Exemple #1
0
void processRx(void)
{
    int i;
    uint32_t auxState = 0;

    calculateRxChannelsAndUpdateFailsafe(currentTime);

    // in 3D mode, we need to be able to disarm by switch at any time
    if (feature(FEATURE_3D)) {
        if (!rcOptions[BOXARM])
            mwDisarm();
    }

    updateRSSI(currentTime);

    if (feature(FEATURE_FAILSAFE)) {

        if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafe->vTable->isEnabled()) {
            failsafe->vTable->enable();
        }

        failsafe->vTable->updateState();
    }

    throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);

    if (throttleStatus == THROTTLE_LOW) {
        resetErrorAngle();
        resetErrorGyro();
    }

    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile.activate, masterConfig.retarded_arm);

    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
        updateInflightCalibrationState();
    }

    // Check AUX switches

    // auxState is a bitmask, 3 bits per channel. aux1 is first.
    // lower 16 bits contain aux 1 to 4, upper 16 bits contain aux 5 to 8
    //
    // the three bits are as follows:
    // bit 1 is SET when the stick is less than 1300
    // bit 2 is SET when the stick is between 1300 and 1700
    // bit 3 is SET when the stick is above 1700
    // if the value is 1300 or 1700 NONE of the three bits are set.

    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);
        auxState |= ((rcData[AUX5 + i] < 1300) << (3 * i) |
                (1300 < rcData[AUX5 + i] && rcData[AUX5 + i] < 1700) << (3 * i + 1) |
                (rcData[AUX5 + i] > 1700) << (3 * i + 2)) << 16;
    }
    for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
        rcOptions[i] = (auxState & currentProfile.activate[i]) > 0;

    if ((rcOptions[BOXANGLE] || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
        // bumpless transfer to Level mode
        if (!f.ANGLE_MODE) {
            resetErrorAngle();
            f.ANGLE_MODE = 1;
        }
    } else {
        f.ANGLE_MODE = 0; // failsafe support
    }

    if (rcOptions[BOXHORIZON]) {
        f.ANGLE_MODE = 0;
        if (!f.HORIZON_MODE) {
            resetErrorAngle();
            f.HORIZON_MODE = 1;
        }
    } else {
        f.HORIZON_MODE = 0;
    }

    if (f.ANGLE_MODE || f.HORIZON_MODE) {
        LED1_ON;
    } else {
        LED1_OFF;
    }

#ifdef  MAG
    if (sensors(SENSOR_ACC) || 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

#ifdef GPS
    if (sensors(SENSOR_GPS)) {
        updateGpsWaypointsAndMode();
    }
#endif

    if (rcOptions[BOXPASSTHRU]) {
        f.PASSTHRU_MODE = 1;
    } else {
        f.PASSTHRU_MODE = 0;
    }

    if (masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING || masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE) {
        f.HEADFREE_MODE = 0;
    }
}
Exemple #2
0
void executePeriodicTasks(void)
{
    static int periodicTaskIndex = 0;

    switch (periodicTaskIndex++) {
#ifdef MAG
    case UPDATE_COMPASS_TASK:
        if (sensors(SENSOR_MAG)) {
            updateCompass(&masterConfig.magZero);
        }
        break;
#endif

#ifdef BARO
    case UPDATE_BARO_TASK:
        if (sensors(SENSOR_BARO)) {
            baroUpdate(currentTime);
        }
        break;
#endif

#if defined(BARO) || defined(SONAR)
    case CALCULATE_ALTITUDE_TASK:

#if defined(BARO) && !defined(SONAR)
        if (sensors(SENSOR_BARO) && isBaroReady()) {
#endif
#if defined(BARO) && defined(SONAR)
        if ((sensors(SENSOR_BARO) && isBaroReady()) || sensors(SENSOR_SONAR)) {
#endif
#if !defined(BARO) && defined(SONAR)
        if (sensors(SENSOR_SONAR)) {
#endif
            calculateEstimatedAltitude(currentTime);
        }
        break;
#endif
#ifdef SONAR
    case UPDATE_SONAR_TASK:
        if (sensors(SENSOR_SONAR)) {
            sonarUpdate();
        }
        break;
#endif
#ifdef DISPLAY
    case UPDATE_DISPLAY_TASK:
        if (feature(FEATURE_DISPLAY)) {
            updateDisplay();
        }
        break;
#endif
    }

    if (periodicTaskIndex >= PERIODIC_TASK_COUNT) {
        periodicTaskIndex = 0;
    }
}

void processRx(void)
{
    calculateRxChannelsAndUpdateFailsafe(currentTime);

    // in 3D mode, we need to be able to disarm by switch at any time
    if (feature(FEATURE_3D)) {
        if (!IS_RC_MODE_ACTIVE(BOXARM))
            mwDisarm();
    }

    updateRSSI(currentTime);

    if (feature(FEATURE_FAILSAFE)) {

        if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsEnabled()) {
            failsafeEnable();
        }

        failsafeUpdateState();
    }

    throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);

    if (throttleStatus == THROTTLE_LOW) {
        pidResetErrorAngle();
        pidResetErrorGyro();
    }
    // When armed and motors aren't spinning, disarm board after delay so users without buzzer won't lose fingers.
    // mixTable constrains motor commands, so checking  throttleStatus is enough
    if (ARMING_FLAG(ARMED)
        && feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING)
        && masterConfig.auto_disarm_delay != 0
        && isUsingSticksForArming()) {
        if (throttleStatus == THROTTLE_LOW) {
            if ((int32_t)(disarmAt - millis()) < 0)  // delay is over
                mwDisarm();
        } else {
            disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;   // extend delay
        }
    }

    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);

    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
        updateInflightCalibrationState();
    }

    updateActivatedModes(currentProfile->modeActivationConditions);

    if (!cliMode) {
        updateAdjustmentStates(currentProfile->adjustmentRanges);
        processRcAdjustments(currentControlRateProfile, &masterConfig.rxConfig);
    }

    bool canUseHorizonMode = true;

    if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeHasTimerElapsed())) && (sensors(SENSOR_ACC))) {
        // bumpless transfer to Level mode
    	canUseHorizonMode = false;

        if (!FLIGHT_MODE(ANGLE_MODE)) {
            pidResetErrorAngle();
            ENABLE_FLIGHT_MODE(ANGLE_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
    }

    if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {

        DISABLE_FLIGHT_MODE(ANGLE_MODE);

        if (!FLIGHT_MODE(HORIZON_MODE)) {
            pidResetErrorAngle();
            ENABLE_FLIGHT_MODE(HORIZON_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(HORIZON_MODE);
    }

    if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
        LED1_ON;
    } else {
        LED1_OFF;
    }

