rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00
Code Issues Releases Activity

LP-609 Vario warnings/limits page, Main config page (algo, flightbattery settings)

Browse Source
This commit is contained in:
Laurent Lalanne 2019-04-07 21:21:05 +02:00
parent db096cd598
commit 2124510d36
2 changed files with 358 additions and 103 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

48
flight/modules/UAVOHottBridge/inc/uavohottbridge.h
View File

@ -147,6 +147,16 @@
#define HOTT_TONE_X 24 // maximum input voltage
#define HOTT_TONE_Y 25 // maximum rpm
#define HOTT_TONE_Z 26 // maximum height
#define HOTT_TONE_27 27 // sudden descent
#define HOTT_TONE_28 28 // fast descent
#define HOTT_TONE_29 29 // normal descent
#define HOTT_TONE_30 30 // slow descent
#define HOTT_TONE_31 31 // very slow descent
#define HOTT_TONE_32 32 // very slow rise
#define HOTT_TONE_33 33 // slow rise
#define HOTT_TONE_34 34 // normal rise
#define HOTT_TONE_35 35 // fast rise
#define HOTT_TONE_36 36 // sudden rise
#define HOTT_TONE_20M 37 // 20 meters
#define HOTT_TONE_40M 38 // 40 meters
#define HOTT_TONE_60M 39 // 60 meters
@ -158,7 +168,7 @@
#define HOTT_TONE_400M 47 // 400 meters
#define HOTT_TONE_600M 48 // 600 meters
#define HOTT_TONE_800M 49 // 800 meters
#define HOTT_TONE_1000M 50 // 10000 meters
#define HOTT_TONE_1000M 50 // 1000 meters
#define HOTT_TONE_51 51 // maximum servo temperature
#define HOTT_TONE_52 52 // maximum servo position difference
@ -215,9 +225,11 @@ struct telemetrydata {
// HoTT menu
static const char *const hottTextPageTitle[] = {
"***LIBREPILOT Hott***",
"**LIBREPILOT HoTT****",
"**LIBREPILOT CONFIG**",
"*****GPS CONFIG******",
"-----VARIO PAGE------",
"---VARIO WARNINGS----",
"----VARIO LIMITS-----",
"------GPS PAGE-------",
"--GENERAL AIR PAGE---",
"--ELECTRIC AIR PAGE--",
@ -225,16 +237,18 @@ static const char *const hottTextPageTitle[] = {
};
typedef enum {
HOTTTEXT_PAGE_MAIN = 0,
HOTTTEXT_PAGE_GPSCONFIG = 1,
HOTTTEXT_PAGE_VARIO = 2,
HOTTTEXT_PAGE_GPS = 3,
HOTTTEXT_PAGE_GENERAL = 4,
HOTTTEXT_PAGE_ELECTRIC = 5,
HOTTTEXT_PAGE_ESC = 6,
HOTTTEXT_PAGE_MAIN = 0,
HOTTTEXT_PAGE_MAINCONFIG = 1,
HOTTTEXT_PAGE_GPSCONFIG = 2,
HOTTTEXT_PAGE_VARIOWARNINGS = 3,
HOTTTEXT_PAGE_VARIOLIMITS = 4,
HOTTTEXT_PAGE_GPS = 5,
HOTTTEXT_PAGE_GENERAL = 6,
HOTTTEXT_PAGE_ELECTRIC = 7,
HOTTTEXT_PAGE_ESC = 8,
} hottTextPageElem;
#define HOTTTEXT_PAGE_NUMELEM 7
#define HOTTTEXT_PAGE_NUMELEM 9
typedef enum {
HOTTTEXT_EDITSTATUS_STEP1 = 0,
@ -245,6 +259,18 @@ typedef enum {
HOTTTEXT_EDITSTATUS_DONE = 5,
} hottTextEditStatusElem;
static const char *const hottTextADCpinNames[] = {
"----",
"ADC0",
"ADC1",
"ADC2",
"ADC3",
"ADC4",
"ADC5",
"ADC6",
"ADC7"
};
// VARIO Module message structure
struct hott_vario_message {
uint8_t start; // start byte

413
flight/modules/UAVOHottBridge/uavohottbridge.c
View File

@ -53,6 +53,8 @@
#include "velocitystate.h"
#include "hottbridgestatus.h"
#include "hottbridgesettings.h"
#include "flightbatterysettings.h"
#include "hwsettings.h"
#include "revosettings.h"
#include "gpssettings.h"
#include "homelocation.h"
@ -65,11 +67,13 @@
#if defined(PIOS_INCLUDE_HOTT_BRIDGE)
#if defined(PIOS_HoTT_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_HoTT_STACK_SIZE
#define STACK_SIZE_BYTES PIOS_HoTT_STACK_SIZE
#else
#define STACK_SIZE_BYTES 2048
#define STACK_SIZE_BYTES 2048
#endif
