Sh dev

.vscode/settings.json

@@ -2,7 +2,9 @@
     "files.associations": {
         "chrono": "c",
         "cmath": "c",
-        "ranges": "c"
+        "ranges": "c",
+        "platform.h": "c",
+        "timer.h": "c"
     },
     "editor.tabSize": 4,
     "editor.insertSpaces": true,

docs/MixerProfile.md

@@ -104,6 +104,9 @@ TailSitter is supported by add a 90deg offset to the board alignment. Set the bo
   - Rate Settings
   - ·······
 
+### TailSitter support
+TailSitter is supported by add a 90deg offset to the board alignment. Set the board aliment normally in the mixer_profile for FW mode(`set platform_type = AIRPLANE`), The motor trust axis should be same direction as the airplane nose. Then, in the mixer_profile for takeoff and landing `set platform_type = TAILSITTER`. The `TAILSITTER` platform type is same as `MULTIROTOR` platform type, expect for a 90 deg board alignment offset. In `TAILSITTER` mixer_profile, when motor trust/airplane nose is pointing to the sky, 'airplane bottom'/'multi rotor front' should facing forward in model preview. Set the motor/servo mixer according to multirotor orientation, Model should roll around geography's longitudinal axis, the roll axis of `TAILSITTER` will be yaw axis of `AIRPLANE`. In addition, When `MIXER TRANSITION` input is activated, a 45deg offset will be add to the target angle for angle mode.
+
 ## Happy flying
 
 Remember that this is currently an emerging capability:

docs/Settings.md

@@ -242,6 +242,16 @@ Inertial Measurement Unit KP Gain for compass measurements
 
 ---
 
+### ahrs_gps_yaw_weight
+
+Arhs gps yaw weight when mag is avaliable, 0 means no gps yaw, 100 means equal weight as compass
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 500 |
+
+---
+
 ### ahrs_gps_yaw_windcomp
 
 Wind compensation in heading estimation from gps groundcourse(fixed wing only)
@@ -1474,11 +1484,11 @@ Enable automatic configuration of UBlox GPS receivers.
 
 ### gps_dyn_model
 
-GPS navigation model: Pedestrian, Air_1g, Air_4g. Default is AIR_1G. Use pedestrian with caution, can cause flyaways with fast flying.
+GPS navigation model: Pedestrian, Automotive, Air<1g, Air<2g, Air<4g. Default is AIR_2G. Use pedestrian/Automotive with caution, can cause flyaways with fast flying.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| AIR_1G |  |  |
+| AIR_2G |  |  |
 
 ---
 
@@ -1912,33 +1922,23 @@ Decay coefficient for estimated velocity when GPS reference for position is lost
 
 ---
 
-### inav_w_xyz_acc_p
-
-_// TODO_
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 1.0 | 0 | 1 |
-
----
-
 ### inav_w_z_baro_p
 
-Weight of barometer measurements in estimated altitude and climb rate
+Weight of barometer measurements in estimated altitude and climb rate. Setting is used on both airplanes and multirotors.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0.35 | 0 | 10 |
+| 0.4 | 0 | 10 |
 
 ---
 
 ### inav_w_z_gps_p
 
-Weight of GPS altitude measurements in estimated altitude. Setting is used only of airplanes
+Weight of GPS altitude measurements in estimated altitude. Setting is used on both airplanes and multirotors.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0.2 | 0 | 10 |
+| 0.4 | 0 | 10 |
 
 ---
 
@@ -1948,7 +1948,7 @@ Weight of GPS climb rate measurements in estimated climb rate. Setting is used o
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0.1 | 0 | 10 |
+| 0.8 | 0 | 10 |
 
 ---
 
@@ -2762,16 +2762,6 @@ Craft name
 
 ---
 
-### nav_auto_climb_rate
-
-Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 500 | 10 | 2000 |
-
----
-
 ### nav_auto_disarm_delay
 
 Delay before craft disarms when `nav_disarm_on_landing` is set (ms)
@@ -3092,6 +3082,16 @@ PosHold radius. 3000 to 7500 is a good value (30-75m) [cm]
 
 ---
 
+### nav_fw_manual_climb_rate
+
+Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 300 | 10 | 2500 |
+
+---
+
 ### nav_fw_max_thr
 
 Maximum throttle for flying wing in GPS assisted modes
@@ -3362,16 +3362,6 @@ Allows immediate landing detection based on G bump at touchdown when set to ON.
 