#ifdef  MAG
    if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
        if (IS_RC_MODE_ACTIVE(BOXMAG)) {
            if (!FLIGHT_MODE(MAG_MODE)) {
                ENABLE_FLIGHT_MODE(MAG_MODE);
                magHold = heading;
            }
        } else {
            DISABLE_FLIGHT_MODE(MAG_MODE);
        }
        if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
            if (!FLIGHT_MODE(HEADFREE_MODE)) {
                ENABLE_FLIGHT_MODE(HEADFREE_MODE);
            }
        } else {
            DISABLE_FLIGHT_MODE(HEADFREE_MODE);
        }
        if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
            headFreeModeHold = heading; // acquire new heading
        }
    }
#endif

#ifdef GPS
    if (sensors(SENSOR_GPS)) {
        updateGpsWaypointsAndMode();
    }
#endif

    if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
        ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
    } else {
        DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
    }

    if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
        DISABLE_FLIGHT_MODE(HEADFREE_MODE);
    }
}

void loop(void)
{
    static uint32_t loopTime;
#if defined(BARO) || defined(SONAR)
    static bool haveProcessedAnnexCodeOnce = false;
#endif

    updateRx();

    if (shouldProcessRx(currentTime)) {
        processRx();

#ifdef BARO
        // the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
        if (haveProcessedAnnexCodeOnce) {
            if (sensors(SENSOR_BARO)) {
                updateAltHoldState();
            }
        }
#endif

#ifdef SONAR
        // the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
        if (haveProcessedAnnexCodeOnce) {
            if (sensors(SENSOR_SONAR)) {
                updateSonarAltHoldState();
            }
        }
#endif

    } else {
        // not processing rx this iteration
        executePeriodicTasks();

        // if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
        // hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
        // change this based on available hardware
#ifdef GPS
        if (feature(FEATURE_GPS)) {
            gpsThread();
        }
#endif
    }

    currentTime = micros();
    if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
        loopTime = currentTime + masterConfig.looptime;

        imuUpdate(&currentProfile->accelerometerTrims, masterConfig.mixerMode);

        // Measure loop rate just after reading the sensors
        currentTime = micros();
        cycleTime = (int32_t)(currentTime - previousTime);
        previousTime = currentTime;

        annexCode();
#if defined(BARO) || defined(SONAR)
        haveProcessedAnnexCodeOnce = true;
#endif

#ifdef AUTOTUNE
        updateAutotuneState();
#endif

#ifdef MAG
        if (sensors(SENSOR_MAG)) {
        	updateMagHold();
        }
#endif

#if defined(BARO) || defined(SONAR)
        if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
            if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
                applyAltHold(&masterConfig.airplaneConfig);
            }
        }
#endif

        // If we're armed, at minimum throttle, and we do arming via the
        // sticks, do not process yaw input from the rx.  We do this so the
        // motors do not spin up while we are trying to arm or disarm.
        if (isUsingSticksForArming() && rcData[THROTTLE] <= masterConfig.rxConfig.mincheck) {
            rcCommand[YAW] = 0;
        }


        if (currentProfile->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
            rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile->throttle_correction_value);
        }

#ifdef GPS
        if (sensors(SENSOR_GPS)) {
            if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
                updateGpsStateForHomeAndHoldMode();
            }
        }
#endif

        // PID - note this is function pointer set by setPIDController()
        pid_controller(
            &currentProfile->pidProfile,
            currentControlRateProfile,
            masterConfig.max_angle_inclination,
            &currentProfile->accelerometerTrims,
            &masterConfig.rxConfig
        );

        mixTable();

#ifdef USE_SERVOS
        filterServos();
        writeServos();
#endif

        writeMotors();

#ifdef BLACKBOX
        if (!cliMode && feature(FEATURE_BLACKBOX)) {
            handleBlackbox();
        }
#endif
    }

#ifdef TELEMETRY
    if (!cliMode && feature(FEATURE_TELEMETRY)) {
        handleTelemetry();
    }
#endif

#ifdef LED_STRIP
    if (feature(FEATURE_LED_STRIP)) {
        updateLedStrip();
    }
#endif
}
Exemple #3
0
void processRx(void)
{
    static bool armedBeeperOn = false;

    calculateRxChannelsAndUpdateFailsafe(currentTime);

    // in 3D mode, we need to be able to disarm by switch at any time
    if (feature(FEATURE_3D)) {
        if (!IS_RC_MODE_ACTIVE(BOXARM))
            mwDisarm();
    }

    updateRSSI(currentTime);

    if (feature(FEATURE_FAILSAFE)) {

        if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
            failsafeStartMonitoring();
        }

        failsafeUpdateState();
    }

    throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);

    if (throttleStatus == THROTTLE_LOW) {
        pidResetErrorAngle();
        pidResetErrorGyro();
    }

    // When armed and motors aren't spinning, do beeps and then disarm
    // board after delay so users without buzzer won't lose fingers.
    // mixTable constrains motor commands, so checking  throttleStatus is enough
    if (ARMING_FLAG(ARMED)
        && feature(FEATURE_MOTOR_STOP)
        && !STATE(FIXED_WING)
    ) {
        if (isUsingSticksForArming()) {
            if (throttleStatus == THROTTLE_LOW) {
                if (masterConfig.auto_disarm_delay != 0
                    && (int32_t)(disarmAt - millis()) < 0
                ) {
                    // auto-disarm configured and delay is over
                    mwDisarm();
                    armedBeeperOn = false;
                } else {
                    // still armed; do warning beeps while armed
                    beeper(BEEPER_ARMED);
                    armedBeeperOn = true;
                }
            } else {
                // throttle is not low
                if (masterConfig.auto_disarm_delay != 0) {
                    // extend disarm time
                    disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;
                }

                if (armedBeeperOn) {
                    beeperSilence();
                    armedBeeperOn = false;
                }
            }
        } else {
            // arming is via AUX switch; beep while throttle low
            if (throttleStatus == THROTTLE_LOW) {
                beeper(BEEPER_ARMED);
                armedBeeperOn = true;
            } else if (armedBeeperOn) {
                beeperSilence();
                armedBeeperOn = false;
            }
        }
    }