#define TASK_PRIORITY CALLBACK_TASK_AUXILIARY
#define TASK_PRIORITY CALLBACK_TASK_AUXILIARY
#define ADC_XX_PIN_NOTFOUND -1
static bool module_enabled = false;
@ -91,9 +95,10 @@ static uint8_t get_page(uint8_t page, bool next);
static uint8_t enable_disable_warning(uint8_t value);
static uint8_t enable_disable_sensor(uint8_t value);
static int16_t get_new_value(int16_t current_value, int8_t value_change, uint8_t step, int16_t min, int16_t max);
static int8_t get_newADCPin_value(uint8_t *adcRouting, int8_t from_pin, int8_t value_change);
static uint8_t calc_checksum(uint8_t *data, uint16_t size);
static uint8_t generate_warning();
static void store_settings(uint8_t page);
static void store_settings(uint8_t page, uint8_t current_line);
static void update_telemetrydata();
static void convert_long2gps(int32_t value, uint8_t *dir, uword_t *min, uword_t *sec);
static uint8_t scale_float2uint8(float value, float scale, float offset);
@ -219,9 +224,9 @@ static void uavoHoTTBridgeTask(__attribute__((unused)) void *parameters)
int8_t value_change = 0;
static uint8_t step_change = 0;
// define allowed edited lines for Main, GPS config, Vario, Gps, General, Electric and Esc pages
uint8_t min_line[] = { 2, 2, 2, 2, 2, 2, 2 };
uint8_t max_line[] = { 6, 5, 7, 7, 7, 7, 7 };
// define allowed edited lines for Main, Main Config, GPS config, VarioWarnings, VarioLimits, GPS, General, Electric and Esc pages
uint8_t min_line[] = { 2, 2, 2, 2, 2, 2, 2, 2, 2 };
uint8_t max_line[] = { 6, 7, 5, 8, 7, 7, 7, 7, 7 };
static uint8_t page = HOTTTEXT_PAGE_MAIN;
static uint8_t edit_status = HOTTTEXT_EDITSTATUS_DONE;
@ -251,7 +256,7 @@ static void uavoHoTTBridgeTask(__attribute__((unused)) void *parameters)
value_change = 0;
step_change = 0;
if (edit_status != HOTTTEXT_EDITSTATUS_DONE) {
store_settings(page);
store_settings(page, current_line);
edit_line = false; // exit edit mode
}
break;
@ -285,7 +290,7 @@ static void uavoHoTTBridgeTask(__attribute__((unused)) void *parameters)
// (this inhibit normal page browsing and give direct access to sensor page)
switch (id_sensor) {
case (HOTT_VARIO_ID & 0x0f):
page = HOTTTEXT_PAGE_VARIO;
page = HOTTTEXT_PAGE_VARIOWARNINGS;
break;
case (HOTT_GPS_ID & 0x0f):
page = HOTTTEXT_PAGE_GPS;
@ -319,7 +324,7 @@ static void uavoHoTTBridgeTask(__attribute__((unused)) void *parameters)
message_size = sizeof(tx_buffer);
if (edit_status == HOTTTEXT_EDITSTATUS_DONE) {
// Save and exit edit mode
store_settings(page);
store_settings(page, current_line);
edit_line = false;
} else if (edit_line) {
step_change = edit_status;
@ -704,6 +709,8 @@ uint16_t build_ESC_message(struct hott_esc_message *msg)
uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t current_line, int8_t value_change, uint8_t step, bool edit_mode, bool exit_menu)
{
update_telemetrydata();
// clear message buffer
memset(msg, 0, sizeof(*msg));
@ -717,31 +724,30 @@ uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t
HoTTBridgeSettingsLimitData alarmLimits;
HoTTBridgeSettingsWarningData alarmWarning;
RevoSettingsFusionAlgorithmOptions revoFusionAlgo;
FlightBatterySettingsSensorCalibrationsData battSensorCalibration;
HomeLocationSetOptions homeSet;
GPSSettingsData gpsSettings;
uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
uint8_t edit_status = step;
bool ekf_enabled = false;
// page title
snprintf(msg->text[0], HOTT_TEXT_COLUMNS, "%s", hottTextPageTitle[page]); // line 1
