static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs) { static uint16_t rcThrottlePrevious = 0; // Store the last throttle direction for deadband transitions static timeUs_t reversalTimeUs = 0; // time when motors last reversed in 3D mode float currentThrottleInputRange = 0; if (feature(FEATURE_3D)) { if (!ARMING_FLAG(ARMED)) { rcThrottlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming. } if (rcCommand[THROTTLE] <= rcCommand3dDeadBandLow) { // INVERTED motorRangeMin = motorOutputLow; motorRangeMax = deadbandMotor3dLow; if (isMotorProtocolDshot()) { motorOutputMin = motorOutputLow; motorOutputRange = deadbandMotor3dLow - motorOutputLow; } else { motorOutputMin = deadbandMotor3dLow; motorOutputRange = motorOutputLow - deadbandMotor3dLow; } if (motorOutputMixSign != -1) { reversalTimeUs = currentTimeUs; } motorOutputMixSign = -1; rcThrottlePrevious = rcCommand[THROTTLE]; throttle = rcCommand3dDeadBandLow - rcCommand[THROTTLE]; currentThrottleInputRange = rcCommandThrottleRange3dLow; } else if (rcCommand[THROTTLE] >= rcCommand3dDeadBandHigh) { // NORMAL motorRangeMin = deadbandMotor3dHigh; motorRangeMax = motorOutputHigh; motorOutputMin = deadbandMotor3dHigh; motorOutputRange = motorOutputHigh - deadbandMotor3dHigh; if (motorOutputMixSign != 1) { reversalTimeUs = currentTimeUs; } motorOutputMixSign = 1; rcThrottlePrevious = rcCommand[THROTTLE]; throttle = rcCommand[THROTTLE] - rcCommand3dDeadBandHigh; currentThrottleInputRange = rcCommandThrottleRange3dHigh; } else if ((rcThrottlePrevious <= rcCommand3dDeadBandLow && !flight3DConfigMutable()->switched_mode3d) || isMotorsReversed()) { // INVERTED_TO_DEADBAND motorRangeMin = motorOutputLow; motorRangeMax = deadbandMotor3dLow; if (isMotorProtocolDshot()) { motorOutputMin = motorOutputLow; motorOutputRange = deadbandMotor3dLow - motorOutputLow; } else { motorOutputMin = deadbandMotor3dLow; motorOutputRange = motorOutputLow - deadbandMotor3dLow; } if (motorOutputMixSign != -1) { reversalTimeUs = currentTimeUs; } motorOutputMixSign = -1; throttle = 0; currentThrottleInputRange = rcCommandThrottleRange3dLow; } else { // NORMAL_TO_DEADBAND motorRangeMin = deadbandMotor3dHigh; motorRangeMax = motorOutputHigh; motorOutputMin = deadbandMotor3dHigh; motorOutputRange = motorOutputHigh - deadbandMotor3dHigh; if (motorOutputMixSign != 1) { reversalTimeUs = currentTimeUs; } motorOutputMixSign = 1; throttle = 0; currentThrottleInputRange = rcCommandThrottleRange3dHigh; } if (currentTimeUs - reversalTimeUs < 250000) { // keep ITerm zero for 250ms after motor reversal pidResetITerm(); } } else { throttle = rcCommand[THROTTLE] - rxConfig()->mincheck + throttleAngleCorrection; currentThrottleInputRange = rcCommandThrottleRange; motorRangeMin = motorOutputLow; motorRangeMax = motorOutputHigh; motorOutputMin = motorOutputLow; motorOutputRange = motorOutputHigh - motorOutputLow; motorOutputMixSign = 1; } throttle = constrainf(throttle / currentThrottleInputRange, 0.0f, 1.0f); }
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 }
/* * 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; }