    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);

    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
        updateInflightCalibrationState();
    }

    updateActivatedModes(currentProfile->modeActivationConditions);

    if (!cliMode) {
        updateAdjustmentStates(currentProfile->adjustmentRanges);
        processRcAdjustments(currentControlRateProfile, &masterConfig.rxConfig);
    }

    bool canUseHorizonMode = true;

    if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
        // bumpless transfer to Level mode
        canUseHorizonMode = false;

        if (!FLIGHT_MODE(ANGLE_MODE)) {
            pidResetErrorAngle();
            ENABLE_FLIGHT_MODE(ANGLE_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
    }

    if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {

        DISABLE_FLIGHT_MODE(ANGLE_MODE);

        if (!FLIGHT_MODE(HORIZON_MODE)) {
            pidResetErrorAngle();
            ENABLE_FLIGHT_MODE(HORIZON_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(HORIZON_MODE);
    }

    if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
        LED1_ON;
    } else {
        LED1_OFF;
    }

#ifdef  MAG
    if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
        if (IS_RC_MODE_ACTIVE(BOXMAG)) {
            if (!FLIGHT_MODE(MAG_MODE)) {
                ENABLE_FLIGHT_MODE(MAG_MODE);
                magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
            }
        } else {
            DISABLE_FLIGHT_MODE(MAG_MODE);
        }
        if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
            if (!FLIGHT_MODE(HEADFREE_MODE)) {
                ENABLE_FLIGHT_MODE(HEADFREE_MODE);
            }
        } else {
            DISABLE_FLIGHT_MODE(HEADFREE_MODE);
        }
        if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
            headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // acquire new heading
        }
    }
#endif

#ifdef GPS
    if (sensors(SENSOR_GPS)) {
        updateGpsWaypointsAndMode();
    }
#endif

    if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
        ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
    } else {
        DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
    }

    if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
        DISABLE_FLIGHT_MODE(HEADFREE_MODE);
    }

#ifdef TELEMETRY
    if (feature(FEATURE_TELEMETRY)) {
        if ((!masterConfig.telemetryConfig.telemetry_switch && ARMING_FLAG(ARMED)) ||
                (masterConfig.telemetryConfig.telemetry_switch && IS_RC_MODE_ACTIVE(BOXTELEMETRY))) {

            releaseSharedTelemetryPorts();
        } else {
            // the telemetry state must be checked immediately so that shared serial ports are released.
            telemetryCheckState();
            mspAllocateSerialPorts(&masterConfig.serialConfig);
        }
    }
#endif

}
Exemple #4
0
void executePeriodicTasks(void)
{
    static int periodicTaskIndex = 0;

    switch (periodicTaskIndex++) {
#ifdef MAG
    case UPDATE_COMPASS_TASK:
        if (sensors(SENSOR_MAG)) {
            updateCompass(&masterConfig.magZero);
        }
        break;
#endif

#ifdef BARO
    case UPDATE_BARO_TASK:
        if (sensors(SENSOR_BARO)) {
            baroUpdate(currentTime);
        }
        break;
#endif

#if defined(BARO) || defined(SONAR)
    case CALCULATE_ALTITUDE_TASK:

#if defined(BARO) && !defined(SONAR)
        if (sensors(SENSOR_BARO) && isBaroReady()) {
#endif
#if defined(BARO) && defined(SONAR)
        if ((sensors(SENSOR_BARO) && isBaroReady()) || sensors(SENSOR_SONAR)) {
#endif
#if !defined(BARO) && defined(SONAR)
        if (sensors(SENSOR_SONAR)) {
#endif
            calculateEstimatedAltitude(currentTime);
        }
        break;
#endif
#ifdef SONAR
    case UPDATE_SONAR_TASK:
        if (sensors(SENSOR_SONAR)) {
            sonarUpdate();
        }
        break;
#endif
#ifdef DISPLAY
    case UPDATE_DISPLAY_TASK:
        if (feature(FEATURE_DISPLAY)) {
            updateDisplay();
        }
        break;
#endif
    }

    if (periodicTaskIndex >= PERIODIC_TASK_COUNT) {
        periodicTaskIndex = 0;
    }
}

void processRx(void)
{
    static bool armedBeeperOn = false;

    calculateRxChannelsAndUpdateFailsafe(currentTime);

    // in 3D mode, we need to be able to disarm by switch at any time
    if (feature(FEATURE_3D)) {
        if (!IS_RC_MODE_ACTIVE(BOXARM))
            mwDisarm();
    }

    updateRSSI(currentTime);

    if (feature(FEATURE_FAILSAFE)) {

        if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
            failsafeStartMonitoring();
        }

        failsafeUpdateState();
    }

    throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);

    if (throttleStatus == THROTTLE_LOW) {
        pidResetErrorAngle();
        pidResetErrorGyro();
    }

    // When armed and motors aren't spinning, do beeps and then disarm
    // board after delay so users without buzzer won't lose fingers.
    // mixTable constrains motor commands, so checking  throttleStatus is enough
    if (ARMING_FLAG(ARMED)
        && feature(FEATURE_MOTOR_STOP)
        && !STATE(FIXED_WING)
    ) {
        if (isUsingSticksForArming()) {
            if (throttleStatus == THROTTLE_LOW) {
                if (masterConfig.auto_disarm_delay != 0
                    && (int32_t)(disarmAt - millis()) < 0
                ) {
                    // auto-disarm configured and delay is over
                    mwDisarm();
                    armedBeeperOn = false;
                } else {
                    // still armed; do warning beeps while armed
                    beeper(BEEPER_ARMED);
                    armedBeeperOn = true;
                }
            } else {
                // throttle is not low
                if (masterConfig.auto_disarm_delay != 0) {
                    // extend disarm time
                    disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;
                }

                if (armedBeeperOn) {
                    beeperSilence();
                    armedBeeperOn = false;
                }
            }
        } else {
            // arming is via AUX switch; beep while throttle low
            if (throttleStatus == THROTTLE_LOW) {
                beeper(BEEPER_ARMED);
                armedBeeperOn = true;
            } else if (armedBeeperOn) {
                beeperSilence();
                armedBeeperOn = false;
            }
        }
    }

