Added RC reverse and deadzones

pryre · May 17, 2018 · 4161458 · 4161458
1 parent 76b94cd
commit 4161458
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Showing 7 changed files with 335 additions and 23 deletions.
diff --git a/include/sensors.h b/include/sensors.h
@@ -15,6 +15,8 @@
 #define SENSOR_RC_CAL_MID 1
 #define SENSOR_RC_CAL_MAX 2
 
+#define SENSOR_RC_MIDSTICK 1500
+
 //XXX: Defined in MAV_CMD_PREFLIGHT_CALIBRATION
 //Param1
 #define SENSOR_CAL_CMD_GYRO 1
@@ -183,7 +185,7 @@ typedef enum {
 	SENSOR_CAL_GYRO = 1,
 	SENSOR_CAL_MAG = 2,
 	SENSOR_CAL_BARO = 4,
-	SENSOR_CAL_RC = 8,		//Calibrate ESCs?
+	SENSOR_CAL_RC = 8,
 	SENSOR_CAL_ACCEL = 16,
 	SENSOR_CAL_INTER = 32,	//TODO: Implement this
 	SENSOR_CAL_ALL = 128
@@ -192,15 +194,16 @@ typedef enum {
 typedef enum {
 	SENSOR_CAL_RC_RANGE_INIT = 0,
 	SENSOR_CAL_RC_RANGE_MIDDOWN,
+	SENSOR_CAL_RC_RANGE_CORNERS,
 	SENSOR_CAL_RC_RANGE_EXTREMES,
 	SENSOR_CAL_RC_RANGE_DONE
 } sensor_calibration_rc_range_t;
 
 typedef struct {
 	bool waiting;
 	sensor_calibration_rc_range_t step;
-	uint16_t rc_ranges[8][3];
-	bool rc_rev[8];	//TODO: reverses, RC mode type
+	uint16_t rc_ranges[8][4];
+	bool rc_rev[8];
 } sensor_calibration_rc_range_data_t;
 