 ---
 
-### nav_manual_climb_rate
-
-Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 200 | 10 | 2000 |
-
----
-
 ### nav_manual_speed
 
 Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]
@@ -3422,6 +3412,16 @@ If set to STICK the FC remembers the throttle stick position when enabling ALTHO
 
 ---
 
+### nav_mc_auto_climb_rate
+
+Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 500 | 10 | 2000 |
+
+---
+
 ### nav_mc_bank_angle
 
 Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude
@@ -3532,6 +3532,16 @@ Multicopter hover throttle hint for altitude controller. Should be set to approx
 
 ---
 
+### nav_mc_manual_climb_rate
+
+Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 200 | 10 | 2000 |
+
+---
+
 ### nav_mc_pos_deceleration_time
 
 Used for stoping distance calculation. Stop position is computed as _speed_ * _nav_mc_pos_deceleration_time_ from the place where sticks are released. Braking mode overrides this setting
@@ -5762,6 +5772,16 @@ Delay before disarming when requested by switch (ms) [0-1000]
 
 ---
 
+### tailsitter_orientation_offset
+
+Apply a 90 deg pitch offset in sensor aliment for tailsitter flying mode
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### telemetry_halfduplex
 
 S.Port telemetry only: Turn UART into UNIDIR for usage on F1 and F4 target. See Telemetry.md for details

src/main/blackbox/blackbox.c

@@ -310,6 +310,7 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"accSmooth",   0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
     {"accSmooth",   1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
     {"accSmooth",   2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
+    {"accVib",     -1, UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
     {"attitude",    0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ATTITUDE},
     {"attitude",    1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ATTITUDE},
     {"attitude",    2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ATTITUDE},
@@ -487,6 +488,7 @@ typedef struct blackboxMainState_s {
     int16_t gyroPeaksYaw[DYN_NOTCH_PEAK_COUNT];
 
     int16_t accADC[XYZ_AXIS_COUNT];
+    int16_t accVib;
     int16_t attitude[XYZ_AXIS_COUNT];
     int32_t debug[DEBUG32_VALUE_COUNT];
     int16_t motor[MAX_SUPPORTED_MOTORS];
@@ -917,6 +919,7 @@ static void writeIntraframe(void)
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
         blackboxWriteSigned16VBArray(blackboxCurrent->accADC, XYZ_AXIS_COUNT);
+        blackboxWriteUnsignedVB(blackboxCurrent->accVib);
     }
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ATTITUDE)) {
@@ -1182,6 +1185,7 @@ static void writeInterframe(void)
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
         blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, accADC), XYZ_AXIS_COUNT);
+        blackboxWriteSignedVB(blackboxCurrent->accVib - blackboxLast->accVib);
     }
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ATTITUDE)) {
@@ -1601,6 +1605,7 @@ static void loadMainState(timeUs_t currentTimeUs)
             blackboxCurrent->mcVelAxisOutput[i] = lrintf(nav_pids->vel[i].output_constrained);
         }
     }
+    blackboxCurrent->accVib = lrintf(accGetVibrationLevel() * acc.dev.acc_1G);
 
     if (STATE(FIXED_WING_LEGACY)) {
 

src/main/cms/cms_menu_navigation.c

@@ -45,8 +45,9 @@ static const OSD_Entry cmsx_menuNavSettingsEntries[] =
     OSD_SETTING_ENTRY("MC NAV SPEED", SETTING_NAV_AUTO_SPEED),
     OSD_SETTING_ENTRY("MC MAX NAV SPEED", SETTING_NAV_MAX_AUTO_SPEED),
     OSD_SETTING_ENTRY("MAX CRUISE SPEED", SETTING_NAV_MANUAL_SPEED),
-    OSD_SETTING_ENTRY("MAX NAV CLIMB RATE", SETTING_NAV_AUTO_CLIMB_RATE),
-    OSD_SETTING_ENTRY("MAX AH CLIMB RATE", SETTING_NAV_MANUAL_CLIMB_RATE),
+    OSD_SETTING_ENTRY("MAX NAV CLIMB RATE", SETTING_NAV_MC_AUTO_CLIMB_RATE),
+    OSD_SETTING_ENTRY("MAX MC AH CLIMB RATE", SETTING_NAV_MC_MANUAL_CLIMB_RATE),
+    OSD_SETTING_ENTRY("MAX FW AH CLIMB RATE", SETTING_NAV_FW_MANUAL_CLIMB_RATE),
     OSD_SETTING_ENTRY("MC MAX BANK ANGLE", SETTING_NAV_MC_BANK_ANGLE),
     OSD_SETTING_ENTRY("MC ALTHOLD THROT", SETTING_NAV_MC_ALTHOLD_THROTTLE),
     OSD_SETTING_ENTRY("MC HOVER THR", SETTING_NAV_MC_HOVER_THR),