    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);

    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
        updateInflightCalibrationState();
    }

    updateActivatedModes(currentProfile->modeActivationConditions);

    if (!cliMode) {
        updateAdjustmentStates(currentProfile->adjustmentRanges);
        processRcAdjustments(currentControlRateProfile, &masterConfig.rxConfig);
    }

    bool canUseHorizonMode = true;

    if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
        // bumpless transfer to Level mode
    	canUseHorizonMode = false;

        if (!FLIGHT_MODE(ANGLE_MODE)) {
            pidResetErrorAngle();
            ENABLE_FLIGHT_MODE(ANGLE_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
    }

    if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {

        DISABLE_FLIGHT_MODE(ANGLE_MODE);

        if (!FLIGHT_MODE(HORIZON_MODE)) {
            pidResetErrorAngle();
            ENABLE_FLIGHT_MODE(HORIZON_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(HORIZON_MODE);
    }

    if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
        LED1_ON;
    } else {
        LED1_OFF;
    }

#ifdef  MAG
    if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
        if (IS_RC_MODE_ACTIVE(BOXMAG)) {
            if (!FLIGHT_MODE(MAG_MODE)) {
                ENABLE_FLIGHT_MODE(MAG_MODE);
                magHold = heading;
            }
        } else {
            DISABLE_FLIGHT_MODE(MAG_MODE);
        }
        if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
            if (!FLIGHT_MODE(HEADFREE_MODE)) {
                ENABLE_FLIGHT_MODE(HEADFREE_MODE);
            }
        } else {
            DISABLE_FLIGHT_MODE(HEADFREE_MODE);
        }
        if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
            headFreeModeHold = heading; // acquire new heading
        }
    }
#endif

#ifdef GPS
    if (sensors(SENSOR_GPS)) {
        updateGpsWaypointsAndMode();
    }
#endif

    if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
        ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
    } else {
        DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
    }

    if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
        DISABLE_FLIGHT_MODE(HEADFREE_MODE);
    }

#ifdef TELEMETRY
    if (feature(FEATURE_TELEMETRY)) {
        if ((!masterConfig.telemetryConfig.telemetry_switch && ARMING_FLAG(ARMED)) ||
                (masterConfig.telemetryConfig.telemetry_switch && IS_RC_MODE_ACTIVE(BOXTELEMETRY))) {

            releaseSharedTelemetryPorts();
        } else {
            // the telemetry state must be checked immediately so that shared serial ports are released.
            telemetryCheckState();
            mspAllocateSerialPorts(&masterConfig.serialConfig);
        }
    }
#endif

}

void filterRc(void){
    static int16_t lastCommand[4] = { 0, 0, 0, 0 };
    static int16_t deltaRC[4] = { 0, 0, 0, 0 };
    static int16_t factor, rcInterpolationFactor;
    static filterStatePt1_t filteredCycleTimeState;
    uint16_t rxRefreshRate, filteredCycleTime;

    // Set RC refresh rate for sampling and channels to filter
   	initRxRefreshRate(&rxRefreshRate);

    filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 1);
    rcInterpolationFactor = rxRefreshRate / filteredCycleTime + 1;

    if (isRXDataNew) {
        for (int channel=0; channel < 4; channel++) {
        	deltaRC[channel] = rcData[channel] -  (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
            lastCommand[channel] = rcData[channel];
        }

        isRXDataNew = false;
        factor = rcInterpolationFactor - 1;
    } else {
        factor--;
    }

    // Interpolate steps of rcData
    if (factor > 0) {
        for (int channel=0; channel < 4; channel++) {
            rcData[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
         }
    } else {
        factor = 0;
    }
}

void loop(void)
{
    static uint32_t loopTime;
#if defined(BARO) || defined(SONAR)
    static bool haveProcessedAnnexCodeOnce = false;
#endif

    updateRx(currentTime);

    if (shouldProcessRx(currentTime)) {
        processRx();
        isRXDataNew = true;

#ifdef BARO
        // the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
        if (haveProcessedAnnexCodeOnce) {
            if (sensors(SENSOR_BARO)) {
                updateAltHoldState();
            }
        }
#endif

#ifdef SONAR
        // the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
        if (haveProcessedAnnexCodeOnce) {
            if (sensors(SENSOR_SONAR)) {
                updateSonarAltHoldState();
            }
        }
#endif

    } else {
        // not processing rx this iteration
        executePeriodicTasks();

        // if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
        // hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
        // change this based on available hardware
#ifdef GPS
        if (feature(FEATURE_GPS)) {
            gpsThread();
        }
#endif
    }

    currentTime = micros();
    if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
        loopTime = currentTime + masterConfig.looptime;

        imuUpdate(&currentProfile->accelerometerTrims);

        // Measure loop rate just after reading the sensors
        currentTime = micros();
        cycleTime = (int32_t)(currentTime - previousTime);
        previousTime = currentTime;

        // Gyro Low Pass
        if (currentProfile->pidProfile.gyro_cut_hz) {
            int axis;
            static filterStatePt1_t gyroADCState[XYZ_AXIS_COUNT];

            for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
        	    gyroADC[axis] = filterApplyPt1(gyroADC[axis], &gyroADCState[axis], currentProfile->pidProfile.gyro_cut_hz);
            }
        }

        if (masterConfig.rxConfig.rcSmoothing) {
            filterRc();
        }

        annexCode();
#if defined(BARO) || defined(SONAR)
        haveProcessedAnnexCodeOnce = true;
#endif

#ifdef MAG
        if (sensors(SENSOR_MAG)) {
        	updateMagHold();
        }
#endif

#ifdef GTUNE
        updateGtuneState();
#endif

#if defined(BARO) || defined(SONAR)
        if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
            if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
                applyAltHold(&masterConfig.airplaneConfig);
            }
        }
#endif