 typedef struct {

diff --git a/lib/param_generator/PARAMS.md b/lib/param_generator/PARAMS.md
@@ -121,27 +121,43 @@ COM_RC_ARM_HYST | uint | Time threshold to activate RC arming | 1000000 | us | s
 RC1_MIN | uint | RC minimum value for channel 1 calibration | 1000 | channel | scalar | False
 RC1_TRIM | uint | RC median value for channel 1 calibration | 1500 | channel | scalar | False
 RC1_MAX | uint | RC max value for channel 1 calibration | 2000 | channel | scalar | False
+RC1_REV | uint | RC reverse reading channel 1 calibration | 0 | 0 / 1 | boolean | False
+RC1_DZ | float | RC deadzone for channel 1 | 0.02 |  | scalar | False
 RC2_MIN | uint | RC minimum value for channel 2 calibration | 1000 | channel | scalar | False
 RC2_TRIM | uint | RC median value for channel 2 calibration | 1500 | channel | scalar | False
 RC2_MAX | uint | RC max value for channel 2 calibration | 2000 | channel | scalar | False
+RC2_REV | uint | RC reverse reading channel 2 calibration | 0 | 0 / 1 | boolean | False
+RC2_DZ | float | RC deadzone for channel 2 | 0.02 |  | scalar | False
 RC3_MIN | uint | RC minimum value for channel 3 calibration | 1000 | channel | scalar | False
 RC3_TRIM | uint | RC median value for channel 3 calibration | 1500 | channel | scalar | False
 RC3_MAX | uint | RC max value for channel 3 calibration | 2000 | channel | scalar | False
+RC3_REV | uint | RC reverse reading channel 3 calibration | 0 | 0 / 1 | boolean | False
+RC3_DZ | float | RC deadzone for channel 3 | 0.02 |  | scalar | False
 RC4_MIN | uint | RC minimum value for channel 4 calibration | 1000 | channel | scalar | False
 RC4_TRIM | uint | RC median value for channel 4 calibration | 1500 | channel | scalar | False
 RC4_MAX | uint | RC max value for channel 4 calibration | 2000 | channel | scalar | False
+RC4_REV | uint | RC reverse reading channel 4 calibration | 0 | 0 / 1 | boolean | False
+RC4_DZ | float | RC deadzone for channel 4 | 0.02 |  | scalar | False
 RC5_MIN | uint | RC minimum value for channel 5 calibration | 1000 | channel | scalar | False
 RC5_TRIM | uint | RC median value for channel 5 calibration | 1500 | channel | scalar | False
 RC5_MAX | uint | RC max value for channel 5 calibration | 2000 | channel | scalar | False
+RC5_REV | uint | RC reverse reading channel 5 calibration | 0 | 0 / 1 | boolean | False
+RC5_DZ | float | RC deadzone for channel 5 | 0.02 |  | scalar | False
 RC6_MIN | uint | RC minimum value for channel 6 calibration | 1000 | channel | scalar | False
 RC6_TRIM | uint | RC median value for channel 6 calibration | 1500 | channel | scalar | False
 RC6_MAX | uint | RC max value for channel 6 calibration | 2000 | channel | scalar | False
+RC6_REV | uint | RC reverse reading channel 6 calibration | 0 | 0 / 1 | boolean | False
+RC6_DZ | float | RC deadzone for channel 6 | 0.02 |  | scalar | False
 RC7_MIN | uint | RC minimum value for channel 7 calibration | 1000 | channel | scalar | False
 RC7_TRIM | uint | RC median value for channel 7 calibration | 1500 | channel | scalar | False
 RC7_MAX | uint | RC max value for channel 7 calibration | 2000 | channel | scalar | False
+RC7_REV | uint | RC reverse reading channel 7 calibration | 0 | 0 / 1 | boolean | False
+RC7_DZ | float | RC deadzone for channel 7 | 0.02 |  | scalar | False
 RC8_MIN | uint | RC minimum value for channel 8 calibration | 1000 | channel | scalar | False
 RC8_TRIM | uint | RC median value for channel 8 calibration | 1500 | channel | scalar | False
 RC8_MAX | uint | RC max value for channel 8 calibration | 2000 | channel | scalar | False
+RC8_REV | uint | RC reverse reading channel 8 calibration | 0 | 0 / 1 | boolean | False
+RC8_DZ | float | RC deadzone for channel 8 | 0.02 |  | scalar | False
 DO_ESC_CAL | uint | When set to true, a motor calibration will be performed on the next boot (False:0,True:1) | 0 | 0 / 1 | boolean | True
 FAILSAFE_THRTL | float | Throttle percentage output when in failsafe mode | 0.25 |  | scalar | False
 TIMEOUT_THRTL | uint | Throttle timeout in to prevent accidentally leaving armed | 10000000 | us | scalar | False

