS_FIX;
msp_raw_gps.b = GPS_numSat;
msp_raw_gps.c = GPS_coord[LAT];
msp_raw_gps.d = GPS_coord[LON];
msp_raw_gps.e = GPS_altitude;
msp_raw_gps.f = GPS_speed;
msp_raw_gps.g = GPS_ground_course;
s_struct((uint8_t*) &msp_raw_gps, 16);
break;
case MSP_GPSSVINFO:
headSerialReply(1 + (GPS_numCh * 4));
serialize8(GPS_numCh);
for (i = 0; i < GPS_numCh; i++){
serialize8(GPS_svinfo_chn[i]);
serialize8(GPS_svinfo_svid[i]);
serialize8(GPS_svinfo_quality[i]);
serialize8(GPS_svinfo_cno[i]);
}
tailSerialReply();
break;
case MSP_COMP_GPS:
struct {
uint16_t a;
int16_t b;
uint8_t c;
} msp_comp_gps;
msp_comp_gps.a = GPS_distanceToHome;
msp_comp_gps.b = GPS_directionToHome;
msp_comp_gps.c = GPS_update & 1;
s_struct((uint8_t*) &msp_comp_gps, 5);
break;
#if defined(USE_MSP_WP)
case MSP_SET_NAV_CONFIG:
mspAck();
s_struct_w((uint8_t*)&GPS_conf,sizeof(GPS_conf));
break;
case MSP_NAV_CONFIG:
s_struct((uint8_t*)&GPS_conf,sizeof(GPS_conf));
break;
case MSP_NAV_STATUS: // to move to struct transmission
headSerialReply(7);
serialize8(f.GPS_mode);
serialize8(NAV_state);
serialize8(mission_step.action);
serialize8(mission_step.number);
serialize8(NAV_error);
serialize16( (int16_t)(target_bearing/100));
//serialize16(magHold);
tailSerialReply();
break;
case MSP_WP: // to move to struct transmission
{
uint8_t wp_no;
uint8_t flag;
bool success;
wp_no = read8(); //get the wp number
headSerialReply(21);
if (wp_no == 0) { //Get HOME coordinates
serialize8(wp_no);
serialize8(mission_step.action);
serialize32(GPS_home[LAT]);
serialize32(GPS_home[LON]);
flag = MISSION_FLAG_HOME;
}
if (wp_no == 255) { //Get poshold coordinates
serialize8(wp_no);
serialize8(mission_step.action);
serialize32(GPS_hold[LAT]);
serialize32(GPS_hold[LON]);
flag = MISSION_FLAG_HOLD;
}
if ((wp_no>0) && (wp_no<255)) {
if (NAV_state == NAV_STATE_NONE) {
success = recallWP(wp_no);
serialize8(wp_no);
serialize8(mission_step.action);
serialize32(mission_step.pos[LAT]);
serialize32(mission_step.pos[LON]);
if (success == true) flag = mission_step.flag;
else flag = MISSION_FLAG_CRC_ERROR; //CRC error
} else {
serialize8(wp_no);
serialize8(0);
serialize32(GPS_home[LAT]);
serialize32(GPS_home[LON]);
flag = MISSION_FLAG_NAV_IN_PROG;
}
}
serialize32(mission_step.altitude);
serialize16(mission_step.parameter1);
serialize16(mission_step.parameter2);
serialize16(mission_step.parameter3);
serialize8(flag);
tailSerialReply();
}
break;
case MSP_SET_WP: // to move to struct transmission
{
uint8_t wp_no = read8(); //Get the step number
if (NAV_state == NAV_STATE_HOLD_INFINIT && wp_no == 255) { //Special case - during stable poshold we allow change the hold position
mission_step.number = wp_no;
mission_step.action = MISSION_HOLD_UNLIM;
uint8_t temp = read8();
mission_step.pos[LAT] = read32();
mission_step.pos[LON] = read32();
mission_step.altitude = read32();
mission_step.parameter1 = read16();
mission_step.parameter2 = read16();
mission_step.parameter3 = read16();
mission_step.flag = read8();
if (mission_step.altitude != 0) set_new_altitude(mission_step.altitude);
GPS_set_next_wp(&mission_step.pos[LAT], &mission_step.pos[LON], &GPS_coord[LAT], &GPS_coord[LON]);
if ((wp_distance/100) >= GPS_conf.safe_wp_distance) NAV_state = NAV_STATE_NONE;
else NAV_state = NAV_STATE_WP_ENROUTE;
break;
}
if (NAV_state == NAV_STATE_NONE) { // The Nav state is not zero, so navigation is in progress, silently ignore SET_WP command)
mission_step.number = wp_no;
mission_step.action = read8();
mission_step.pos[LAT] = read32();
mission_step.pos[LON] = read32();
mission_step.altitude = read32();
mission_step.parameter1 = read16();
mission_step.parameter2 = read16();
mission_step.parameter3 = read16();
mission_step.flag = read8();
//It's not sure, that we want to do poshold change via mission planner so perhaps the next if is deletable
/*
if (mission_step.number == 255) //Set up new hold position via mission planner, It must set the action to MISSION_HOLD_INFINIT
{