// compute page content
switch (page) {
case HOTTTEXT_PAGE_VARIO: // Vario page
if (RevoSettingsHandle() != NULL) {
RevoSettingsFusionAlgorithmGet(&revoFusionAlgo);
}
case HOTTTEXT_PAGE_VARIOWARNINGS: // Vario page (Warnings)
if (HoTTBridgeSettingsHandle() != NULL) {
HoTTBridgeSettingsWarningGet(&alarmWarning);
HoTTBridgeSettingsLimitGet(&alarmLimits);
}
bool edit_altitudebeep = (edit_mode && (current_line == 2));
bool edit_maxheight = (edit_mode && (current_line == 3));
bool edit_minheight = (edit_mode && (current_line == 4));
bool edit_maxheight_value = (edit_mode && (current_line == 5));
bool edit_minheight_value = (edit_mode && (current_line == 6));
bool edit_altitudebeep = (edit_mode && (current_line == 2));
bool edit_maxheight = (edit_mode && (current_line == 3));
bool edit_minheight = (edit_mode && (current_line == 4));
bool edit_sinkrate1s = (edit_mode && (current_line == 5));
bool edit_climbrate1s = (edit_mode && (current_line == 6));
bool edit_sinkrate3s = (edit_mode && (current_line == 7));
bool edit_climbrate3s = (edit_mode && (current_line == 8));
if (edit_altitudebeep) {
alarmWarning.AltitudeBeep = enable_disable_warning(alarmWarning.AltitudeBeep);
@ -759,6 +765,50 @@ uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_sinkrate1s) {
alarmWarning.NegDifference1 = enable_disable_warning(alarmWarning.NegDifference1);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_climbrate1s) {
alarmWarning.PosDifference1 = enable_disable_warning(alarmWarning.PosDifference1);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_sinkrate3s) {
alarmWarning.NegDifference2 = enable_disable_warning(alarmWarning.NegDifference2);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_climbrate3s) {
alarmWarning.PosDifference2 = enable_disable_warning(alarmWarning.PosDifference2);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " Altitude speak [%1s] ", ((alarmWarning.AltitudeBeep == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " MaxHeight [%1s] ", ((alarmWarning.MaxHeight == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " MinHeight [%1s] ", ((alarmWarning.MinHeight == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " Instant Sink [%1s] ", ((alarmWarning.NegDifference1 == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " Instant Climb [%1s] ", ((alarmWarning.PosDifference1 == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " Fast Sink [%1s] ", ((alarmWarning.NegDifference2 == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " Fast Climb [%1s] ", ((alarmWarning.PosDifference2 == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
break;
case HOTTTEXT_PAGE_VARIOLIMITS: // Vario page (Limits)
if (HoTTBridgeSettingsHandle() != NULL) {
HoTTBridgeSettingsLimitGet(&alarmLimits);
}
bool edit_maxheight_value = (edit_mode && (current_line == 2));
bool edit_minheight_value = (edit_mode && (current_line == 3));
bool edit_sinkrate1s_value = (edit_mode && (current_line == 4));
bool edit_climbrate1s_value = (edit_mode && (current_line == 5));
bool edit_sinkrate3s_value = (edit_mode && (current_line == 6));
bool edit_climbrate3s_value = (edit_mode && (current_line == 7));
if (edit_minheight_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
// -500 to 500m
@ -771,65 +821,50 @@ uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t
