void updateBoardAlignment(int16_t roll, int16_t pitch)
{
const float sinAlignYaw = sin_approx(DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees));
const float cosAlignYaw = cos_approx(DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees));
boardAlignmentMutable()->rollDeciDegrees += -sinAlignYaw * pitch + cosAlignYaw * roll;
boardAlignmentMutable()->pitchDeciDegrees += cosAlignYaw * pitch + sinAlignYaw * roll;
initBoardAlignment();
}
void initBoardAlignment(void)
{
if (isBoardAlignmentStandard(boardAlignment())) {
return;
}
standardBoardAlignment = false;
fp_angles_t rotationAngles;
rotationAngles.angles.roll = degreesToRadians(boardAlignment()->rollDegrees);
rotationAngles.angles.pitch = degreesToRadians(boardAlignment()->pitchDegrees);
rotationAngles.angles.yaw = degreesToRadians(boardAlignment()->yawDegrees);
buildRotationMatrix(&rotationAngles, boardRotation);
}
void initBoardAlignment(void)
{
if (isBoardAlignmentStandard(boardAlignment())) {
standardBoardAlignment = true;
} else {
fp_angles_t rotationAngles;
standardBoardAlignment = false;
rotationAngles.angles.roll = DECIDEGREES_TO_RADIANS(boardAlignment()->rollDeciDegrees );
rotationAngles.angles.pitch = DECIDEGREES_TO_RADIANS(boardAlignment()->pitchDeciDegrees);
rotationAngles.angles.yaw = DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees );
rotationMatrixFromAngles(&boardRotMatrix, &rotationAngles);
}
}
static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta)
{
if (delta > 0) {
beeperConfirmationBeeps(2);
} else {
beeperConfirmationBeeps(1);
}
switch (adjustmentFunction) {
case ADJUSTMENT_RC_EXPO:
applyAdjustmentExpo(ADJUSTMENT_RC_EXPO, &controlRateConfig->stabilized.rcExpo8, delta);
break;
case ADJUSTMENT_RC_YAW_EXPO:
applyAdjustmentExpo(ADJUSTMENT_RC_YAW_EXPO, &controlRateConfig->stabilized.rcYawExpo8, delta);
break;
case ADJUSTMENT_MANUAL_RC_EXPO:
applyAdjustmentExpo(ADJUSTMENT_MANUAL_RC_EXPO, &controlRateConfig->manual.rcExpo8, delta);
break;
case ADJUSTMENT_MANUAL_RC_YAW_EXPO:
applyAdjustmentExpo(ADJUSTMENT_MANUAL_RC_YAW_EXPO, &controlRateConfig->manual.rcYawExpo8, delta);
break;
case ADJUSTMENT_THROTTLE_EXPO:
applyAdjustmentExpo(ADJUSTMENT_THROTTLE_EXPO, &controlRateConfig->throttle.rcExpo8, delta);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
applyAdjustmentU8(ADJUSTMENT_PITCH_RATE, &controlRateConfig->stabilized.rates[FD_PITCH], delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
FALLTHROUGH;
case ADJUSTMENT_ROLL_RATE:
applyAdjustmentU8(ADJUSTMENT_ROLL_RATE, &controlRateConfig->stabilized.rates[FD_ROLL], delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_MANUAL_PITCH_ROLL_RATE:
case ADJUSTMENT_MANUAL_ROLL_RATE:
applyAdjustmentManualRate(ADJUSTMENT_MANUAL_ROLL_RATE, &controlRateConfig->manual.rates[FD_ROLL], delta);
if (adjustmentFunction == ADJUSTMENT_MANUAL_ROLL_RATE)
break;
// follow though for combined ADJUSTMENT_MANUAL_PITCH_ROLL_RATE
FALLTHROUGH;
case ADJUSTMENT_MANUAL_PITCH_RATE:
applyAdjustmentManualRate(ADJUSTMENT_MANUAL_PITCH_RATE, &controlRateConfig->manual.rates[FD_PITCH], delta);
break;
case ADJUSTMENT_YAW_RATE:
applyAdjustmentU8(ADJUSTMENT_YAW_RATE, &controlRateConfig->stabilized.rates[FD_YAW], delta, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_MANUAL_YAW_RATE:
applyAdjustmentManualRate(ADJUSTMENT_MANUAL_YAW_RATE, &controlRateConfig->manual.rates[FD_YAW], delta);
break;
case ADJUSTMENT_PITCH_ROLL_P:
case ADJUSTMENT_PITCH_P:
