Remote gain adjustment support

src/board.h

@@ -75,6 +75,7 @@ typedef enum {
     FEATURE_POWERMETER = 1 << 12,
     FEATURE_VARIO = 1 << 13,
     FEATURE_3D = 1 << 14,
+    FEATURE_REMOTEGAINS = 1 << 15,
 } AvailableFeatures;
 
 typedef enum {

src/cli.c

@@ -55,6 +55,7 @@ static const char * const featureNames[] = {
     "PPM", "VBAT", "INFLIGHT_ACC_CAL", "SERIALRX", "MOTOR_STOP",
     "SERVO_TILT", "SOFTSERIAL", "LED_RING", "GPS",
     "FAILSAFE", "SONAR", "TELEMETRY", "POWERMETER", "VARIO", "3D",
+    "REMOTEGAINS",
     NULL
 };
 
@@ -223,6 +224,26 @@ const clivalue_t valueTable[] = {
     { "p_vel", VAR_UINT8, &cfg.P8[PIDVEL], 0, 200 },
     { "i_vel", VAR_UINT8, &cfg.I8[PIDVEL], 0, 200 },
     { "d_vel", VAR_UINT8, &cfg.D8[PIDVEL], 0, 200 },
+    { "rg_1_mode", VAR_UINT8, &mcfg.remote_gain_settings[0].mode, 0, 3 },
+    { "rg_1_min", VAR_UINT8, &mcfg.remote_gain_settings[0].min, 0, 255 },
+    { "rg_1_max", VAR_UINT8, &mcfg.remote_gain_settings[0].max, 0, 255 },
+    { "rg_1_source", VAR_UINT8, &mcfg.remote_gain_settings[0].source, 1, 4 },
+    { "rg_1_dest", VAR_UINT8, &mcfg.remote_gain_settings[0].dest, 0, (3 * PIDITEMS) },
+    { "rg_2_mode", VAR_UINT8, &mcfg.remote_gain_settings[1].mode, 0, 3 },
+    { "rg_2_min", VAR_UINT8, &mcfg.remote_gain_settings[1].min, 0, 255 },
+    { "rg_2_max", VAR_UINT8, &mcfg.remote_gain_settings[1].max, 0, 255 },
+    { "rg_2_source", VAR_UINT8, &mcfg.remote_gain_settings[1].source, 1, 4 },
+    { "rg_2_dest", VAR_UINT8, &mcfg.remote_gain_settings[1].dest, 0, (3 * PIDITEMS) },
+    { "rg_3_mode", VAR_UINT8, &mcfg.remote_gain_settings[2].mode, 0, 3 },
+    { "rg_3_min", VAR_UINT8, &mcfg.remote_gain_settings[2].min, 0, 255 },
+    { "rg_3_max", VAR_UINT8, &mcfg.remote_gain_settings[2].max, 0, 255 },
+    { "rg_3_source", VAR_UINT8, &mcfg.remote_gain_settings[2].source, 1, 4 },
+    { "rg_3_dest", VAR_UINT8, &mcfg.remote_gain_settings[2].dest, 0, (3 * PIDITEMS) },
+    { "rg_4_mode", VAR_UINT8, &mcfg.remote_gain_settings[3].mode, 0, 3 },
+    { "rg_4_min", VAR_UINT8, &mcfg.remote_gain_settings[3].min, 0, 255 },
+    { "rg_4_max", VAR_UINT8, &mcfg.remote_gain_settings[3].max, 0, 255 },
+    { "rg_4_source", VAR_UINT8, &mcfg.remote_gain_settings[3].source, 1, 4 },
+    { "rg_4_dest", VAR_UINT8, &mcfg.remote_gain_settings[3].dest, 0, (3 * PIDITEMS) },
 };
 
 #define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))

src/config.c

@@ -230,7 +230,15 @@ static void resetConf(void)
     mcfg.looptime = 3500;
     mcfg.emf_avoidance = 0;
     mcfg.rssi_aux_channel = 0;
-
+
+    for (i = 0; i < NUM_REMOTE_GAINS; i++) {
+        mcfg.remote_gain_settings[i].mode = REMOTE_GAIN_DISABLED;
+        mcfg.remote_gain_settings[i].min = 20;       // Don't set to 0 by default just in case user has bad ideas
+        mcfg.remote_gain_settings[i].max = 200; 
+        mcfg.remote_gain_settings[i].source = i + 1;
+        mcfg.remote_gain_settings[i].dest = 0;
+    }
+
     cfg.pidController = 0;
     cfg.P8[ROLL] = 40;
     cfg.I8[ROLL] = 30;

src/main.c

@@ -10,6 +10,9 @@ extern rcReadRawDataPtr rcReadRawFunc;
 // receiver read function
 extern uint16_t pwmReadRawRC(uint8_t chan);
 