diff --git a/lib/param_generator/param_gen.c b/lib/param_generator/param_gen.c
@@ -127,27 +127,43 @@ void set_param_defaults(void) {
 	init_param_uint(PARAM_RC1_MIN, 1000);
 	init_param_uint(PARAM_RC1_MID, 1500);
 	init_param_uint(PARAM_RC1_MAX, 2000);
+	init_param_uint(PARAM_RC1_REV, 0);
+	init_param_fix16(PARAM_RC1_DZ, fix16_from_float(0.02f));
 	init_param_uint(PARAM_RC2_MIN, 1000);
 	init_param_uint(PARAM_RC2_MID, 1500);
 	init_param_uint(PARAM_RC2_MAX, 2000);
+	init_param_uint(PARAM_RC2_REV, 0);
+	init_param_fix16(PARAM_RC2_DZ, fix16_from_float(0.02f));
 	init_param_uint(PARAM_RC3_MIN, 1000);
 	init_param_uint(PARAM_RC3_MID, 1500);
 	init_param_uint(PARAM_RC3_MAX, 2000);
+	init_param_uint(PARAM_RC3_REV, 0);
+	init_param_fix16(PARAM_RC3_DZ, fix16_from_float(0.02f));
 	init_param_uint(PARAM_RC4_MIN, 1000);
 	init_param_uint(PARAM_RC4_MID, 1500);
 	init_param_uint(PARAM_RC4_MAX, 2000);
+	init_param_uint(PARAM_RC4_REV, 0);
+	init_param_fix16(PARAM_RC4_DZ, fix16_from_float(0.02f));
 	init_param_uint(PARAM_RC5_MIN, 1000);
 	init_param_uint(PARAM_RC5_MID, 1500);
 	init_param_uint(PARAM_RC5_MAX, 2000);
+	init_param_uint(PARAM_RC5_REV, 0);
+	init_param_fix16(PARAM_RC5_DZ, fix16_from_float(0.02f));
 	init_param_uint(PARAM_RC6_MIN, 1000);
 	init_param_uint(PARAM_RC6_MID, 1500);
 	init_param_uint(PARAM_RC6_MAX, 2000);
+	init_param_uint(PARAM_RC6_REV, 0);
+	init_param_fix16(PARAM_RC6_DZ, fix16_from_float(0.02f));
 	init_param_uint(PARAM_RC7_MIN, 1000);
 	init_param_uint(PARAM_RC7_MID, 1500);
 	init_param_uint(PARAM_RC7_MAX, 2000);
+	init_param_uint(PARAM_RC7_REV, 0);
+	init_param_fix16(PARAM_RC7_DZ, fix16_from_float(0.02f));
 	init_param_uint(PARAM_RC8_MIN, 1000);
 	init_param_uint(PARAM_RC8_MID, 1500);
 	init_param_uint(PARAM_RC8_MAX, 2000);
+	init_param_uint(PARAM_RC8_REV, 0);
+	init_param_fix16(PARAM_RC8_DZ, fix16_from_float(0.02f));
 	init_param_uint(PARAM_DO_ESC_CAL, 0);
 	init_param_fix16(PARAM_FAILSAFE_THROTTLE, fix16_from_float(0.25f));
 	init_param_uint(PARAM_THROTTLE_TIMEOUT, 10000000);
@@ -276,27 +292,43 @@ const char _param_names[PARAMS_COUNT][MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN
 	"RC1_MIN",
 	"RC1_TRIM",
 	"RC1_MAX",
+	"RC1_REV",
+	"RC1_DZ",
 	"RC2_MIN",
 	"RC2_TRIM",
 	"RC2_MAX",
+	"RC2_REV",
+	"RC2_DZ",
 	"RC3_MIN",
 	"RC3_TRIM",
 	"RC3_MAX",
+	"RC3_REV",
+	"RC3_DZ",
 	"RC4_MIN",
 	"RC4_TRIM",
 	"RC4_MAX",
+	"RC4_REV",
+	"RC4_DZ",
 	"RC5_MIN",
 	"RC5_TRIM",
 	"RC5_MAX",
+	"RC5_REV",
+	"RC5_DZ",
 	"RC6_MIN",
 	"RC6_TRIM",
 	"RC6_MAX",
+	"RC6_REV",
+	"RC6_DZ",
 	"RC7_MIN",
 	"RC7_TRIM",
 	"RC7_MAX",
+	"RC7_REV",
+	"RC7_DZ",
 	"RC8_MIN",
 	"RC8_TRIM",
 	"RC8_MAX",
+	"RC8_REV",
+	"RC8_DZ",
 	"DO_ESC_CAL",
 	"FAILSAFE_THRTL",
 	"TIMEOUT_THRTL",
@@ -390,6 +422,9 @@ void param_change_callback(param_id_t id) {
 		case PARAM_RC1_MAX:
 			sensors_update_rc_cal();
 			break;
+		case PARAM_RC1_REV:
+			sensors_update_rc_cal();
+			break;
 		case PARAM_RC2_MIN:
 			sensors_update_rc_cal();
 			break;
@@ -399,6 +434,9 @@ void param_change_callback(param_id_t id) {
 		case PARAM_RC2_MAX:
 			sensors_update_rc_cal();
 			break;
+		case PARAM_RC2_REV:
+			sensors_update_rc_cal();
+			break;
 		case PARAM_RC3_MIN:
 			sensors_update_rc_cal();
 			break;
@@ -408,6 +446,9 @@ void param_change_callback(param_id_t id) {
 		case PARAM_RC3_MAX:
 			sensors_update_rc_cal();
 			break;
+		case PARAM_RC3_REV:
+			sensors_update_rc_cal();
+			break;
 		case PARAM_RC4_MIN:
 			sensors_update_rc_cal();
 			break;
@@ -417,6 +458,9 @@ void param_change_callback(param_id_t id) {
 		case PARAM_RC4_MAX:
 			sensors_update_rc_cal();
 			break;
+		case PARAM_RC4_REV:
+			sensors_update_rc_cal();
+			break;
 		case PARAM_RC5_MIN:
 			sensors_update_rc_cal();
 			break;
@@ -426,6 +470,9 @@ void param_change_callback(param_id_t id) {
 		case PARAM_RC5_MAX:
 			sensors_update_rc_cal();
 			break;
+		case PARAM_RC5_REV:
+			sensors_update_rc_cal();
+			break;
 		case PARAM_RC6_MIN:
 			sensors_update_rc_cal();
 			break;
@@ -435,6 +482,9 @@ void param_change_callback(param_id_t id) {
 		case PARAM_RC6_MAX:
 			sensors_update_rc_cal();
 			break;
+		case PARAM_RC6_REV:
+			sensors_update_rc_cal();
+			break;
 		case PARAM_RC7_MIN:
 			sensors_update_rc_cal();
 			break;
@@ -444,6 +494,9 @@ void param_change_callback(param_id_t id) {
 		case PARAM_RC7_MAX:
 			sensors_update_rc_cal();
 			break;
+		case PARAM_RC7_REV:
+			sensors_update_rc_cal();
+			break;
 		case PARAM_RC8_MIN:
 			sensors_update_rc_cal();
 			break;
@@ -453,6 +506,9 @@ void param_change_callback(param_id_t id) {
 		case PARAM_RC8_MAX:
 			sensors_update_rc_cal();
 			break;
+		case PARAM_RC8_REV:
+			sensors_update_rc_cal();
+			break;
 		case PARAM_MIXER:
 			write_params();
 			break;