src/main/drivers/compass/compass_fake.c

@@ -37,7 +37,7 @@ static bool fakeMagInit(magDev_t *magDev)
 {
     UNUSED(magDev);
     // initially point north
-    fakeMagData[X] = 4096;
+    fakeMagData[X] = 1024;
     fakeMagData[Y] = 0;
     fakeMagData[Z] = 0;
     return true;

src/main/fc/fc_msp.c

@@ -462,9 +462,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU16(dst, packSensorStatus());
             sbufWriteU16(dst, averageSystemLoadPercent);
             sbufWriteU8(dst, (getConfigBatteryProfile() << 4) | getConfigProfile());
-            sbufWriteU8(dst, getConfigMixerProfile());
             sbufWriteU32(dst, armingFlags);
             sbufWriteData(dst, &mspBoxModeFlags, sizeof(mspBoxModeFlags));
+            sbufWriteU8(dst, getConfigMixerProfile());
         }
         break;
 
@@ -478,7 +478,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             }
             for (int i = 0; i < 3; i++) {
 #ifdef USE_MAG
-                sbufWriteU16(dst, mag.magADC[i]);
+                sbufWriteU16(dst, lrintf(mag.magADC[i]));
 #else
                 sbufWriteU16(dst, 0);
 #endif
@@ -1310,9 +1310,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
     case MSP_NAV_POSHOLD:
         sbufWriteU8(dst, navConfig()->general.flags.user_control_mode);
         sbufWriteU16(dst, navConfig()->general.max_auto_speed);
-        sbufWriteU16(dst, navConfig()->general.max_auto_climb_rate);
+        sbufWriteU16(dst, navConfig()->mc.max_auto_climb_rate);
         sbufWriteU16(dst, navConfig()->general.max_manual_speed);
-        sbufWriteU16(dst, navConfig()->general.max_manual_climb_rate);
+        sbufWriteU16(dst, mixerConfig()->platformType != PLATFORM_AIRPLANE ? navConfig()->mc.max_manual_climb_rate:navConfig()->fw.max_manual_climb_rate);
         sbufWriteU8(dst, navConfig()->mc.max_bank_angle);
         sbufWriteU8(dst, navConfig()->mc.althold_throttle_type);
         sbufWriteU16(dst, currentBatteryProfile->nav.mc.hover_throttle);
@@ -2321,9 +2321,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         if (dataSize == 13) {
             navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
             navConfigMutable()->general.max_auto_speed = sbufReadU16(src);
-            navConfigMutable()->general.max_auto_climb_rate = sbufReadU16(src);
+            navConfigMutable()->mc.max_auto_climb_rate = sbufReadU16(src);
             navConfigMutable()->general.max_manual_speed = sbufReadU16(src);
-            navConfigMutable()->general.max_manual_climb_rate = sbufReadU16(src);
+            if (mixerConfig()->platformType != PLATFORM_AIRPLANE) {
+                navConfigMutable()->mc.max_manual_climb_rate = sbufReadU16(src);
+            }else{
+                navConfigMutable()->fw.max_manual_climb_rate = sbufReadU16(src);
+            }
             navConfigMutable()->mc.max_bank_angle = sbufReadU8(src);
             navConfigMutable()->mc.althold_throttle_type = sbufReadU8(src);
             currentBatteryProfileMutable->nav.mc.hover_throttle = sbufReadU16(src);

src/main/fc/runtime_config.h

@@ -140,6 +140,7 @@ typedef enum {
     ANTI_WINDUP_DEACTIVATED             = (1 << 25),
     LANDING_DETECTED                    = (1 << 26),
     IN_FLIGHT_EMERG_REARM               = (1 << 27),
+    TAILSITTER                          = (1 << 28), //offset the pitch angle by 90 degrees
 } stateFlags_t;
 
 #define DISABLE_STATE(mask) (stateFlags &= ~(mask))