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rc_update: adapt throttle trim calibration for [-1,1] 

This is fully backwards compatible: If the throttle trim is set to
the minimum then it's the legacy calibration and gets
interpreted such that there is no trim and behavior remains as before.
If the trim is set to a different value than the minimum then it gets
used like with all other channels which was unsupported before.
This commit is contained in:
Matthias Grob 2022-11-24 09:30:47 +01:00
parent 331cb21dee
commit babe93c3bf
2 changed files with 33 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

36
src/modules/rc_update/params.c
View File

@ -53,7 +53,7 @@ PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
/**
* RC channel 1 trim
*
* Mid point value (same as min for throttle)
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -114,7 +114,7 @@ PARAM_DEFINE_FLOAT(RC2_MIN, 1000.0f);
/**
* RC channel 2 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -175,7 +175,7 @@ PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
/**
* RC channel 3 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -236,7 +236,7 @@ PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
/**
* RC channel 4 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -297,7 +297,7 @@ PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
/**
* RC channel 5 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -357,7 +357,7 @@ PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
/**
* RC channel 6 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -417,7 +417,7 @@ PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
/**
* RC channel 7 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -477,7 +477,7 @@ PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
/**
* RC channel 8 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -537,7 +537,7 @@ PARAM_DEFINE_FLOAT(RC9_MIN, 1000);
/**
* RC channel 9 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -597,7 +597,7 @@ PARAM_DEFINE_FLOAT(RC10_MIN, 1000);
/**
* RC channel 10 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -657,7 +657,7 @@ PARAM_DEFINE_FLOAT(RC11_MIN, 1000);
/**
* RC channel 11 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -717,7 +717,7 @@ PARAM_DEFINE_FLOAT(RC12_MIN, 1000);
/**
* RC channel 12 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -777,7 +777,7 @@ PARAM_DEFINE_FLOAT(RC13_MIN, 1000);
/**
* RC channel 13 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -837,7 +837,7 @@ PARAM_DEFINE_FLOAT(RC14_MIN, 1000);
/**
* RC channel 14 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -897,7 +897,7 @@ PARAM_DEFINE_FLOAT(RC15_MIN, 1000);
/**
* RC channel 15 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -957,7 +957,7 @@ PARAM_DEFINE_FLOAT(RC16_MIN, 1000);
/**
* RC channel 16 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -1017,7 +1017,7 @@ PARAM_DEFINE_FLOAT(RC17_MIN, 1000);
/**
* RC channel 17 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0
@ -1077,7 +1077,7 @@ PARAM_DEFINE_FLOAT(RC18_MIN, 1000);
/**
* RC channel 18 trim
*
* Mid point value (has to be set to the same as min for throttle channel).
* Mid point value
*
* @min 800.0
* @max 2200.0

15
src/modules/rc_update/rc_update.cpp
View File

@ -201,6 +201,21 @@ void RCUpdate::parameters_updated()
}
}
}
// Center throttle trim when it's set to the minimum to correct for hardcoded QGC RC calibration
// See https://github.com/mavlink/qgroundcontrol/commit/0577af2e944a0f53919aeb1367d580f744004b2c
const int8_t throttle_channel = _rc.function[rc_channels_s::FUNCTION_THROTTLE];
if (throttle_channel >= 0 && throttle_channel < RC_MAX_CHAN_COUNT) {
const uint16_t throttle_min = _parameters.min[throttle_channel];
const uint16_t throttle_trim = _parameters.trim[throttle_channel];
const uint16_t throttle_max = _parameters.max[throttle_channel];
if (throttle_min == throttle_trim) {
const uint16_t new_throttle_trim = (throttle_min + throttle_max) / 2;
_parameters.trim[throttle_channel] = new_throttle_trim;
}
}
}
void RCUpdate::update_rc_functions()