if (mission_step.altitude !=0) set_new_altitude(mission_step.altitude); //Set the altitude
GPS_set_next_wp(&mission_step.pos[LAT], &mission_step.pos[LON], &GPS_coord[LAT], &GPS_coord[LON]);
NAV_state = NAV_STATE_WP_ENROUTE; //Go to that position, then it will switch to poshold unlimited when reached
}
*/
if (mission_step.number == 0) { //Set new Home position
GPS_home[LAT] = mission_step.pos[LAT];
GPS_home[LON] = mission_step.pos[LON];
}
if (mission_step.number >0 && mission_step.number<255) //Not home and not poshold, we are free to store it in the eprom
if (mission_step.number <= getMaxWPNumber()) // Do not thrash the EEPROM with invalid wp number
storeWP();
mspAck();
}
}
break;
#endif //USE_MSP_WP
#endif //GPS
case MSP_ATTITUDE:
s_struct((uint8_t*) &att, 6);
break;
case MSP_ALTITUDE:
s_struct((uint8_t*) &alt, 6);
break;
case MSP_ANALOG:
s_struct((uint8_t*) &analog, 7);
break;
case MSP_RC_TUNING:
s_struct((uint8_t*) &conf.rcRate8, 7);
break;
case MSP_PID:
s_struct((uint8_t*) &conf.pid[0].P8, 3 * PIDITEMS);
break;
case MSP_PIDNAMES:
serializeNames(pidnames);
break;
#if defined(CLEANFLIGHT)
case MSP_PID_CONTROLLER:
headSerialReply(1);
//s_struct((uint8_t *) PID_CONTROLLER, 7);
serialize8(PID_CONTROLLER - 1);
tailSerialReply();
break;
#endif
case MSP_BOX:
#if EXTAUX
s_struct((uint8_t*)&conf.activate[0],4*CHECKBOXITEMS);
#else
s_struct((uint8_t*) &conf.activate[0], 2 * CHECKBOXITEMS);
#endif
break;
case MSP_BOXNAMES:
serializeNames(boxnames);
break;
case MSP_BOXIDS:
headSerialReply(CHECKBOXITEMS);
for (uint8_t i = 0; i < CHECKBOXITEMS; i++)
serialize8(pgm_read_byte(&(boxids[i])));
tailSerialReply();
break;
case MSP_MOTOR_PINS:
s_struct((uint8_t*) &PWM_PIN, 8);
break;
case MSP_RESET_CONF:
if (!f.ARMED) LoadDefaults();
mspAck();
break;
case MSP_ACC_CALIBRATION:
if (!f.ARMED) calibratingA = 512;
mspAck();
break;
#if GYRO
case MSP_GYRO_CALIBRATION:
if (!f.ARMED) calibratingG = 512;
mspAck();
break;
#endif
#if MAG
case MSP_MAG_CALIBRATION:
if (!f.ARMED) f.CALIBRATE_MAG = 1;
mspAck();
break;
#endif
#if defined(SPEK_BIND)
case MSP_BIND:
spekBind();
mspAck();
break;
#endif
case MSP_EEPROM_WRITE:
writeParams(0);
mspAck();
break;
case MSP_DEBUG:
s_struct((uint8_t*) &debug, 8);
break;
#if defined(CLEANFLIGHT)
case MSP_BF_CONFIG:
// baseflight
//headSerialReply(1 + 4 + 1 + 2 + 2 + 2 + 2 + 2 + 2 + 2);
headSerialReply(1 + 4 + 1 + 2 + 2 + 2 + 2 + 2 + 2 + 2);
serialize8((uint8_t) MULTITYPE); // QUADX
// features
serialize32(1 << 4 | 1 << 9 | 1 << 2); // MOTOR_STOP, FEATURE_SONAR, FEATURE_INFLIGHT_ACC_CAL
//serialize32((uint32_t)0); // MOTOR_STOP, FEATURE_SONAR
// rx provider
serialize8((uint8_t) 0);
// board alignment
serialize16((uint16_t) 0);
serialize16((uint16_t) 0);
serialize16((uint16_t) 0);
// battery
serialize16((uint16_t) 0);
serialize16((uint16_t) 0);
// motor_pwn_rate
serialize16((uint16_t) 0);
// pitch and roll rate
// serialize8((uint8_t) s_struct((uint8_t*) &, 7););
serialize8((uint8_t) conf.rollPitchRate);
serialize8((uint8_t) conf.rollPitchRate);
/* ? baseflight
serialize16(mcfg.currentscale);
serialize16(mcfg.currentoffset);
serialize16(mcfg.motor_pwm_rate);
serialize8(cfg.rollPitchRate[0]);
serialize8(cfg.rollPitchRate[1]);
*/
// battery
/*serialize16((uint16_t) 0);
serialize16((uint16_t) 0);*/
tailSerialReply();
break;
case MSP_CF_SERIAL_CONFIG:
headSerialReply(
((sizeof(uint8_t) +sizeof(uint16_t) +(sizeof(uint8_t) * 4)) * 4)
);
for (i = 0; i < 4; i++) {
serialize8(0);
serialize16(0);
serialize8(0);
serialize8(0);
serialize8(0);
serialize8(0);
}
tailSerialReply();
break;
case MSP_UID:
headSerialReply(12);
serialize32(U_ID_0);
serialize32(U_ID_1);
serialize32(U_ID_2);
tailSerialReply();
break;
#endif
#ifdef DEBUGMSG
case MSP_DEBUGMSG:
{
uint8_t size = debugmsg_available();
if (size > 16) size = 16;
headSerialReply(size);
debugmsg_serialize(size);
tailSerialReply();
}
break;
#endif
default: // we do not know how to handle the (valid) message, indicate error MSP $M!