alarmLimits.MaxHeight = get_new_value((int16_t)alarmLimits.MaxHeight, value_change, step, -500, 1500);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
char *txt_fusionalgo = "";
// check current algo status
switch (revoFusionAlgo) {
case REVOSETTINGS_FUSIONALGORITHM_INS13INDOOR:
case REVOSETTINGS_FUSIONALGORITHM_TESTINGINSINDOORCF:
txt_fusionalgo = "* EKF INDOOR NOGPS * ";
ekf_enabled = true;
break;
case REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13:
case REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13CF:
txt_fusionalgo = " * EKF OUTDOOR GPS * ";
ekf_enabled = true;
break;
case REVOSETTINGS_FUSIONALGORITHM_BASICCOMPLEMENTARY:
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAG:
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAGGPSOUTDOOR:
default:
txt_fusionalgo = " * BASIC ALGO * ";
ekf_enabled = false;
if (edit_sinkrate1s_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP10) ? HOTTTEXT_EDITSTATUS_STEP10 : step;
// 0 to -50m
alarmLimits.NegDifference1 = get_new_value((int16_t)alarmLimits.NegDifference1, value_change, step, -50, 0);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_mode && (current_line == 7)) {
// check if a GPS is available
bool gps_ok = (telestate->SysAlarms.Alarm.GPS != SYSTEMALARMS_ALARM_UNINITIALISED) && (telestate->SysAlarms.Alarm.GPS != SYSTEMALARMS_ALARM_ERROR);
if (gps_ok) {
if (ekf_enabled) {
revoFusionAlgo = REVOSETTINGS_FUSIONALGORITHM_BASICCOMPLEMENTARY; // move to Basic (no mag needed)
} else {
revoFusionAlgo = REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13CF; // move to ekf
}
} else {
// without GPS
if (ekf_enabled) {
revoFusionAlgo = REVOSETTINGS_FUSIONALGORITHM_BASICCOMPLEMENTARY; // move to Basic (no mag needed)
} else {
revoFusionAlgo = REVOSETTINGS_FUSIONALGORITHM_TESTINGINSINDOORCF; // move to ekf
}
}
RevoSettingsFusionAlgorithmSet(&revoFusionAlgo);
UAVObjSave(RevoSettingsHandle(), 0);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
if (edit_climbrate1s_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP10) ? HOTTTEXT_EDITSTATUS_STEP10 : step;
// 0 to 50m
alarmLimits.PosDifference1 = get_new_value((int16_t)alarmLimits.PosDifference1, value_change, step, 0, 50);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_sinkrate3s_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
// 0 to -500m
alarmLimits.NegDifference2 = get_new_value((int16_t)alarmLimits.NegDifference2, value_change, step, -500, 0);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_climbrate3s_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
// 0 to 500m
alarmLimits.PosDifference2 = get_new_value((int16_t)alarmLimits.PosDifference2, value_change, step, 0, 500);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " Altitude speak [%1s] ", ((alarmWarning.AltitudeBeep == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " MaxHeight warn [%1s] ", ((alarmWarning.MaxHeight == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " MinHeight warn [%1s] ", ((alarmWarning.MinHeight == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " Max height %4d ", (int16_t)alarmLimits.MaxHeight); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " Min height %4d ", (int16_t)alarmLimits.MinHeight); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " Use EKF algo [%1s] ", ((ekf_enabled) ? "*" : " ")); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, "%s", txt_fusionalgo); // line 8