+// external vars (ugh)
+extern int16_t failsafeCnt;
+
 #ifdef USE_LAME_PRINTF
 // gcc/GNU version
 static void _putc(void *p, char c)
@@ -99,6 +102,9 @@ int main(void)
         rcData[i] = 1502;
     rcReadRawFunc = pwmReadRawRC;
     core.numRCChannels = MAX_INPUTS;
+    if (feature(FEATURE_FAILSAFE)) {
+        failsafeCnt = 1000;            // We're in failsafe until we get a valid signal for 1 second on powerup
+    }
 
     if (feature(FEATURE_SERIALRX)) {
         switch (mcfg.serialrx_type) {

src/mw.c

@@ -765,6 +765,57 @@ void loop(void)
         } else {
             f.PASSTHRU_MODE = 0;
         }
+
+        if (feature(FEATURE_REMOTEGAINS)) {
+            int i;
+            for (i = 0; i < NUM_REMOTE_GAINS; i++) {
+                int workToDo = 0;
+                switch (mcfg.remote_gain_settings[i].mode) {
+                    case REMOTE_GAIN_AUX:
+                        if (rcOptions[BOXREMOTEGAINS]) {
+                            workToDo = 1;
+                        }
+                        break;
+                    case REMOTE_GAIN_DISARM:
+                        if (!f.ARMED) {
+                            workToDo = 1;
+                        }
+                        break;
+                    case REMOTE_GAIN_ALWAYS:
+                        workToDo = 1;
+                        break;
+                }
+                // Inhibit any adjustment if we have no valid signal
+                if (feature(FEATURE_FAILSAFE)) {
+                    if (failsafeCnt > 2) {
+                        workToDo = 0;
+                    }
+                }
+                if (workToDo) {
+                    uint32_t val = rcData[AUX1 + mcfg.remote_gain_settings[i].source - 1];
+                    // Constrain input
+                    val = min(val, mcfg.maxcheck);
+                    val = max(val, mcfg.mincheck);
+                    // Scale to defined range
+                    val = (mcfg.remote_gain_settings[i].max - mcfg.remote_gain_settings[i].min) * ((val - mcfg.mincheck));
+                    val = val / ((mcfg.maxcheck - mcfg.mincheck));
+                    val = val + mcfg.remote_gain_settings[i].min;
+
+                    if (mcfg.remote_gain_settings[i].dest < PIDITEMS) {
+                        cfg.P8[mcfg.remote_gain_settings[i].dest] = val;
+                    }
+                    else if (mcfg.remote_gain_settings[i].dest < (2 * PIDITEMS)) {
+                        cfg.I8[mcfg.remote_gain_settings[i].dest - PIDITEMS] = val;
+                    }
+                    else if (mcfg.remote_gain_settings[i].dest < (3 * PIDITEMS)) {
+                        cfg.D8[mcfg.remote_gain_settings[i].dest - (2 * PIDITEMS)] = val;
+                    }
+                    else if (mcfg.remote_gain_settings[i].dest == (3 * PIDITEMS)) {
+                        cfg.dynThrPID = val;
+                    }
+                }
+            }
+        }
 
         if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE) {
             f.HEADFREE_MODE = 0;

src/mw.h

@@ -102,6 +102,7 @@ enum {
     BOXGOV,
     BOXOSD,
     BOXTELEMETRY,
+    BOXREMOTEGAINS,
     CHECKBOXITEMS
 };
 
@@ -150,6 +151,22 @@ enum {
 #define CALIBRATING_ACC_CYCLES              400
 #define CALIBRATING_BARO_CYCLES             200
 