headSerialError(); tailSerialReply();
break;
}
}
/**
* @brief 手柄姿态控制
*
* @param 接收到的数据指针，在XBEE里
* @retval None
*/
void HandAttitude_Ctrl(uint8_t *hand_data)
{
static uint8_t first_in=0,first_in2=0;
static int32_t GPS_HoldOffset[2];
static double Point_Distance=0;
int32_t gps_coord[2];
static int32_t gps_coord2[2];
int16_t mag_bear;
float val;
Handle_LostCnt=0;//实时清0错误计数
if(f.HANDLE_CTRL_MODE==0)return;//没开启此模式
//普通无GPS下的姿态控制 和 跟随
if(hand_data[1]==0x30||hand_data[1]==0x31)
{
if(!(hand_data[7]&0x01))//没有开启悬停
{
HandAttitude_CtrlAngle[ROLL]=constrain((hand_data[2]-35),-35,35);//单位度
HandAttitude_CtrlAngle[PITCH]=constrain((hand_data[3]-35),-35,35);
magHold=(hand_data[4]<<8)|hand_data[5];
}
else//悬停,无姿态控制
{
HandAttitude_CtrlAngle[ROLL]=0;
HandAttitude_CtrlAngle[PITCH]=0;
}
if(hand_data[6]==1)//按上升键
{
if(HandAttitude_RcDataTh<1450)
{
if(f.ARMED)HandAttitude_RcDataTh+=5;
f.BARO_MODE = 0;
f.SONAR_MODE = 0;
AltHold_Baro=50.0f;
AltHold_Sonar = 50.0f;
}
else
{
AltHold_Baro+=3.0f;//应该控制在1秒增加半米
AltHold_Sonar += 3.0f;
}
}
else if(hand_data[6]==2)//按下降键
{
if(f.SONAR_MODE)//超声，
{
if(AltHold_Sonar>-50.0f)//只有超声才会进行关闭电机判断
{
AltHold_Sonar-=3.0f;
}
else
{
if(EstAlt_Sonar<20.0f)
if(HandAttitude_RcDataTh>1000)HandAttitude_RcDataTh-=5;
}
}
AltHold_Baro-=3.0f;//气压
}
else if(hand_data[6]==4)//行动键双击，则进行上锁或者解锁
{
if(f.ARMED)
f.ARMED = 0; //上锁
else if(f.OK_TO_ARM&&!f.ARMED)
{
HandAttitude_RcDataTh=1000;
AltHold_Baro=0;
AltHold_Sonar=0.0f;
CalibratingG = 1000; //校准陀螺仪 1000
CalibratingB = 10; //校准气压计，也就是设定气压计原点
f.ARMED = 1; //解锁
}
}
else if(hand_data[6]==3)//两个按键长按1秒，校准
{
if(!f.ARMED)
{
CalibratingA = 400; //触发加速度计校准
}
}
//飞机跟随手柄运动
if(hand_data[1]==0x31)//跟随
{
gps_coord[LON]=(hand_data[11] << 24) + (hand_data[10] << 16) + (hand_data[9] << 8) + hand_data[8];
gps_coord[LAT]=(hand_data[15] << 24) + (hand_data[14] << 16) + (hand_data[13] << 8) + hand_data[12];
if(first_in)
{
first_in = 0;
GPS_HoldOffset[LON]=GPS_coord[LON]-gps_coord[LON];
GPS_HoldOffset[LAT]=GPS_coord[LAT]-gps_coord[LAT];
}
else
{
if(abs(GPS_hold[LON]-(gps_coord[LON]+GPS_HoldOffset[LON]))>50||abs(GPS_hold[LAT]-(gps_coord[LAT]+GPS_HoldOffset[LAT]))>50)
{
GPS_hold[LON]=gps_coord[LON]+GPS_HoldOffset[LON];//经度
GPS_hold[LAT]=gps_coord[LAT]+GPS_HoldOffset[LAT];//纬度
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
}
}
GPSFollow_Mode = 1;
}
else
{
first_in = 1;
if(hand_data[7]&0x01)//悬停
GPSFollow_Mode = 1;
else
GPSFollow_Mode = 0;
}
if((hand_data[7]&0x04)&&f.SONAR_AVAILABLE &&f.ARMED )//一键起飞或者一键降落
{
if(EstAlt_Sonar<15.0f)//take off
{
//magHold = heading-7;
if (magHold > 180)
magHold = magHold - 360;
else if (magHold < -180)
magHold = magHold + 360;
HandAttitude_RcDataTh = 1450;
AltHold_TakeOff = 150.0f;
f.AUTOTAKEOFF=1;
f.AUTOLANDING=0;
}
else//landing
{
f.AUTOLANDING=1;
f.AUTOTAKEOFF=0;
}
}
if(hand_data[7]&0x02)OneKey_Roll_Trig=1;//触发一键翻滚
first_in2 = 1;
}
else if(hand_data[1]==0x32)//指点飞行
{
HandAttitude_CtrlAngle[ROLL]=0;