        // If we're armed, at minimum throttle, and we do arming via the
        // sticks, do not process yaw input from the rx.  We do this so the
        // motors do not spin up while we are trying to arm or disarm.
        // Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
        if (isUsingSticksForArming() && rcData[THROTTLE] <= masterConfig.rxConfig.mincheck
#ifndef USE_QUAD_MIXER_ONLY
                && !((masterConfig.mixerMode == MIXER_TRI || masterConfig.mixerMode == MIXER_CUSTOM_TRI) && masterConfig.mixerConfig.tri_unarmed_servo)
                && masterConfig.mixerMode != MIXER_AIRPLANE
                && masterConfig.mixerMode != MIXER_FLYING_WING
#endif
        ) {
            rcCommand[YAW] = 0;
        }


        if (currentProfile->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
            rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile->throttle_correction_value);
        }

#ifdef GPS
        if (sensors(SENSOR_GPS)) {
            if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
                updateGpsStateForHomeAndHoldMode();
            }
        }
#endif

        // PID - note this is function pointer set by setPIDController()
        pid_controller(
            &currentProfile->pidProfile,
            currentControlRateProfile,
            masterConfig.max_angle_inclination,
            &currentProfile->accelerometerTrims,
            &masterConfig.rxConfig
        );

        mixTable();

#ifdef USE_SERVOS
        filterServos();
        writeServos();
#endif

        if (motorControlEnable) {
            writeMotors();
        }

#ifdef BLACKBOX
        if (!cliMode && feature(FEATURE_BLACKBOX)) {
            handleBlackbox();
        }
#endif
    }

#ifdef TELEMETRY
    if (!cliMode && feature(FEATURE_TELEMETRY)) {
        telemetryProcess(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
    }
#endif

#ifdef LED_STRIP
    if (feature(FEATURE_LED_STRIP)) {
        updateLedStrip();
    }
#endif
}
Exemple #5
0
void processRx(timeUs_t currentTimeUs)
{
    static bool armedBeeperOn = false;
    static bool airmodeIsActivated;

    calculateRxChannelsAndUpdateFailsafe(currentTimeUs);

    // in 3D mode, we need to be able to disarm by switch at any time
    if (feature(FEATURE_3D)) {
        if (!IS_RC_MODE_ACTIVE(BOXARM))
            mwDisarm();
    }

    updateRSSI(currentTimeUs);

    if (feature(FEATURE_FAILSAFE)) {

        if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
            failsafeStartMonitoring();
        }

        failsafeUpdateState();
    }

    const throttleStatus_e throttleStatus = calculateThrottleStatus();

    if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
        if (rcCommand[THROTTLE] >= rxConfig()->airModeActivateThreshold) airmodeIsActivated = true; // Prevent Iterm from being reset
    } else {
        airmodeIsActivated = false;
    }

    /* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
     This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
    if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
        pidResetErrorGyroState();
        if (currentPidProfile->pidAtMinThrottle)
            pidStabilisationState(PID_STABILISATION_ON);
        else
            pidStabilisationState(PID_STABILISATION_OFF);
    } else {
        pidStabilisationState(PID_STABILISATION_ON);
    }

    // When armed and motors aren't spinning, do beeps and then disarm
    // board after delay so users without buzzer won't lose fingers.
    // mixTable constrains motor commands, so checking  throttleStatus is enough
    if (ARMING_FLAG(ARMED)
        && feature(FEATURE_MOTOR_STOP)
        && !STATE(FIXED_WING)
        && !feature(FEATURE_3D)
        && !isAirmodeActive()
    ) {
        if (isUsingSticksForArming()) {
            if (throttleStatus == THROTTLE_LOW) {
                if (armingConfig()->auto_disarm_delay != 0
                    && (int32_t)(disarmAt - millis()) < 0
                ) {
                    // auto-disarm configured and delay is over
                    mwDisarm();
                    armedBeeperOn = false;
                } else {
                    // still armed; do warning beeps while armed
                    beeper(BEEPER_ARMED);
                    armedBeeperOn = true;
                }
            } else {
                // throttle is not low
                if (armingConfig()->auto_disarm_delay != 0) {
                    // extend disarm time
                    disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000;
                }

                if (armedBeeperOn) {
                    beeperSilence();
                    armedBeeperOn = false;
                }
            }
        } else {
            // arming is via AUX switch; beep while throttle low
            if (throttleStatus == THROTTLE_LOW) {
                beeper(BEEPER_ARMED);
                armedBeeperOn = true;
            } else if (armedBeeperOn) {
                beeperSilence();
                armedBeeperOn = false;
            }
        }
    }

    processRcStickPositions(throttleStatus);

    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
        updateInflightCalibrationState();
    }

    updateActivatedModes();

    if (!cliMode) {
        updateAdjustmentStates();
        processRcAdjustments(currentControlRateProfile);
    }

    bool canUseHorizonMode = true;

    if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
        // bumpless transfer to Level mode
        canUseHorizonMode = false;

        if (!FLIGHT_MODE(ANGLE_MODE)) {
            ENABLE_FLIGHT_MODE(ANGLE_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
    }

    if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {

        DISABLE_FLIGHT_MODE(ANGLE_MODE);

        if (!FLIGHT_MODE(HORIZON_MODE)) {
            ENABLE_FLIGHT_MODE(HORIZON_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(HORIZON_MODE);
    }

    if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
        LED1_ON;
    } else {
        LED1_OFF;
    }

#if defined(ACC) || defined(MAG)
    if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
#if defined(GPS) || defined(MAG)
        if (IS_RC_MODE_ACTIVE(BOXMAG)) {
            if (!FLIGHT_MODE(MAG_MODE)) {
                ENABLE_FLIGHT_MODE(MAG_MODE);
                magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
            }
        } else {
            DISABLE_FLIGHT_MODE(MAG_MODE);
        }
#endif
        if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
            if (!FLIGHT_MODE(HEADFREE_MODE)) {
                ENABLE_FLIGHT_MODE(HEADFREE_MODE);
            }
        } else {
            DISABLE_FLIGHT_MODE(HEADFREE_MODE);
        }
        if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
            headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // acquire new heading
        }
    }
#endif

#ifdef GPS
    if (sensors(SENSOR_GPS)) {
        updateGpsWaypointsAndMode();
    }
#endif

    if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
        ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
    } else {
        DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
    }

    if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
        DISABLE_FLIGHT_MODE(HEADFREE_MODE);
    }