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " Max height %4d ", (int16_t)alarmLimits.MaxHeight); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " Min height %4d ", (int16_t)alarmLimits.MinHeight); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " Inst. Sink m/s %3d ", (int16_t)alarmLimits.NegDifference1); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " Inst. Climb m/s %3d ", (int16_t)alarmLimits.PosDifference1); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " Fast Sink m/3s %4d ", (int16_t)alarmLimits.NegDifference2); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " Fast Climb m/3s%4d ", (int16_t)alarmLimits.PosDifference2); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " "); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
if (edit_minheight_value) {
if (edit_minheight_value || edit_maxheight_value) {
reverse_pixels((char *)msg->text[current_line - 1], 16 + (3 - step), 20 - step);
}
if (edit_maxheight_value) {
reverse_pixels((char *)msg->text[current_line - 1], 16 + (3 - step), 20 - step);
if (edit_sinkrate1s_value || edit_climbrate1s_value) {
reverse_pixels((char *)msg->text[current_line - 1], 18 + (1 - step), 20 - step);
}
if (edit_sinkrate3s_value || edit_climbrate3s_value) {
reverse_pixels((char *)msg->text[current_line - 1], 17 + (2 - step), 20 - step);
}
break;
case HOTTTEXT_PAGE_GPS: // GPS page
@ -860,6 +895,7 @@ uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_maxdistance_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP1K) ? HOTTTEXT_EDITSTATUS_STEP1K : step;
// 10m to 9000m
@ -867,18 +903,17 @@ uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_maxspeed_value) {
// 0kmh to 600kmh
// 0kmh to 1000kmh
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
alarmLimits.MaxSpeed = get_new_value((int16_t)alarmLimits.MaxSpeed, value_change, step, 0, 600);
alarmLimits.MaxSpeed = get_new_value((int16_t)alarmLimits.MaxSpeed, value_change, step, 0, 1000);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_minspeed_value) {
// 0kmh to 150kmh
// 0kmh to 1000kmh
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
alarmLimits.MinSpeed = get_new_value((int16_t)alarmLimits.MinSpeed, value_change, step, 0, 600);
alarmLimits.MinSpeed = get_new_value((int16_t)alarmLimits.MinSpeed, value_change, step, 0, 1000);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " MaxDist warn [%1s] ", ((alarmWarning.MaxDistance == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " MaxSpeed warn [%1s] ", ((alarmWarning.MaxSpeed == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " MinSpeed warn [%1s] ", ((alarmWarning.MinSpeed == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 4
@ -1010,7 +1045,6 @@ uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " "); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " "); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " "); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
@ -1034,6 +1068,129 @@ uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t
reverse_pixels((char *)msg->text[current_line - 1], 18, 20);
}
break;
case HOTTTEXT_PAGE_MAINCONFIG:
if (RevoSettingsHandle() != NULL) {
RevoSettingsFusionAlgorithmGet(&revoFusionAlgo);
}
if (FlightBatterySettingsHandle() != NULL) {
FlightBatterySettingsSensorCalibrationsGet(&battSensorCalibration);