HandAttitude_CtrlAngle[PITCH]=0;
if(first_in2)
{
first_in2 = 0;//保存第一次距离
gps_coord2[LON]=(hand_data[11] << 24) + (hand_data[10] << 16) + (hand_data[9] << 8) + hand_data[8];//手柄的GPS坐标
gps_coord2[LAT]=(hand_data[15] << 24) + (hand_data[14] << 16) + (hand_data[13] << 8) + hand_data[12];
Point_Distance = sqrt((gps_coord2[LON] - GPS_coord[LON])*(gps_coord2[LON] - GPS_coord[LON])+(gps_coord2[LAT] - GPS_coord[LAT])*(gps_coord2[LAT] - GPS_coord[LAT]));
}
else
{
mag_bear = (hand_data[4]<<8)|hand_data[5];
gps_coord[LON] = gps_coord2[LON] + Point_Distance*sinf((float)mag_bear*2.0f*PI/360.0f);//经度
gps_coord[LAT] = gps_coord2[LAT] + Point_Distance*cosf((float)mag_bear*2.0f*PI/360.0f);//纬度
if(abs(GPS_hold[LON]-gps_coord[LON])>50||abs(GPS_hold[LAT]-gps_coord[LAT])>50)
{
GPS_hold[LON]=gps_coord[LON];//经度
GPS_hold[LAT]=gps_coord[LAT];//纬度
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
}
}
GPSFollow_Mode = 1;
}
else
{
GPSFollow_Mode = 0;
}
// debug[0]=GPS_hold[LAT];
// debug[1]=mag_bear;
// debug[2]=Point_Distance;
// debug[3]=Point_Distance*cosf((float)mag_bear*2.0f*PI/360.0f);//纬度
}
void updateGpsWaypointsAndMode(void)
{
bool resetNavNow = false;
static bool gpsReadyBeepDone = false;
if (STATE(GPS_FIX) && GPS_numSat >= 5) {
//
// process HOME mode
//
// HOME mode takes priority over HOLD mode.
if (rcModeIsActive(BOXGPSHOME)) {
if (!FLIGHT_MODE(GPS_HOME_MODE)) {
// Transition to HOME mode
ENABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPS_set_next_wp(&GPS_home[LAT], &GPS_home[LON]);
nav_mode = NAV_MODE_WP;
resetNavNow = true;
}
} else {
if (FLIGHT_MODE(GPS_HOME_MODE)) {
// Transition from HOME mode
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
//
// process HOLD mode
//
if (rcModeIsActive(BOXGPSHOLD) && areSticksInApModePosition(gpsProfile()->ap_mode)) {
if (!FLIGHT_MODE(GPS_HOLD_MODE)) {
// Transition to HOLD mode
ENABLE_FLIGHT_MODE(GPS_HOLD_MODE);
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
resetNavNow = true;
}
} else {
if (FLIGHT_MODE(GPS_HOLD_MODE)) {
// Transition from HOLD mode
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
}
}
if (!gpsReadyBeepDone) { //if 'ready' beep not yet done
beeper(BEEPER_READY_BEEP); //do ready beep now
gpsReadyBeepDone = true; //only beep once
}
} else {
if (FLIGHT_MODE(GPS_HOLD_MODE | GPS_HOME_MODE)) {
// Transition from HOME or HOLD mode
DISABLE_FLIGHT_MODE(GPS_HOME_MODE);
DISABLE_FLIGHT_MODE(GPS_HOLD_MODE);
nav_mode = NAV_MODE_NONE;
resetNavNow = true;
}
}
if (resetNavNow) {
GPS_reset_nav();
}
}
/*******************************************************************************
** Main Function main()
*******************************************************************************/
int main (void)
{
/* Basic chip initialization is taken care of in SystemInit() called
* from the startup code. SystemInit() and chip settings are defined
* in the CMSIS system_<part family>.c file.
