src/main/fc/rc_adjustments.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "config/parameter_group.h"
  21
  22 #include "fc/rc_controls.h"
  23 #include "fc/rc_modes.h"
  24
  25 //#define USE_INFLIGHT_PROFILE_ADJUSTMENT - not currently enabled
  26
  27 typedef enum {
  28     ADJUSTMENT_NONE                             = 0,
  29     ADJUSTMENT_RC_RATE                          = 1,
  30     ADJUSTMENT_RC_EXPO                          = 2,
  31     ADJUSTMENT_THROTTLE_EXPO                    = 3,
  32     ADJUSTMENT_PITCH_ROLL_RATE                  = 4,
  33     ADJUSTMENT_YAW_RATE                         = 5,
  34     ADJUSTMENT_PITCH_ROLL_P                     = 6,
  35     ADJUSTMENT_PITCH_ROLL_I                     = 7,
  36     ADJUSTMENT_PITCH_ROLL_D                     = 8,
  37     ADJUSTMENT_PITCH_ROLL_FF                    = 9,
  38     ADJUSTMENT_PITCH_P                          = 10,
  39     ADJUSTMENT_PITCH_I                          = 11,
  40     ADJUSTMENT_PITCH_D                          = 12,
  41     ADJUSTMENT_PITCH_FF                         = 13,
  42     ADJUSTMENT_ROLL_P                           = 14,
  43     ADJUSTMENT_ROLL_I                           = 15,
  44     ADJUSTMENT_ROLL_D                           = 16,
  45     ADJUSTMENT_ROLL_FF                          = 17,
  46     ADJUSTMENT_YAW_P                            = 18,
  47     ADJUSTMENT_YAW_I                            = 19,
  48     ADJUSTMENT_YAW_D                            = 20,
  49     ADJUSTMENT_YAW_FF                           = 21,
  50     ADJUSTMENT_RATE_PROFILE                     = 22, // Unused, placeholder for compatibility
  51     ADJUSTMENT_PITCH_RATE                       = 23,
  52     ADJUSTMENT_ROLL_RATE                        = 24,
  53     ADJUSTMENT_RC_YAW_EXPO                      = 25,
  54     ADJUSTMENT_MANUAL_RC_EXPO                   = 26,
  55     ADJUSTMENT_MANUAL_RC_YAW_EXPO               = 27,
  56     ADJUSTMENT_MANUAL_PITCH_ROLL_RATE           = 28,
  57     ADJUSTMENT_MANUAL_ROLL_RATE                 = 29,
  58     ADJUSTMENT_MANUAL_PITCH_RATE                = 30,
  59     ADJUSTMENT_MANUAL_YAW_RATE                  = 31,
  60     ADJUSTMENT_NAV_FW_CRUISE_THR                = 32,
  61     ADJUSTMENT_NAV_FW_PITCH2THR                 = 33,
  62     ADJUSTMENT_ROLL_BOARD_ALIGNMENT             = 34,
  63     ADJUSTMENT_PITCH_BOARD_ALIGNMENT            = 35,
  64     ADJUSTMENT_LEVEL_P                          = 36,
  65     ADJUSTMENT_LEVEL_I                          = 37,
  66     ADJUSTMENT_LEVEL_D                          = 38,
  67     ADJUSTMENT_POS_XY_P                         = 39,
  68     ADJUSTMENT_POS_XY_I                         = 40,
  69     ADJUSTMENT_POS_XY_D                         = 41,
  70     ADJUSTMENT_POS_Z_P                          = 42,
  71     ADJUSTMENT_POS_Z_I                          = 43,
  72     ADJUSTMENT_POS_Z_D                          = 44,
  73     ADJUSTMENT_HEADING_P                        = 45,
  74     ADJUSTMENT_VEL_XY_P                         = 46,
  75     ADJUSTMENT_VEL_XY_I                         = 47,
  76     ADJUSTMENT_VEL_XY_D                         = 48,
  77     ADJUSTMENT_VEL_Z_P                          = 49,
  78     ADJUSTMENT_VEL_Z_I                          = 50,
  79     ADJUSTMENT_VEL_Z_D                          = 51,
  80     ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE = 52,
  81     ADJUSTMENT_VTX_POWER_LEVEL                  = 53,
  82     ADJUSTMENT_TPA                              = 54,
  83     ADJUSTMENT_TPA_BREAKPOINT                   = 55,
  84     ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS        = 56,
  85     ADJUSTMENT_FW_TPA_TIME_CONSTANT             = 57,
  86     ADJUSTMENT_FW_LEVEL_TRIM                    = 58,
  87     ADJUSTMENT_NAV_WP_MULTI_MISSION_INDEX       = 59,
  88     ADJUSTMENT_FUNCTION_COUNT // must be last
  89 } adjustmentFunction_e;
  90
  91 typedef enum {
  92     ADJUSTMENT_MODE_STEP,
  93     ADJUSTMENT_MODE_SELECT
  94 } adjustmentMode_e;
  95
  96 typedef struct adjustmentStepConfig_s {
  97     uint8_t step;
  98 } adjustmentStepConfig_t;
  99
 100 typedef struct adjustmentSelectConfig_s {
 101     uint8_t switchPositions;
 102 } adjustmentSelectConfig_t;
 103
 104 typedef union adjustmentConfig_u {
 105     adjustmentStepConfig_t stepConfig;
 106     adjustmentSelectConfig_t selectConfig;
 107 } adjustmentData_t;
 108
 109 typedef struct adjustmentConfig_s {
 110     uint8_t adjustmentFunction;
 111     uint8_t mode;
 112     adjustmentData_t data;
 113 } adjustmentConfig_t;
 114
 115 typedef struct adjustmentRange_s {
 116     // when aux channel is in range...
 117     channelRange_t range;
 118     uint8_t auxChannelIndex;
 119
 120     // ..then apply the adjustment function to the auxSwitchChannel ...
 121     uint8_t adjustmentFunction;
 122     uint8_t auxSwitchChannelIndex;
 123
 124     // ... via slot
 125     uint8_t adjustmentIndex;
 126 } adjustmentRange_t;
 127
 128 #define ADJUSTMENT_INDEX_OFFSET 1
 129
 130 typedef struct adjustmentState_s {
 131     const adjustmentConfig_t *config;
 132     uint32_t timeoutAt;
 133     uint8_t auxChannelIndex;
 134 } adjustmentState_t;
 135
 136
 137 #ifndef MAX_SIMULTANEOUS_ADJUSTMENT_COUNT
 138 #define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel
 139 #endif
 140
 141 #define MAX_ADJUSTMENT_RANGE_COUNT 20 // enough for 2 * 6pos switches.
 142
 143 PG_DECLARE_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges);
 144
 145 void resetAdjustmentStates(void);
 146 void updateAdjustmentStates(bool canUseRxData);
 147 struct controlRateConfig_s;
 148 void processRcAdjustments(struct controlRateConfig_s *controlRateConfig, bool canUseRxData);
 149 bool isAdjustmentFunctionSelected(uint8_t adjustmentFunction);
 150 uint8_t getActiveAdjustmentFunctions(uint8_t *adjustmentFunctions);