+#define NUM_REMOTE_GAINS  4                 // 4 sets allow for one of each AUX channel
+enum {
+    REMOTE_GAIN_DISABLED = 0,
+    REMOTE_GAIN_AUX,
+    REMOTE_GAIN_DISARM,
+    REMOTE_GAIN_ALWAYS
+};
+
+typedef struct remotegain_t {
+    uint8_t mode;                           // Enable remote adjustment (disabled, enabled by AUX channel, enabled when armed, always enabled - see enum above)
+    uint8_t min;                            // Value at min PWM
+    uint8_t max;                            // Value at max PWM
+    uint8_t source;                         // Which AUX channel to use (1-4)
+    uint8_t dest;                           // What to adjust (P * PIDITEMS, I * PIDITEMS, D * PIDITEMS)
+} remotegain_t;
+
 typedef struct config_t {
     uint8_t pidController;                  // 0 = multiwii original, 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671
     uint8_t P8[PIDITEMS];
@@ -282,6 +299,8 @@ typedef struct master_t {
     uint32_t softserial_baudrate;             // shared by both soft serial ports
     uint8_t softserial_1_inverted;            // use inverted softserial input and output signals on port 1
     uint8_t softserial_2_inverted;            // use inverted softserial input and output signals on port 2
+
+    remotegain_t remote_gain_settings[NUM_REMOTE_GAINS];        // Settings for remote gain adjustments
 
     uint8_t telemetry_provider;             // See TelemetryProvider enum.
     uint8_t telemetry_port;                 // See TelemetryPort enum.

src/serial.c

@@ -62,6 +62,8 @@
 #define MSP_ACC_TRIM             240    //out message         get acc angle trim values
 #define MSP_SET_ACC_TRIM         239    //in message          set acc angle trim values
 #define MSP_GPSSVINFO            164    //out message         get Signal Strength (only U-Blox)
+#define MSP_REMOTEGAINS          170    //out message         4 remotegain_t gain adjustment sets
+#define MSP_SET_REMOTEGAINS      171    //in message          4 remotegain_t gain adjustment sets
 
 #define INBUF_SIZE 64
 
@@ -91,6 +93,7 @@ struct box_t {
     { BOXGOV, "GOVERNOR;", 18 },
     { BOXOSD, "OSD SW;", 19 },
     { BOXTELEMETRY, "TELEMETRY;", 20 },
+    { BOXREMOTEGAINS, "REMOTE GAINS;", 21 },
     { CHECKBOXITEMS, NULL, 0xFF }
 };
 
@@ -272,6 +275,8 @@ void serialInit(uint32_t baudrate)
     availableBoxes[idx++] = BOXOSD;
     if (feature(FEATURE_TELEMETRY && mcfg.telemetry_switch))
         availableBoxes[idx++] = BOXTELEMETRY;
+    if (feature(FEATURE_REMOTEGAINS)) 
+        availableBoxes[idx++] = BOXREMOTEGAINS;
     numberBoxItems = idx;
 }
 
@@ -388,6 +393,7 @@ static void evaluateCommand(void)
                     rcOptions[BOXGOV] << BOXGOV |
                     rcOptions[BOXOSD] << BOXOSD |
                     rcOptions[BOXTELEMETRY] << BOXTELEMETRY |
+                    rcOptions[BOXREMOTEGAINS] << BOXREMOTEGAINS |
                     f.ARMED << BOXARM;
         for (i = 0; i < numberBoxItems; i++) {
             int flag = (tmp & (1 << availableBoxes[i]));
@@ -627,6 +633,26 @@ static void evaluateCommand(void)
                serialize8(GPS_svinfo_cno[i]);
             }
         break;
+    case MSP_REMOTEGAINS:
+        headSerialReply(NUM_REMOTE_GAINS * sizeof(remotegain_t));
+        for (i = 0; i < NUM_REMOTE_GAINS; i++) {
+            serialize8(mcfg.remote_gain_settings[i].mode);
+            serialize8(mcfg.remote_gain_settings[i].min);
+            serialize8(mcfg.remote_gain_settings[i].max);
+            serialize8(mcfg.remote_gain_settings[i].source);
+            serialize8(mcfg.remote_gain_settings[i].dest);
+        }
+        break;
+    case MSP_SET_REMOTEGAINS:
+        for (i = 0; i < NUM_REMOTE_GAINS; i++) {
+            mcfg.remote_gain_settings[i].mode = read8();
+            mcfg.remote_gain_settings[i].min = read8();
+            mcfg.remote_gain_settings[i].max = read8();
+            mcfg.remote_gain_settings[i].source = read8();
+            mcfg.remote_gain_settings[i].dest = read8();
+        }
+        headSerialReply(0);
+        break;
     default:                   // we do not know how to handle the (valid) message, indicate error MSP $M!
         headSerialError(0);
         break;