*/
setup();
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
uint8_t axis,i;
int16_t delta,deltaSum;
int16_t PTerm,ITerm,DTerm;
static int16_t lastGyro[3] = {0,0,0};
static int16_t delta1[3],delta2[3];
static int16_t errorAngleI[2] = {0,0};
static uint32_t rcTime = 0;
static int16_t initialThrottleHold;
int16_t error,errorAngle =0;
#if PIDcontroller ==1
static int16_t errorGyroI[3] = {0,0,0};
#elif PIDcontroller == 2
int32_t AngleRateTmp = 0, RateError = 0, AngleITerm = 0;
static int32_t errorGyroI[3] = {0,0,0};
#endif
#define RC_FREQ 50
while(1)
{
#ifdef LCD_TELEMETRY_STEP
static char telemetryStepSequence [] = LCD_TELEMETRY_STEP;
static uint8_t telemetryStepIndex = 0;
#endif
#if defined(SPEKTRUM)
if (rcFrameComplete) computeRC();
#endif
#if defined(OPENLRSv2MULTI)
Read_OpenLRS_RC();
#endif
if ((currentTime > rcTime) || rcTime > (currentTime + 20000)) { // 50Hz + additional check to ensure rcTime can reach currentTime
rcTime = currentTime + 20000;
computeRC();
//reset watchdog timer in RC loop to ensure user is not locked out of control
feedWatchDog();
// Failsafe routine - added by MIS
#if defined(FAILSAFE)
if ( failsafeCnt > (5*FAILSAVE_DELAY) && f.ARMED) { // Stabilize, and set Throttle to specified level
for(i=0; i<3; i++) rcData[i] = MIDRC; // after specified guard time after RC signal is lost (in 0.1sec)
rcData[THROTTLE] = FAILSAVE_THROTTLE;
if (failsafeCnt > 5*(FAILSAVE_DELAY+FAILSAVE_OFF_DELAY)) { // Turn OFF motors after specified Time (in 0.1sec)
f.ARMED = 0; // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
f.OK_TO_ARM = 0; // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
}
failsafeEvents++;
}
if ( failsafeCnt > (5*FAILSAVE_DELAY) && !f.ARMED) { //Turn of "Ok To arm to prevent the motors from spinning after repowering the RX with low throttle and aux to arm
f.ARMED = 0; // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
f.OK_TO_ARM = 0; // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
}
failsafeCnt++;
#endif
// end of failsave routine - next change is made with RcOptions setting
if (rcData[THROTTLE] < MINCHECK) {
errorGyroI[ROLL] = 0; errorGyroI[PITCH] = 0; errorGyroI[YAW] = 0;
errorAngleI[ROLL] = 0; errorAngleI[PITCH] = 0;
rcDelayCommand++;
if (rcData[YAW] < MINCHECK && rcData[PITCH] < MINCHECK && !f.ARMED) {
if (rcDelayCommand == 20) {
calibratingG=400;
#if GPS
GPS_reset_home_position();
#endif
}
} else if (rcData[YAW] > MAXCHECK && rcData[PITCH] > MAXCHECK && !f.ARMED) {
if (rcDelayCommand == 20) {
#ifdef TRI
servo[5] = 1500; // we center the yaw servo in conf mode
writeServos();
#endif
#ifdef FLYING_WING
servo[0] = conf.wing_left_mid;
servo[1] = conf.wing_right_mid;
writeServos();
#endif
#ifdef AIRPLANE
for(i = 4; i<7 ;i++) servo[i] = 1500;
writeServos();
#endif
#if defined(LCD_CONF)
configurationLoop(); // beginning LCD configuration
#endif
previousTime = micros();
}
}
#if defined(INFLIGHT_ACC_CALIBRATION)
else if (!f.ARMED && rcData[YAW] < MINCHECK && rcData[PITCH] > MAXCHECK && rcData[ROLL] > MAXCHECK){
if (rcDelayCommand == 20){
if (AccInflightCalibrationMeasurementDone){ // trigger saving into eeprom after landing
AccInflightCalibrationMeasurementDone = 0;
AccInflightCalibrationSavetoEEProm = 1;
}else{
AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
#if defined(BUZZER)
if (AccInflightCalibrationArmed){
toggleBeep = 2;
} else {
toggleBeep = 3;
}
#endif
}
}
}
#endif
else if (conf.activate[BOXARM] > 0) {
if ( rcOptions[BOXARM] && f.OK_TO_ARM
#if defined(FAILSAFE)
&& failsafeCnt <= 1
#endif
) {
f.ARMED = 1;
headFreeModeHold = heading;
} else if (f.ARMED) f.ARMED = 0;
rcDelayCommand = 0;
#ifdef ALLOW_ARM_DISARM_VIA_TX_YAW
} else if ( (rcData[YAW] < MINCHECK ) && f.ARMED) {