applyAdjustmentPID(ADJUSTMENT_PITCH_P, &pidBankMutable()->pid[PID_PITCH].P, delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_P
FALLTHROUGH;
case ADJUSTMENT_ROLL_P:
applyAdjustmentPID(ADJUSTMENT_ROLL_P, &pidBankMutable()->pid[PID_ROLL].P, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_I:
case ADJUSTMENT_PITCH_I:
applyAdjustmentPID(ADJUSTMENT_PITCH_I, &pidBankMutable()->pid[PID_PITCH].I, delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_I
FALLTHROUGH;
case ADJUSTMENT_ROLL_I:
applyAdjustmentPID(ADJUSTMENT_ROLL_I, &pidBankMutable()->pid[PID_ROLL].I, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D:
applyAdjustmentPID(ADJUSTMENT_PITCH_D, &pidBankMutable()->pid[PID_PITCH].D, delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_D
FALLTHROUGH;
case ADJUSTMENT_ROLL_D:
applyAdjustmentPID(ADJUSTMENT_ROLL_D, &pidBankMutable()->pid[PID_ROLL].D, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_P:
applyAdjustmentPID(ADJUSTMENT_YAW_P, &pidBankMutable()->pid[PID_YAW].P, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_I:
applyAdjustmentPID(ADJUSTMENT_YAW_I, &pidBankMutable()->pid[PID_YAW].I, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_D:
applyAdjustmentPID(ADJUSTMENT_YAW_D, &pidBankMutable()->pid[PID_YAW].D, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_NAV_FW_CRUISE_THR:
applyAdjustmentU16(ADJUSTMENT_NAV_FW_CRUISE_THR, &navConfigMutable()->fw.cruise_throttle, delta, 1000, 2000);
break;
case ADJUSTMENT_NAV_FW_PITCH2THR:
applyAdjustmentU8(ADJUSTMENT_NAV_FW_PITCH2THR, &navConfigMutable()->fw.pitch_to_throttle, delta, 0, 100);
break;
case ADJUSTMENT_ROLL_BOARD_ALIGNMENT:
updateBoardAlignment(delta, 0);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_BOARD_ALIGNMENT, boardAlignment()->rollDeciDegrees);
break;
case ADJUSTMENT_PITCH_BOARD_ALIGNMENT:
updateBoardAlignment(0, delta);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_BOARD_ALIGNMENT, boardAlignment()->pitchDeciDegrees);
break;
case ADJUSTMENT_LEVEL_P:
applyAdjustmentPID(ADJUSTMENT_LEVEL_P, &pidBankMutable()->pid[PID_LEVEL].P, delta);
// TODO: Need to call something to take it into account?
break;
case ADJUSTMENT_LEVEL_I:
applyAdjustmentPID(ADJUSTMENT_LEVEL_I, &pidBankMutable()->pid[PID_LEVEL].I, delta);
// TODO: Need to call something to take it into account?
break;
case ADJUSTMENT_LEVEL_D:
applyAdjustmentPID(ADJUSTMENT_LEVEL_D, &pidBankMutable()->pid[PID_LEVEL].D, delta);
// TODO: Need to call something to take it into account?
break;
case ADJUSTMENT_POS_XY_P:
applyAdjustmentPID(ADJUSTMENT_POS_XY_P, &pidBankMutable()->pid[PID_POS_XY].P, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_XY_I:
applyAdjustmentPID(ADJUSTMENT_POS_XY_I, &pidBankMutable()->pid[PID_POS_XY].I, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_XY_D:
applyAdjustmentPID(ADJUSTMENT_POS_XY_D, &pidBankMutable()->pid[PID_POS_XY].D, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_Z_P:
applyAdjustmentPID(ADJUSTMENT_POS_Z_P, &pidBankMutable()->pid[PID_POS_Z].P, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_Z_I:
applyAdjustmentPID(ADJUSTMENT_POS_Z_I, &pidBankMutable()->pid[PID_POS_Z].I, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_Z_D:
applyAdjustmentPID(ADJUSTMENT_POS_Z_D, &pidBankMutable()->pid[PID_POS_Z].D, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_HEADING_P:
applyAdjustmentPID(ADJUSTMENT_HEADING_P, &pidBankMutable()->pid[PID_HEADING].P, delta);
// TODO: navigationUsePIDs()?