#ifdef TELEMETRY
    if (feature(FEATURE_TELEMETRY)) {
        if ((!telemetryConfig()->telemetry_switch && ARMING_FLAG(ARMED)) ||
                (telemetryConfig()->telemetry_switch && IS_RC_MODE_ACTIVE(BOXTELEMETRY))) {

            releaseSharedTelemetryPorts();
        } else {
            // the telemetry state must be checked immediately so that shared serial ports are released.
            telemetryCheckState();
            mspSerialAllocatePorts();
        }
    }
#endif

#ifdef VTX
    vtxUpdateActivatedChannel();
#endif
}
void processRx(void)
{
    static bool armedBeeperOn = false;

    calculateRxChannelsAndUpdateFailsafe(currentTime);

    // in 3D mode, we need to be able to disarm by switch at any time
    if (feature(FEATURE_3D)) {
        if (!rcModeIsActive(BOXARM))
            mwDisarm();
    }

    updateRSSI(currentTime);

    if (feature(FEATURE_FAILSAFE)) {

        if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
            failsafeStartMonitoring();
        }

        failsafeUpdateState();
    }

    throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig(), rcControlsConfig()->deadband3d_throttle);
    rollPitchStatus_e rollPitchStatus =  calculateRollPitchCenterStatus(rxConfig());

    /* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
     This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air
     Low Throttle + roll and Pitch centered is assuming the copter is on the ground. Done to prevent complex air/ground detections */
    if (throttleStatus == THROTTLE_LOW) {
        if (rcModeIsActive(BOXAIRMODE) && !failsafeIsActive() && ARMING_FLAG(ARMED)) {
            if (rollPitchStatus == CENTERED) {
                ENABLE_STATE(ANTI_WINDUP);
            } else {
                DISABLE_STATE(ANTI_WINDUP);
            }
        } else {
            pidResetITerm();
        }
    } else {
        DISABLE_STATE(ANTI_WINDUP);
    }

    // When armed and motors aren't spinning, do beeps and then disarm
    // board after delay so users without buzzer won't lose fingers.
    // mixTable constrains motor commands, so checking  throttleStatus is enough
    if (ARMING_FLAG(ARMED)
        && feature(FEATURE_MOTOR_STOP)
        && !STATE(FIXED_WING)
    ) {
        if (isUsingSticksForArming()) {
            if (throttleStatus == THROTTLE_LOW) {
                if (armingConfig()->auto_disarm_delay != 0
                    && (int32_t)(disarmAt - millis()) < 0
                ) {
                    // auto-disarm configured and delay is over
                    mwDisarm();
                    armedBeeperOn = false;
                } else {
                    // still armed; do warning beeps while armed
                    beeper(BEEPER_ARMED);
                    armedBeeperOn = true;
                }
            } else {
                // throttle is not low
                if (armingConfig()->auto_disarm_delay != 0) {
                    // extend disarm time
                    disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000;
                }

                if (armedBeeperOn) {
                    beeperSilence();
                    armedBeeperOn = false;
                }
            }
        } else {
            // arming is via AUX switch; beep while throttle low
            if (throttleStatus == THROTTLE_LOW) {
                beeper(BEEPER_ARMED);
                armedBeeperOn = true;
            } else if (armedBeeperOn) {
                beeperSilence();
                armedBeeperOn = false;
            }
        }
    }

    processRcStickPositions(rxConfig(), throttleStatus, armingConfig()->retarded_arm, armingConfig()->disarm_kill_switch);

    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
        updateInflightCalibrationState();
    }

    rcModeUpdateActivated(modeActivationProfile()->modeActivationConditions);

    if (!cliMode) {
        updateAdjustmentStates(adjustmentProfile()->adjustmentRanges);
        processRcAdjustments(currentControlRateProfile, rxConfig());
    }

    bool canUseHorizonMode = true;

    if ((rcModeIsActive(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
        // bumpless transfer to Level mode
        canUseHorizonMode = false;

        if (!FLIGHT_MODE(ANGLE_MODE)) {
            ENABLE_FLIGHT_MODE(ANGLE_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
    }

    if (rcModeIsActive(BOXHORIZON) && canUseHorizonMode) {

        DISABLE_FLIGHT_MODE(ANGLE_MODE);

        if (!FLIGHT_MODE(HORIZON_MODE)) {
            ENABLE_FLIGHT_MODE(HORIZON_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(HORIZON_MODE);
    }

    if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
        LED1_ON;
    } else {
        LED1_OFF;
    }

#ifdef  MAG
    if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
        if (rcModeIsActive(BOXMAG)) {
            if (!FLIGHT_MODE(MAG_MODE)) {
                ENABLE_FLIGHT_MODE(MAG_MODE);
                magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
            }
        } else {
            DISABLE_FLIGHT_MODE(MAG_MODE);
        }
        if (rcModeIsActive(BOXHEADFREE)) {
            if (!FLIGHT_MODE(HEADFREE_MODE)) {
                ENABLE_FLIGHT_MODE(HEADFREE_MODE);
            }
        } else {
            DISABLE_FLIGHT_MODE(HEADFREE_MODE);
        }
        if (rcModeIsActive(BOXHEADADJ)) {
            headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // acquire new heading
        }
    }
#endif

#ifdef GPS
    if (sensors(SENSOR_GPS)) {
        updateGpsWaypointsAndMode();
    }
#endif

    if (rcModeIsActive(BOXPASSTHRU)) {
        ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
    } else {
        DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
    }

    if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
        DISABLE_FLIGHT_MODE(HEADFREE_MODE);
    }

#ifdef TELEMETRY
    if (feature(FEATURE_TELEMETRY)) {
        if ((!telemetryConfig()->telemetry_switch && ARMING_FLAG(ARMED))
            || (telemetryConfig()->telemetry_switch && rcModeIsActive(BOXTELEMETRY))) {
            releaseSharedTelemetryPorts();
        } else {
            // the telemetry state must be checked immediately so that shared serial ports are released.
            bool telemetryStateChanged = telemetryCheckState();

            if (telemetryStateChanged) {
                mspSerialAllocatePorts();
            }
        }
    }
#endif