if (rcDelayCommand == 20) f.ARMED = 0; // rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged
} else if ( (rcData[YAW] > MAXCHECK ) && rcData[PITCH] < MAXCHECK && !f.ARMED && calibratingG == 0 && f.ACC_CALIBRATED) {
if (rcDelayCommand == 20) {
f.ARMED = 1;
headFreeModeHold = heading;
}
#endif
#ifdef ALLOW_ARM_DISARM_VIA_TX_ROLL
} else if ( (rcData[ROLL] < MINCHECK) && f.ARMED) {
if (rcDelayCommand == 20) f.ARMED = 0; // rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged
} else if ( (rcData[ROLL] > MAXCHECK) && rcData[PITCH] < MAXCHECK && !f.ARMED && calibratingG == 0 && f.ACC_CALIBRATED) {
if (rcDelayCommand == 20) {
f.ARMED = 1;
headFreeModeHold = heading;
}
#endif
#ifdef LCD_TELEMETRY_AUTO
} else if (rcData[ROLL] < MINCHECK && rcData[PITCH] > MAXCHECK && !f.ARMED) {
if (rcDelayCommand == 20) {
if (telemetry_auto) {
telemetry_auto = 0;
telemetry = 0;
} else
telemetry_auto = 1;
}
#endif
#ifdef LCD_TELEMETRY_STEP
} else if (rcData[ROLL] > MAXCHECK && rcData[PITCH] > MAXCHECK && !f.ARMED) {
if (rcDelayCommand == 20) {
telemetry = telemetryStepSequence[++telemetryStepIndex % strlen(telemetryStepSequence)];
LCDclear(); // make sure to clear away remnants
}
#endif
} else
rcDelayCommand = 0;
} else if (rcData[THROTTLE] > MAXCHECK && !f.ARMED) {
if (rcData[YAW] < MINCHECK && rcData[PITCH] < MINCHECK) { // throttle=max, yaw=left, pitch=min
if (rcDelayCommand == 20) calibratingA=400;
rcDelayCommand++;
} else if (rcData[YAW] > MAXCHECK && rcData[PITCH] < MINCHECK) { // throttle=max, yaw=right, pitch=min
if (rcDelayCommand == 20) f.CALIBRATE_MAG = 1; // MAG calibration request
rcDelayCommand++;
} else if (rcData[PITCH] > MAXCHECK) {
conf.angleTrim[PITCH]+=2;writeParams(1);
#if defined(LED_RING)
blinkLedRing();
#endif
} else if (rcData[PITCH] < MINCHECK) {
conf.angleTrim[PITCH]-=2;writeParams(1);
#if defined(LED_RING)
blinkLedRing();
#endif
} else if (rcData[ROLL] > MAXCHECK) {
conf.angleTrim[ROLL]+=2;writeParams(1);
#if defined(LED_RING)
blinkLedRing();
#endif
} else if (rcData[ROLL] < MINCHECK) {
conf.angleTrim[ROLL]-=2;writeParams(1);
#if defined(LED_RING)
blinkLedRing();
#endif
} else {
rcDelayCommand = 0;
}
}
#if defined(LED_FLASHER)
led_flasher_autoselect_sequence();
#endif
#if defined(INFLIGHT_ACC_CALIBRATION)
if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > MINCHECK && !rcOptions[BOXARM] ){ // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = 0;
}
if (rcOptions[BOXPASSTHRU]) { // Use the Passthru Option to activate : Passthru = TRUE Meausrement started, Land and passtrhu = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone){
InflightcalibratingA = 50;
}
}else if(AccInflightCalibrationMeasurementDone && !f.ARMED){
AccInflightCalibrationMeasurementDone = 0;
AccInflightCalibrationSavetoEEProm = 1;
}
#endif
uint16_t auxState = 0;
for(i=0;i<4;i++)
auxState |= (rcData[AUX1+i]<1300)<<(3*i) | (1300<rcData[AUX1+i] && rcData[AUX1+i]<1700)<<(3*i+1) | (rcData[AUX1+i]>1700)<<(3*i+2);
for(i=0;i<CHECKBOXITEMS;i++)
rcOptions[i] = (auxState & conf.activate[i])>0;
// note: if FAILSAFE is disable, failsafeCnt > 5*FAILSAVE_DELAY is always false
if (( rcOptions[BOXACC] || (failsafeCnt > 5*FAILSAVE_DELAY) ) && ACC ) {
// bumpless transfer to Level mode
if (!f.ACC_MODE) {
errorAngleI[ROLL] = 0; errorAngleI[PITCH] = 0;
f.ACC_MODE = 1;
}
} else {
// failsafe support
f.ACC_MODE = 0;
}
if (rcOptions[BOXARM] == 0) f.OK_TO_ARM = 1;
//if (f.ACC_MODE) {STABLEPIN_ON;} else {STABLEPIN_OFF;}
#if BARO
if (rcOptions[BOXBARO]) {
if (!f.BARO_MODE) {
f.BARO_MODE = 1;
AltHold = EstAlt;
initialThrottleHold = rcCommand[THROTTLE];
errorAltitudeI = 0;
BaroPID=0;
}
} else {
f.BARO_MODE = 0;
}
#endif
#if MAG
