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_YAW_P                    = 9,
  38     ADJUSTMENT_YAW_I                    = 10,
  39     ADJUSTMENT_YAW_D                    = 11,
  40     ADJUSTMENT_RATE_PROFILE             = 12,    // Unused, placeholder for compatibility
  41     ADJUSTMENT_PITCH_RATE               = 13,
  42     ADJUSTMENT_ROLL_RATE                = 14,
  43     ADJUSTMENT_PITCH_P                  = 15,
  44     ADJUSTMENT_PITCH_I                  = 16,
  45     ADJUSTMENT_PITCH_D                  = 17,
  46     ADJUSTMENT_ROLL_P                   = 18,
  47     ADJUSTMENT_ROLL_I                   = 19,
  48     ADJUSTMENT_ROLL_D                   = 20,
  49     ADJUSTMENT_RC_YAW_EXPO              = 21,
  50     ADJUSTMENT_MANUAL_RC_EXPO           = 22,
  51     ADJUSTMENT_MANUAL_RC_YAW_EXPO       = 23,
  52     ADJUSTMENT_MANUAL_PITCH_ROLL_RATE   = 24,
  53     ADJUSTMENT_MANUAL_ROLL_RATE         = 25,
  54     ADJUSTMENT_MANUAL_PITCH_RATE        = 26,
  55     ADJUSTMENT_MANUAL_YAW_RATE          = 27,
  56     ADJUSTMENT_NAV_FW_CRUISE_THR        = 28,
  57     ADJUSTMENT_NAV_FW_PITCH2THR         = 29,
  58     ADJUSTMENT_ROLL_BOARD_ALIGNMENT     = 30,
  59     ADJUSTMENT_PITCH_BOARD_ALIGNMENT    = 31,
  60     ADJUSTMENT_LEVEL_P                  = 32,
  61     ADJUSTMENT_LEVEL_I                  = 33,
  62     ADJUSTMENT_LEVEL_D                  = 34,
  63     ADJUSTMENT_POS_XY_P                 = 35,
  64     ADJUSTMENT_POS_XY_I                 = 36,
  65     ADJUSTMENT_POS_XY_D                 = 37,
  66     ADJUSTMENT_POS_Z_P                  = 38,
  67     ADJUSTMENT_POS_Z_I                  = 39,
  68     ADJUSTMENT_POS_Z_D                  = 40,
  69     ADJUSTMENT_HEADING_P                = 41,
  70     ADJUSTMENT_VEL_XY_P                 = 42,
  71     ADJUSTMENT_VEL_XY_I                 = 43,
  72     ADJUSTMENT_VEL_XY_D                 = 44,
  73     ADJUSTMENT_VEL_Z_P                  = 45,
  74     ADJUSTMENT_VEL_Z_I                  = 46,
  75     ADJUSTMENT_VEL_Z_D                  = 47,
  76     ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE = 48,
  77     ADJUSTMENT_VTX_POWER_LEVEL = 49,
  78 #ifdef USE_INFLIGHT_PROFILE_ADJUSTMENT
  79     ADJUSTMENT_PROFILE                  = 50,
  80 #endif
  81     ADJUSTMENT_FUNCTION_COUNT // must be last
  82 } adjustmentFunction_e;
  83
  84 typedef enum {
  85     ADJUSTMENT_MODE_STEP,
  86     ADJUSTMENT_MODE_SELECT
  87 } adjustmentMode_e;
  88
  89 typedef struct adjustmentStepConfig_s {
  90     uint8_t step;
  91 } adjustmentStepConfig_t;
  92
  93 typedef struct adjustmentSelectConfig_s {
  94     uint8_t switchPositions;
  95 } adjustmentSelectConfig_t;
  96
  97 typedef union adjustmentConfig_u {
  98     adjustmentStepConfig_t stepConfig;
  99     adjustmentSelectConfig_t selectConfig;
 100 } adjustmentData_t;
 101
 102 typedef struct adjustmentConfig_s {
 103     uint8_t adjustmentFunction;
 104     uint8_t mode;
 105     adjustmentData_t data;
 106 } adjustmentConfig_t;
 107
 108 typedef struct adjustmentRange_s {
 109     // when aux channel is in range...
 110     channelRange_t range;
 111     uint8_t auxChannelIndex;
 112
 113     // ..then apply the adjustment function to the auxSwitchChannel ...
 114     uint8_t adjustmentFunction;
 115     uint8_t auxSwitchChannelIndex;
 116
 117     // ... via slot
 118     uint8_t adjustmentIndex;
 119 } adjustmentRange_t;
 120
 121 #define ADJUSTMENT_INDEX_OFFSET 1
 122
 123 typedef struct adjustmentState_s {
 124     const adjustmentConfig_t *config;
 125     uint32_t timeoutAt;
 126     uint8_t auxChannelIndex;
 127 } adjustmentState_t;
 128
 129
 130 #ifndef MAX_SIMULTANEOUS_ADJUSTMENT_COUNT
 131 #define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel
 132 #endif
 133
 134 #define MAX_ADJUSTMENT_RANGE_COUNT 12 // enough for 2 * 6pos switches.
 135
 136 PG_DECLARE_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges);
 137
 138 void resetAdjustmentStates(void);
 139 void updateAdjustmentStates(bool canUseRxData);
 140 struct controlRateConfig_s;
 141 void processRcAdjustments(struct controlRateConfig_s *controlRateConfig, bool canUseRxData);
 142 bool isAdjustmentFunctionSelected(uint8_t adjustmentFunction);