#ifdef VTX
    if (canUpdateVTX()) {
        updateVTXState();
    }
#endif
}
Exemple #7
0
void processRx(void)
{
    calculateRxChannelsAndUpdateFailsafe(currentTime);

    // in 3D mode, we need to be able to disarm by switch at any time
    if (feature(FEATURE_3D)) {
        if (!rcOptions[BOXARM])
            mwDisarm();
    }

    updateRSSI(currentTime);

    if (feature(FEATURE_FAILSAFE)) {

        if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafe->vTable->isEnabled()) {
            failsafe->vTable->enable();
        }

        failsafe->vTable->updateState();
    }

    throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);

    if (throttleStatus == THROTTLE_LOW) {
        resetErrorAngle();
        resetErrorGyro();
    }

    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile->activate, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);

    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
        updateInflightCalibrationState();
    }

    updateRcOptions(currentProfile->activate);

    bool canUseHorizonMode = true;

    if ((rcOptions[BOXANGLE] || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
        // bumpless transfer to Level mode
    	canUseHorizonMode = false;

        if (!FLIGHT_MODE(ANGLE_MODE)) {
            resetErrorAngle();
            ENABLE_FLIGHT_MODE(ANGLE_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
    }

	if (rcOptions[BOXHORIZON] && canUseHorizonMode) {

		DISABLE_FLIGHT_MODE(ANGLE_MODE);

		if (!FLIGHT_MODE(HORIZON_MODE)) {
			resetErrorAngle();
			ENABLE_FLIGHT_MODE(HORIZON_MODE);
		}
	} else {
		DISABLE_FLIGHT_MODE(HORIZON_MODE);
	}

    if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
        LED1_ON;
    } else {
        LED1_OFF;
    }

#ifdef  MAG
    if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
        if (rcOptions[BOXMAG]) {
            if (!FLIGHT_MODE(MAG_MODE)) {
                ENABLE_FLIGHT_MODE(MAG_MODE);
                magHold = heading;
            }
        } else {
            DISABLE_FLIGHT_MODE(MAG_MODE);
        }
        if (rcOptions[BOXHEADFREE]) {
            if (!FLIGHT_MODE(HEADFREE_MODE)) {
                ENABLE_FLIGHT_MODE(HEADFREE_MODE);
            }
        } else {
            DISABLE_FLIGHT_MODE(HEADFREE_MODE);
        }
        if (rcOptions[BOXHEADADJ]) {
            headFreeModeHold = heading; // acquire new heading
        }
    }
#endif

#ifdef GPS
    if (sensors(SENSOR_GPS)) {
        updateGpsWaypointsAndMode();
    }
#endif

    if (rcOptions[BOXPASSTHRU]) {
        ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
    } else {
        DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
    }

    if (masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING || masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE) {
        DISABLE_FLIGHT_MODE(HEADFREE_MODE);
    }
}
Exemple #8
0
/*
 * processRx called from taskUpdateRxMain
 */
bool processRx(timeUs_t currentTimeUs)
{
    static bool armedBeeperOn = false;

    if (!calculateRxChannelsAndUpdateFailsafe(currentTimeUs)) {
        return false;
    }

    // in 3D mode, we need to be able to disarm by switch at any time
    if (feature(FEATURE_3D)) {
        if (!IS_RC_MODE_ACTIVE(BOXARM))
            disarm();
    }

    updateRSSI(currentTimeUs);

    if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
        failsafeStartMonitoring();
    }
    failsafeUpdateState();

    const throttleStatus_e throttleStatus = calculateThrottleStatus();
    const uint8_t throttlePercent = calculateThrottlePercent();

    if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
        if (throttlePercent >= rxConfig()->airModeActivateThreshold) {
            airmodeIsActivated = true; // Prevent Iterm from being reset
        }
    } else {
        airmodeIsActivated = false;
    }

    /* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
     This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
    if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
        pidResetITerm();
        if (currentPidProfile->pidAtMinThrottle)
            pidStabilisationState(PID_STABILISATION_ON);
        else
            pidStabilisationState(PID_STABILISATION_OFF);
    } else {
        pidStabilisationState(PID_STABILISATION_ON);
    }

#ifdef USE_RUNAWAY_TAKEOFF
    // If runaway_takeoff_prevention is enabled, accumulate the amount of time that throttle
    // is above runaway_takeoff_deactivate_throttle with the any of the R/P/Y sticks deflected
    // to at least runaway_takeoff_stick_percent percent while the pidSum on all axis is kept low.
    // Once the amount of accumulated time exceeds runaway_takeoff_deactivate_delay then disable
    // prevention for the remainder of the battery.

    if (ARMING_FLAG(ARMED)
        && pidConfig()->runaway_takeoff_prevention
        && !runawayTakeoffCheckDisabled
        && !flipOverAfterCrashMode
        && !runawayTakeoffTemporarilyDisabled
        && !STATE(FIXED_WING)) {

        // Determine if we're in "flight"
        //   - motors running
        //   - throttle over runaway_takeoff_deactivate_throttle_percent
        //   - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent
        //   - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
        bool inStableFlight = false;
        if (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
            const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
            const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
            if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))
                && (fabsf(pidData[FD_PITCH].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
                && (fabsf(pidData[FD_ROLL].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
                && (fabsf(pidData[FD_YAW].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)) {

                inStableFlight = true;
                if (runawayTakeoffDeactivateUs == 0) {
                    runawayTakeoffDeactivateUs = currentTimeUs;
                }
            }
        }

        // If we're in flight, then accumulate the time and deactivate once it exceeds runaway_takeoff_deactivate_delay milliseconds
        if (inStableFlight) {
            if (runawayTakeoffDeactivateUs == 0) {
                runawayTakeoffDeactivateUs = currentTimeUs;
            }
            uint16_t deactivateDelay = pidConfig()->runaway_takeoff_deactivate_delay;
            // at high throttle levels reduce deactivation delay by 50%
            if (throttlePercent >= RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT) {
                deactivateDelay = deactivateDelay / 2;
            }
            if ((cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) > deactivateDelay * 1000) {
                runawayTakeoffCheckDisabled = true;
            }