if (rcOptions[BOXMAG]) {
if (!f.MAG_MODE) {
f.MAG_MODE = 1;
magHold = heading;
}
} else {
f.MAG_MODE = 0;
}
if (rcOptions[BOXHEADFREE]) {
if (!f.HEADFREE_MODE) {
f.HEADFREE_MODE = 1;
}
} else {
f.HEADFREE_MODE = 0;
}
if (rcOptions[BOXHEADADJ]) {
headFreeModeHold = heading; // acquire new heading
}
#endif
#if GPS
#if defined(I2C_NAV)
static uint8_t GPSNavReset = 1;
if (f.GPS_FIX && GPS_numSat >= 5 ) {
if (!rcOptions[BOXGPSHOME] && !rcOptions[BOXGPSHOLD] )
{ //Both boxes are unselected
if (GPSNavReset == 0 ) {
GPSNavReset = 1;
GPS_reset_nav();
}
}
if (rcOptions[BOXGPSHOME]) {
if (!f.GPS_HOME_MODE) {
f.GPS_HOME_MODE = 1;
GPSNavReset = 0;
GPS_I2C_command(I2C_GPS_COMMAND_START_NAV,0); //waypoint zero
}
} else {
f.GPS_HOME_MODE = 0;
}
if (rcOptions[BOXGPSHOLD]) {
if (!f.GPS_HOLD_MODE & !f.GPS_HOME_MODE) {
f.GPS_HOLD_MODE = 1;
GPSNavReset = 0;
GPS_I2C_command(I2C_GPS_COMMAND_POSHOLD,0);
}
} else {
f.GPS_HOLD_MODE = 0;
}
}
#endif
#if defined(GPS_SERIAL) || defined(TINY_GPS) || defined(GPS_FROM_OSD)||defined(I2C_GPS)
if (f.GPS_FIX && GPS_numSat >= 5 ) {
if (rcOptions[BOXGPSHOME]) {
if (!f.GPS_HOME_MODE) {
f.GPS_HOME_MODE = 1;
GPS_set_next_wp(&GPS_home[LAT],&GPS_home[LON]);
nav_mode = NAV_MODE_WP;
}
} else {
f.GPS_HOME_MODE = 0;
}
if (rcOptions[BOXGPSHOLD]) {
if (!f.GPS_HOLD_MODE) {
f.GPS_HOLD_MODE = 1;
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
GPS_set_next_wp(&GPS_hold[LAT],&GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
}
} else {
f.GPS_HOLD_MODE = 0;
}
}
#endif
#endif
#ifdef FLOW
if(rcOptions[BOXFLOWHOLD])
{
if (!f.FLOW_HOLD_MODE)
{
f.FLOW_HOLD_MODE = 1;
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
flow_set_next_wp(&GPS_hold[LAT],&GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
}
//debug[1] = 1;
}
else
{
f.FLOW_HOLD_MODE = 0;
//debug[1] = 0;
}
#endif
if (rcOptions[BOXPASSTHRU]) {f.PASSTHRU_MODE = 1;}
else {f.PASSTHRU_MODE = 0;}
#ifdef FIXEDWING
f.HEADFREE_MODE = 0;
#endif
} else { // not in rc loop
static uint8_t taskOrder=0; // never call all functions in the same loop, to avoid high delay spikes
if(taskOrder>4) taskOrder-=5;
switch (taskOrder) {
case 0:
taskOrder++;
#if MAG
if (Mag_getADC()) break; // max 350 µs (HMC5883) // only break when we actually did something
#endif
case 1:
taskOrder++;
#if BARO
if (Baro_update() != 0 ) break;
#endif
case 2:
taskOrder++;
#if BARO
if (getEstimatedAltitude() !=0) break;
#endif
case 3:
taskOrder++;
if(flowUpdate() !=0) break;
#if GPS
if(GPS_Enable) GPS_NewData();
break;
#endif
case 4:
taskOrder++;
#if SONAR
#if !defined(MAXSONAR_PWM) && !defined(FLOW)
Sonar_update();
#endif
//debug[2] = sonarAlt;
#endif
#ifdef LANDING_LIGHTS_DDR
auto_switch_landing_lights();
#endif
#ifdef VARIOMETER
if (f.VARIO_MODE) vario_signaling();
#endif
break;
}
}
computeIMU();
// Measure loop rate just afer reading the sensors
currentTime = micros();
cycleTime = currentTime - previousTime;
previousTime = currentTime;
//delayMs(500);
//if(cycleTime > 3150)
// debug[0]++;
#if MAG
if (fabs(rcCommand[YAW]) <70 && f.MAG_MODE) {
int16_t dif = heading - magHold;
if (dif <= - 180) dif += 360;
if (dif >= + 180) dif -= 360;
if ( f.SMALL_ANGLES_25 ) rcCommand[YAW] -= dif*conf.P8[PIDMAG]/30; // 18 deg
} else magHold = heading;
#endif
#if BARO
if (f.BARO_MODE) {
if (fabs(rcCommand[THROTTLE]-initialThrottleHold)>ALT_HOLD_THROTTLE_NEUTRAL_ZONE) {
f.BARO_MODE = 0; // so that a new althold reference is defined
}
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
}
#endif
#if GPS
if ( (!f.GPS_HOME_MODE && !f.GPS_HOLD_MODE) || !f.GPS_FIX_HOME ) {
GPS_reset_nav(); // If GPS is not activated. Reset nav loops and all nav related parameters
GPS_angle[ROLL] = 0;
GPS_angle[PITCH] = 0;
} else {
