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Code Issues Releases Activity

LP-609 Add VarioSensitivity setting

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This commit is contained in:
Laurent Lalanne 2019-04-28 00:51:06 +02:00
parent 8d49fe431e
commit 62cf064afe
2 changed files with 32 additions and 16 deletions
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46
flight/modules/UAVOHottBridge/uavohottbridge.c
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@ -226,7 +226,7 @@ static void uavoHoTTBridgeTask(__attribute__((unused)) void *parameters)
// 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 };
uint8_t max_line[] = { 6, 7, 5, 8, 8, 7, 7, 7, 7 };
static uint8_t page = HOTTTEXT_PAGE_MAIN;
static uint8_t edit_status = HOTTTEXT_EDITSTATUS_DONE;
@ -723,6 +723,7 @@ uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t
HoTTBridgeSettingsSensorData sensor;
HoTTBridgeSettingsLimitData alarmLimits;
HoTTBridgeSettingsWarningData alarmWarning;
uint8_t varioSensitivity;
RevoSettingsFusionAlgorithmOptions revoFusionAlgo;
FlightBatterySettingsSensorCalibrationsData battSensorCalibration;
HomeLocationSetOptions homeSet;
@ -800,15 +801,23 @@ uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t
case HOTTTEXT_PAGE_VARIOLIMITS: // Vario page (Limits)
if (HoTTBridgeSettingsHandle() != NULL) {
HoTTBridgeSettingsLimitGet(&alarmLimits);
HoTTBridgeSettingsVarioSensitivityGet(&varioSensitivity);
}
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));
bool edit_sensitivity_value = (edit_mode && (current_line == 2));
bool edit_maxheight_value = (edit_mode && (current_line == 3));
bool edit_minheight_value = (edit_mode && (current_line == 4));
bool edit_sinkrate1s_value = (edit_mode && (current_line == 5));
bool edit_climbrate1s_value = (edit_mode && (current_line == 6));
bool edit_sinkrate3s_value = (edit_mode && (current_line == 7));
bool edit_climbrate3s_value = (edit_mode && (current_line == 8));
if (edit_sensitivity_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP10) ? HOTTTEXT_EDITSTATUS_STEP10 : step;
// 0 to 99cm/s
varioSensitivity = get_new_value((int16_t)varioSensitivity, value_change, step, 0, 99);
HoTTBridgeSettingsVarioSensitivitySet(&varioSensitivity);
}
if (edit_minheight_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
// -500 to 500m
@ -846,13 +855,13 @@ uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
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
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " Sensitivity cm/s%3d ", (int16_t)varioSensitivity); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " Max height %4d ", (int16_t)alarmLimits.MaxHeight); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " Min height %4d ", (int16_t)alarmLimits.MinHeight); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " Inst. Sink m/s %3d ", (int16_t)alarmLimits.NegDifference1); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " Inst. Climb m/s %3d ", (int16_t)alarmLimits.PosDifference1); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " Fast Sink m/3s %4d ", (int16_t)alarmLimits.NegDifference2); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " Fast Climb m/3s%4d ", (int16_t)alarmLimits.PosDifference2); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
@ -860,7 +869,7 @@ uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t
if (edit_minheight_value || edit_maxheight_value) {
reverse_pixels((char *)msg->text[current_line - 1], 16 + (3 - step), 20 - step);
}
if (edit_sinkrate1s_value || edit_climbrate1s_value) {
if (edit_sensitivity_value || 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) {
@ -1526,6 +1535,13 @@ void update_telemetrydata()
VelocityStateGet(&telestate->Velocity);
}
// Make vario less sensitive in +/-VarioSensitivity range
float sensitivity = (float)telestate->Settings.VarioSensitivity / 100.0f;
float absVelDown = fabs(telestate->Velocity.Down);
if ((absVelDown < sensitivity) && (absVelDown > 0.0f)) {
telestate->Velocity.Down /= ((sensitivity / absVelDown) * (sensitivity / absVelDown));
}
// send actual climbrate value to ring buffer as mm per 0.2s values
uint8_t n = telestate->climbrate_pointer;
telestate->climbratebuffer[telestate->climbrate_pointer++] = -telestate->Velocity.Down * 200;

2
shared/uavobjectdefinition/hottbridgesettings.xml
View File

@ -73,7 +73,7 @@
<elementname>MaxServoDifference</elementname>
</elementnames>
</field>
<field name="VarioSensitivity" units="cm/s" type="uint8" elements="1" defaultvalue="10"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>