        } else {
            if (runawayTakeoffDeactivateUs != 0) {
                runawayTakeoffAccumulatedUs += cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs);
            }
            runawayTakeoffDeactivateUs = 0;
        }
        if (runawayTakeoffDeactivateUs == 0) {
            DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
            DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, runawayTakeoffAccumulatedUs / 1000);
        } else {
            DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_TRUE);
            DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, (cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) / 1000);
        }
    } else {
        DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
        DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, DEBUG_RUNAWAY_TAKEOFF_FALSE);
    }
#endif

    // When armed and motors aren't spinning, do beeps and then disarm
    // board after delay so users without buzzer won't lose fingers.
    // mixTable constrains motor commands, so checking  throttleStatus is enough
    if (ARMING_FLAG(ARMED)
        && feature(FEATURE_MOTOR_STOP)
        && !STATE(FIXED_WING)
        && !feature(FEATURE_3D)
        && !isAirmodeActive()
    ) {
        if (isUsingSticksForArming()) {
            if (throttleStatus == THROTTLE_LOW) {
                if (armingConfig()->auto_disarm_delay != 0
                    && (int32_t)(disarmAt - millis()) < 0
                ) {
                    // auto-disarm configured and delay is over
                    disarm();
                    armedBeeperOn = false;
                } else {
                    // still armed; do warning beeps while armed
                    beeper(BEEPER_ARMED);
                    armedBeeperOn = true;
                }
            } else {
                // throttle is not low
                if (armingConfig()->auto_disarm_delay != 0) {
                    // extend disarm time
                    disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000;
                }

                if (armedBeeperOn) {
                    beeperSilence();
                    armedBeeperOn = false;
                }
            }
        } else {
            // arming is via AUX switch; beep while throttle low
            if (throttleStatus == THROTTLE_LOW) {
                beeper(BEEPER_ARMED);
                armedBeeperOn = true;
            } else if (armedBeeperOn) {
                beeperSilence();
                armedBeeperOn = false;
            }
        }
    }

    processRcStickPositions();

    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
        updateInflightCalibrationState();
    }

    updateActivatedModes();

#ifdef USE_DSHOT
    /* Enable beep warning when the crash flip mode is active */
    if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
        beeper(BEEPER_CRASH_FLIP_MODE);
    }
#endif

    if (!cliMode) {
        updateAdjustmentStates();
        processRcAdjustments(currentControlRateProfile);
    }

    bool canUseHorizonMode = true;

    if ((IS_RC_MODE_ACTIVE(BOXANGLE) || failsafeIsActive()) && (sensors(SENSOR_ACC))) {
        // bumpless transfer to Level mode
        canUseHorizonMode = false;

        if (!FLIGHT_MODE(ANGLE_MODE)) {
            ENABLE_FLIGHT_MODE(ANGLE_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
    }

    if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {

        DISABLE_FLIGHT_MODE(ANGLE_MODE);

        if (!FLIGHT_MODE(HORIZON_MODE)) {
            ENABLE_FLIGHT_MODE(HORIZON_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(HORIZON_MODE);
    }

#ifdef USE_GPS_RESCUE
    if (IS_RC_MODE_ACTIVE(BOXGPSRESCUE) || (failsafeIsActive() && failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE)) {
        if (!FLIGHT_MODE(GPS_RESCUE_MODE)) {
            ENABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
    }
#endif

    if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
        LED1_ON;
        // increase frequency of attitude task to reduce drift when in angle or horizon mode
        rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(500));
    } else {
        LED1_OFF;
        rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(100));
    }

    if (!IS_RC_MODE_ACTIVE(BOXPREARM) && ARMING_FLAG(WAS_ARMED_WITH_PREARM)) {
        DISABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
    }

#if defined(USE_ACC) || defined(USE_MAG)
    if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
#if defined(USE_GPS) || defined(USE_MAG)
        if (IS_RC_MODE_ACTIVE(BOXMAG)) {
            if (!FLIGHT_MODE(MAG_MODE)) {
                ENABLE_FLIGHT_MODE(MAG_MODE);
                magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
            }
        } else {
            DISABLE_FLIGHT_MODE(MAG_MODE);
        }
#endif
        if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
            if (!FLIGHT_MODE(HEADFREE_MODE)) {
                ENABLE_FLIGHT_MODE(HEADFREE_MODE);
            }
        } else {
            DISABLE_FLIGHT_MODE(HEADFREE_MODE);
        }
        if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
            if (imuQuaternionHeadfreeOffsetSet()){
               beeper(BEEPER_RX_SET);
            }
        }
    }
#endif

    if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
        ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
    } else {
        DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
    }

    if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
        DISABLE_FLIGHT_MODE(HEADFREE_MODE);
    }

#ifdef USE_TELEMETRY
    static bool sharedPortTelemetryEnabled = false;

    if (feature(FEATURE_TELEMETRY)) {
        bool enableSharedPortTelemetry = (!isModeActivationConditionPresent(BOXTELEMETRY) && ARMING_FLAG(ARMED)) || (isModeActivationConditionPresent(BOXTELEMETRY) && IS_RC_MODE_ACTIVE(BOXTELEMETRY));
        if (enableSharedPortTelemetry && !sharedPortTelemetryEnabled) {
            mspSerialReleaseSharedTelemetryPorts();
            telemetryCheckState();

            sharedPortTelemetryEnabled = true;
        } else if (!enableSharedPortTelemetry && sharedPortTelemetryEnabled) {
            // the telemetry state must be checked immediately so that shared serial ports are released.
            telemetryCheckState();
            mspSerialAllocatePorts();

            sharedPortTelemetryEnabled = false;
        }
    }
#endif

#ifdef USE_VTX_CONTROL
    vtxUpdateActivatedChannel();

    if (canUpdateVTX()) {
        handleVTXControlButton();
    }
#endif

#ifdef USE_ACRO_TRAINER
    pidSetAcroTrainerState(IS_RC_MODE_ACTIVE(BOXACROTRAINER) && sensors(SENSOR_ACC));
#endif // USE_ACRO_TRAINER

#ifdef USE_RC_SMOOTHING_FILTER
    if (ARMING_FLAG(ARMED) && !rcSmoothingInitializationComplete()) {
        beeper(BEEPER_RC_SMOOTHING_INIT_FAIL);
    }
#endif

    pidSetAntiGravityState(IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || feature(FEATURE_ANTI_GRAVITY));
    
    return true;
}