float sin_yaw_y = sinf(heading*0.0174532925f);
float cos_yaw_x = cosf(heading*0.0174532925f);
#if defined(NAV_SLEW_RATE)
nav_rated[LON] += constrain(wrap_18000(nav[LON]-nav_rated[LON]),-NAV_SLEW_RATE,NAV_SLEW_RATE);
nav_rated[LAT] += constrain(wrap_18000(nav[LAT]-nav_rated[LAT]),-NAV_SLEW_RATE,NAV_SLEW_RATE);
GPS_angle[ROLL] = (nav_rated[LON]*cos_yaw_x - nav_rated[LAT]*sin_yaw_y) /10;
GPS_angle[PITCH] = (nav_rated[LON]*sin_yaw_y + nav_rated[LAT]*cos_yaw_x) /10;
#else
GPS_angle[ROLL] = (nav[LON]*cos_yaw_x - nav[LAT]*sin_yaw_y) /10;
GPS_angle[PITCH] = (nav[LON]*sin_yaw_y + nav[LAT]*cos_yaw_x) /10;
#endif
}
//debug[2] = GPS_angle[ROLL];
//debug[3] = GPS_angle[PITCH];
#endif
#ifdef FLOW
if (!f.FLOW_HOLD_MODE) {
flow_reset_nav(); // If GPS is not activated. Reset nav loops and all nav related parameters
GPS_angle[ROLL] = 0;
GPS_angle[PITCH] = 0;
} else {
float sin_yaw_y = sinf(heading*0.0174532925f);
float cos_yaw_x = cosf(heading*0.0174532925f);
#if defined(NAV_SLEW_RATE)
nav_rated[LON] += constrain(wrap_18000(nav[LON]-nav_rated[LON]),-NAV_SLEW_RATE,NAV_SLEW_RATE);
nav_rated[LAT] += constrain(wrap_18000(nav[LAT]-nav_rated[LAT]),-NAV_SLEW_RATE,NAV_SLEW_RATE);
GPS_angle[ROLL] = (nav_rated[LON]*cos_yaw_x - nav_rated[LAT]*sin_yaw_y) /10;
GPS_angle[PITCH] = (nav_rated[LON]*sin_yaw_y + nav_rated[LAT]*cos_yaw_x) /10;
#else
GPS_angle[ROLL] = (nav[LON]*cos_yaw_x - nav[LAT]*sin_yaw_y) /10;
GPS_angle[PITCH] = (nav[LON]*sin_yaw_y + nav[LAT]*cos_yaw_x) /10;
#endif
}
//debug[2] = GPS_angle[ROLL];
//debug[3] = GPS_angle[PITCH];
#endif
#if PIDcontroller == 1
//**** PITCH & ROLL & YAW PID ****
for(axis=0;axis<3;axis++) {
if (f.ACC_MODE && axis<2 ) { //LEVEL MODE
// 50 degrees max inclination
errorAngle = constrain(2*rcCommand[axis] + GPS_angle[axis],-500,+500) - angle[axis] + conf.angleTrim[axis]; //16 bits is ok here
#ifdef LEVEL_PDF
PTerm = -(int32_t)angle[axis]*conf.P8[PIDLEVEL]/100 ;
#else
PTerm = (int32_t)errorAngle*conf.P8[PIDLEVEL]/100 ; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
#endif
PTerm = constrain(PTerm,-conf.D8[PIDLEVEL]*5,+conf.D8[PIDLEVEL]*5);
errorAngleI[axis] = constrain(errorAngleI[axis]+errorAngle,-10000,+10000); // WindUp //16 bits is ok here
ITerm = ((int32_t)errorAngleI[axis]*conf.I8[PIDLEVEL])>>12; // 32 bits is needed for calculation:10000*I8 could exceed 32768 16 bits is ok for result
} else { //ACRO MODE or YAW axis
if (fabs(rcCommand[axis])<350) error = rcCommand[axis]*10*8/conf.P8[axis] ; // 16 bits is needed for calculation: 350*10*8 = 28000 16 bits is ok for result if P8>2 (P>0.2)
else error = (int32_t)rcCommand[axis]*10*8/conf.P8[axis] ; // 32 bits is needed for calculation: 500*5*10*8 = 200000 16 bits is ok for result if P8>2 (P>0.2)
error -= gyroData[axis];
PTerm = rcCommand[axis];
errorGyroI[axis] = constrain(errorGyroI[axis]+error,-16000,+16000); // WindUp 16 bits is ok here
if (fabs(gyroData[axis])>640) errorGyroI[axis] = 0;
ITerm = (errorGyroI[axis]/125*conf.I8[axis])>>6; // 16 bits is ok here 16000/125 = 128 ; 128*250 = 32000
}
if (fabs(gyroData[axis])<160) PTerm -= gyroData[axis]*dynP8[axis]/10/8; // 16 bits is needed for calculation 160*200 = 32000 16 bits is ok for result
else PTerm -= (int32_t)gyroData[axis]*dynP8[axis]/10/8; // 32 bits is needed for calculation
delta = gyroData[axis] - lastGyro[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastGyro[axis] = gyroData[axis];
deltaSum = delta1[axis]+delta2[axis]+delta;
delta2[axis] = delta1[axis];
delta1[axis] = delta;
if (fabs(deltaSum)<640) DTerm = (deltaSum*dynD8[axis])>>5; // 16 bits is needed for calculation 640*50 = 32000 16 bits is ok for result
else DTerm = ((int32_t)deltaSum*dynD8[axis])>>5; // 32 bits is needed for calculation