}
if (HwSettingsHandle() != NULL) {
HwSettingsADCRoutingArrayGet(adcRouting);
}
if (edit_mode && (current_line == 2)) {
if ((value_change > 0) && (revoFusionAlgo < REVOSETTINGS_FUSIONALGORITHM_ACRONOSENSORS)) {
revoFusionAlgo++;
} else if ((value_change < 0) && (revoFusionAlgo > REVOSETTINGS_FUSIONALGORITHM_NONE)) {
revoFusionAlgo--;
}
RevoSettingsFusionAlgorithmSet(&revoFusionAlgo);
}
if (edit_mode && (current_line == 3)) {
step = (step > HOTTTEXT_EDITSTATUS_STEP1K) ? HOTTTEXT_EDITSTATUS_STEP1K : step;
// 1.00 to 30.00
battSensorCalibration.VoltageFactor = (float)(get_new_value((uint16_t)roundf(battSensorCalibration.VoltageFactor * 100), value_change, step, 100, 3000) / 100.0f);
FlightBatterySettingsSensorCalibrationsSet(&battSensorCalibration);
}
if (edit_mode && (current_line == 4)) {
step = (step > HOTTTEXT_EDITSTATUS_STEP1K) ? HOTTTEXT_EDITSTATUS_STEP1K : step;
// 1.00 to 30.00
battSensorCalibration.CurrentFactor = (float)(get_new_value((uint16_t)roundf(battSensorCalibration.CurrentFactor * 100), value_change, step, 100, 3000) / 100.0f);
FlightBatterySettingsSensorCalibrationsSet(&battSensorCalibration);
}
if (edit_mode && (current_line == 5)) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
// -9.00 to 9.00
battSensorCalibration.CurrentZero = (float)(get_new_value((int16_t)roundf(battSensorCalibration.CurrentZero * 100), value_change, step, -900, 900) / 100.0f);
FlightBatterySettingsSensorCalibrationsSet(&battSensorCalibration);
}
int8_t voltageADCPin = ADC_XX_PIN_NOTFOUND;
int8_t currentADCPin = ADC_XX_PIN_NOTFOUND;
int8_t newADCPin = ADC_XX_PIN_NOTFOUND;
for (int i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adcRouting[i] == HWSETTINGS_ADCROUTING_BATTERYVOLTAGE) {
voltageADCPin = i;
}
if (adcRouting[i] == HWSETTINGS_ADCROUTING_BATTERYCURRENT) {
currentADCPin = i;
}
}
if (edit_mode && (current_line == 6)) {
newADCPin = get_newADCPin_value(adcRouting, voltageADCPin, value_change);
adcRouting[voltageADCPin] = HWSETTINGS_ADCROUTING_DISABLED;
if (newADCPin > ADC_XX_PIN_NOTFOUND) {
adcRouting[newADCPin] = HWSETTINGS_ADCROUTING_BATTERYVOLTAGE;
}
HwSettingsADCRoutingArraySet(adcRouting);
}
if (edit_mode && (current_line == 7)) {
newADCPin = get_newADCPin_value(adcRouting, currentADCPin, value_change);
adcRouting[currentADCPin] = HWSETTINGS_ADCROUTING_DISABLED;
if (newADCPin > ADC_XX_PIN_NOTFOUND) {
adcRouting[newADCPin] = HWSETTINGS_ADCROUTING_BATTERYCURRENT;
}
HwSettingsADCRoutingArraySet(adcRouting);
}
char *txt_fusionalgo = "";
// check current algo status
switch (revoFusionAlgo) {
case REVOSETTINGS_FUSIONALGORITHM_INS13INDOOR:
txt_fusionalgo = " INS NOGPS ";
break;
case REVOSETTINGS_FUSIONALGORITHM_TESTINGINSINDOORCF:
txt_fusionalgo = "INS+CFNOGPS";
break;
case REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13:
txt_fusionalgo = " INS GPS ";
break;
case REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13CF:
txt_fusionalgo = " INS+CF GPS";
break;
case REVOSETTINGS_FUSIONALGORITHM_BASICCOMPLEMENTARY:
txt_fusionalgo = " BASIC ";
break;
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAG:
txt_fusionalgo = " BASIC+MAG ";
break;
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAGGPSOUTDOOR:
txt_fusionalgo = "BASICMAGGPS";
break;
case REVOSETTINGS_FUSIONALGORITHM_ACRONOSENSORS:
txt_fusionalgo = " ??ACRO?? ";
break;
case REVOSETTINGS_FUSIONALGORITHM_NONE:
txt_fusionalgo = " ??NONE?? ";
break;
default:
txt_fusionalgo = "!UNDEFINED!";
}
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " EstAlgo %s ", txt_fusionalgo); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " Volt. Factor %2d.%02d ", (uint16_t)(battSensorCalibration.VoltageFactor), (uint16_t)(battSensorCalibration.VoltageFactor * 100) % 100); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " Curr. Factor %2d.%02d ", (uint16_t)(battSensorCalibration.CurrentFactor), (uint16_t)(battSensorCalibration.CurrentFactor * 100) % 100); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " Curr. Zero %s%d.%02d ", (battSensorCalibration.CurrentZero < 0 ? "-" : " "), (uint16_t)(fabsf(battSensorCalibration.CurrentZero)), (uint16_t)(fabsf(battSensorCalibration.CurrentZero * 100)) % 100); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " VoltagePin %s ", hottTextADCpinNames[voltageADCPin + 1]); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " CurrentPin %s ", hottTextADCpinNames[currentADCPin + 1]); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, "%2d.%02dV %3d.%02dA ",
(uint16_t)(telestate->Battery.Voltage), (uint16_t)(telestate->Battery.Voltage * 100) % 100,
(uint16_t)(telestate->Battery.Current), (uint16_t)(telestate->Battery.Current * 100) % 100); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
if (edit_mode && (current_line == 2)) {
reverse_pixels((char *)msg->text[current_line - 1], 9, 20);
}
if (edit_mode && ((current_line == 3) || (current_line == 4) || (current_line == 5))) {
reverse_pixels((char *)msg->text[current_line - 1], 14 + (5 - (step > 1 ? step + 1 : step)), 20 - (step > 1 ? step + 1 : step));
}
if (edit_mode && ((current_line == 6) || (current_line == 7))) {
reverse_pixels((char *)msg->text[current_line - 1], 16, 20);
}
break;
default:
case HOTTTEXT_PAGE_MAIN: // Main page where HoTT modules can be started
if (HoTTBridgeSettingsHandle() != NULL) {
@ -1105,16 +1262,28 @@ uint8_t get_page(uint8_t page, bool next)
if (next) {
switch (page) {
case HOTTTEXT_PAGE_MAIN:
page = HOTTTEXT_PAGE_MAINCONFIG;
break;
case HOTTTEXT_PAGE_MAINCONFIG:
if (sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_GPSCONFIG;
break;
}
case HOTTTEXT_PAGE_GPSCONFIG:
if (sensor.VARIO == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_VARIO;
if ((sensor.VARIO == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED)) {
page = HOTTTEXT_PAGE_VARIOWARNINGS;
break;
}
case HOTTTEXT_PAGE_VARIO:
case HOTTTEXT_PAGE_VARIOWARNINGS:
if ((sensor.VARIO == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED)) {
page = HOTTTEXT_PAGE_VARIOLIMITS;
break;
}
case HOTTTEXT_PAGE_VARIOLIMITS:
if (sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_GPS;
break;
@ -1157,16 +1326,28 @@ uint8_t get_page(uint8_t page, bool next)
break;
}
case HOTTTEXT_PAGE_GPS:
if (sensor.VARIO == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_VARIO;
if ((sensor.VARIO == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED)) {
page = HOTTTEXT_PAGE_VARIOLIMITS;
break;
}
case HOTTTEXT_PAGE_VARIO:
case HOTTTEXT_PAGE_VARIOLIMITS:
if ((sensor.VARIO == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED)) {
page = HOTTTEXT_PAGE_VARIOWARNINGS;
break;
}
case HOTTTEXT_PAGE_VARIOWARNINGS:
if (sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_GPSCONFIG;
break;
}
case HOTTTEXT_PAGE_GPSCONFIG:
page = HOTTTEXT_PAGE_MAINCONFIG;
break;
case HOTTTEXT_PAGE_MAINCONFIG:
page = HOTTTEXT_PAGE_MAIN;
break;
case HOTTTEXT_PAGE_MAIN:
@ -1203,6 +1384,36 @@ uint8_t enable_disable_sensor(uint8_t value)
return value;
}
/**
* get new ADCPin for edited field
*/
int8_t get_newADCPin_value(uint8_t *adcRouting, int8_t from_pin, int8_t value_change)
{
int8_t newADCPin = from_pin;
if (value_change > 0) {
for (int i = from_pin + 1; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adcRouting[i] == HWSETTINGS_ADCROUTING_DISABLED) {
newADCPin = i;
break;
}
}
} else if (value_change < 0) {
for (int i = from_pin - 1; i > ADC_XX_PIN_NOTFOUND - 1; i--) {
if (i < 0) {
newADCPin = ADC_XX_PIN_NOTFOUND;
break;
}
if (adcRouting[i] == HWSETTINGS_ADCROUTING_DISABLED) {
newADCPin = i;
break;
}
}
}
return newADCPin;
}
/**
* get new value for edited field
*/
@ -1224,11 +1435,12 @@ int16_t get_new_value(int16_t current_value, int8_t value_change, uint8_t step,
/**
* store settings to onboard flash
*/
void store_settings(uint8_t page)
void store_settings(uint8_t page, uint8_t current_line)
{
switch (page) {
case HOTTTEXT_PAGE_MAIN:
case HOTTTEXT_PAGE_VARIO:
case HOTTTEXT_PAGE_VARIOWARNINGS:
case HOTTTEXT_PAGE_VARIOLIMITS:
case HOTTTEXT_PAGE_GPS:
case HOTTTEXT_PAGE_GENERAL:
case HOTTTEXT_PAGE_ELECTRIC:
@ -1238,6 +1450,21 @@ void store_settings(uint8_t page)
case HOTTTEXT_PAGE_GPSCONFIG:
UAVObjSave(GPSSettingsHandle(), 0);
break;
case HOTTTEXT_PAGE_MAINCONFIG:
switch (current_line) {
case 2:
UAVObjSave(RevoSettingsHandle(), 0);
break;
case 3:
case 4:
case 5:
UAVObjSave(FlightBatterySettingsHandle(), 0);
break;
case 6:
case 7:
UAVObjSave(HwSettingsHandle(), 0);
break;
}
}
}
@ -1494,11 +1721,12 @@ uint8_t generate_warning()
}
if ((telestate->Settings.Warning.NegDifference2 == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.NegDifference2 > telestate->climbrate3s)) {
return HOTT_TONE_B; // sink rate 3s
return HOTT_TONE_28; // fast descent
}
if ((telestate->Settings.Warning.NegDifference1 == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.NegDifference1 > telestate->climbrate1s)) {
return HOTT_TONE_C; // sink rate 1s
(telestate->Settings.Limit.NegDifference1 > telestate->climbrate1s) &&
((telestate->Settings.Limit.NegDifference1 * 3) < telestate->climbrate3s)) {
return HOTT_TONE_27; // sudden descent
}
if ((telestate->Settings.Warning.MaxDistance == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.MaxDistance < telestate->homedistance) && gps_ok) {
@ -1525,12 +1753,13 @@ uint8_t generate_warning()
return HOTT_TONE_L; // maximum speed
}
if ((telestate->Settings.Warning.PosDifference2 == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.PosDifference2 > telestate->climbrate3s)) {
return HOTT_TONE_M; // climb rate 3s
(telestate->Settings.Limit.PosDifference2 < telestate->climbrate3s)) {
return HOTT_TONE_35; // fast rise
}
if ((telestate->Settings.Warning.PosDifference1 == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.PosDifference1 > telestate->climbrate1s)) {
return HOTT_TONE_N; // climb rate 1s
(telestate->Settings.Limit.PosDifference1 < telestate->climbrate1s) &&
((telestate->Settings.Limit.PosDifference1 * 3) > telestate->climbrate3s)) {
return HOTT_TONE_36; // sudden rise
}
if ((telestate->Settings.Warning.MinHeight == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.MinHeight > telestate->altitude)) {