break;
case ADJUSTMENT_VEL_XY_P:
applyAdjustmentPID(ADJUSTMENT_VEL_XY_P, &pidBankMutable()->pid[PID_VEL_XY].P, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_XY_I:
applyAdjustmentPID(ADJUSTMENT_VEL_XY_I, &pidBankMutable()->pid[PID_VEL_XY].I, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_XY_D:
applyAdjustmentPID(ADJUSTMENT_VEL_XY_D, &pidBankMutable()->pid[PID_VEL_XY].D, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_Z_P:
applyAdjustmentPID(ADJUSTMENT_VEL_Z_P, &pidBankMutable()->pid[PID_VEL_Z].P, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_Z_I:
applyAdjustmentPID(ADJUSTMENT_VEL_Z_I, &pidBankMutable()->pid[PID_VEL_Z].I, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_Z_D:
applyAdjustmentPID(ADJUSTMENT_VEL_Z_D, &pidBankMutable()->pid[PID_VEL_Z].D, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE:
applyAdjustmentU16(ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE, &mixerConfigMutable()->fwMinThrottleDownPitchAngle, delta, 0, FW_MIN_THROTTLE_DOWN_PITCH_ANGLE_MAX);
break;
default:
break;
};
}
static void showStatusPage(void)
{
uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
if (feature(FEATURE_VBAT)) {
i2c_OLED_set_line(rowIndex++);
tfp_sprintf(lineBuffer, "V: %d.%1d ", vbat / 10, vbat % 10);
padLineBufferToChar(12);
i2c_OLED_send_string(lineBuffer);
uint8_t batteryPercentage = calculateBatteryPercentage();
drawHorizonalPercentageBar(10, batteryPercentage);
}
if (feature(FEATURE_CURRENT_METER)) {
i2c_OLED_set_line(rowIndex++);
tfp_sprintf(lineBuffer, "mAh: %d", mAhDrawn);
padLineBufferToChar(12);
i2c_OLED_send_string(lineBuffer);
uint8_t capacityPercentage = calculateBatteryCapacityRemainingPercentage();
drawHorizonalPercentageBar(10, capacityPercentage);
}
#ifdef GPS
if (feature(FEATURE_GPS)) {
tfp_sprintf(lineBuffer, "Sats: %d", gpsSol.numSat);
padHalfLineBuffer();
i2c_OLED_set_line(rowIndex);
i2c_OLED_send_string(lineBuffer);
tfp_sprintf(lineBuffer, "Fix: %s", gpsFixTypeText[gpsSol.fixType]);
padHalfLineBuffer();
i2c_OLED_set_xy(HALF_SCREEN_CHARACTER_COLUMN_COUNT, rowIndex++);
i2c_OLED_send_string(lineBuffer);
tfp_sprintf(lineBuffer, "HDOP: %d.%1d", gpsSol.hdop / 100, gpsSol.hdop % 100);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
tfp_sprintf(lineBuffer, "La/Lo: %d/%d", gpsSol.llh.lat / GPS_DEGREES_DIVIDER, gpsSol.llh.lon / GPS_DEGREES_DIVIDER);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
}
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
tfp_sprintf(lineBuffer, "HDG: %d", DECIDEGREES_TO_DEGREES(attitude.values.yaw));
padHalfLineBuffer();
i2c_OLED_set_line(rowIndex);
i2c_OLED_send_string(lineBuffer);
}
#endif
#ifdef BARO
if (sensors(SENSOR_BARO)) {
int32_t alt = baroCalculateAltitude();
tfp_sprintf(lineBuffer, "Alt: %d", alt / 100);
padHalfLineBuffer();
i2c_OLED_set_xy(HALF_SCREEN_CHARACTER_COLUMN_COUNT, rowIndex);
i2c_OLED_send_string(lineBuffer);
}
#endif
rowIndex++;
char rollTrim[7], pitchTrim[7];
formatTrimDegrees(rollTrim, boardAlignment()->rollDeciDegrees);
formatTrimDegrees(pitchTrim, boardAlignment()->pitchDeciDegrees);
tfp_sprintf(lineBuffer, "Acc: %sR, %sP", rollTrim, pitchTrim );
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
}