diff --git a/lib/param_generator/param_gen.h b/lib/param_generator/param_gen.h
@@ -122,27 +122,43 @@ typedef enum {
 	PARAM_RC1_MIN,
 	PARAM_RC1_MID,
 	PARAM_RC1_MAX,
+	PARAM_RC1_REV,
+	PARAM_RC1_DZ,
 	PARAM_RC2_MIN,
 	PARAM_RC2_MID,
 	PARAM_RC2_MAX,
+	PARAM_RC2_REV,
+	PARAM_RC2_DZ,
 	PARAM_RC3_MIN,
 	PARAM_RC3_MID,
 	PARAM_RC3_MAX,
+	PARAM_RC3_REV,
+	PARAM_RC3_DZ,
 	PARAM_RC4_MIN,
 	PARAM_RC4_MID,
 	PARAM_RC4_MAX,
+	PARAM_RC4_REV,
+	PARAM_RC4_DZ,
 	PARAM_RC5_MIN,
 	PARAM_RC5_MID,
 	PARAM_RC5_MAX,
+	PARAM_RC5_REV,
+	PARAM_RC5_DZ,
 	PARAM_RC6_MIN,
 	PARAM_RC6_MID,
 	PARAM_RC6_MAX,
+	PARAM_RC6_REV,
+	PARAM_RC6_DZ,
 	PARAM_RC7_MIN,
 	PARAM_RC7_MID,
 	PARAM_RC7_MAX,
+	PARAM_RC7_REV,
+	PARAM_RC7_DZ,
 	PARAM_RC8_MIN,
 	PARAM_RC8_MID,
 	PARAM_RC8_MAX,
+	PARAM_RC8_REV,
+	PARAM_RC8_DZ,
 	PARAM_DO_ESC_CAL,
 	PARAM_FAILSAFE_THROTTLE,
 	PARAM_THROTTLE_TIMEOUT,