-add new NAVIGATION_STATE_ALTITUDE_VOYAGER
-this mode does require manual control to enter
-but you can disable the manual control loss failsafe to continue
flying in case of manual control loss
-for MC: in throttle and yaw are controlled like in Altitude mode,
the tilt is controlled via integrated rate input (similar to Acro,
but with tilt limit)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* hrt: Fix PPM input on channel 2
The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2,
which was setting bits for channel 1 instead of channel 2. This prevented
PPM input from functioning properly on channel 2.
Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly
configures the CC2S bits for input capture mode on TI2.
This fixes an issue noted in the existing code comment:
"FIXME! There is an interaction in the CCMR registers that prevents
using Chan 1 as the timer and chan 2 as the PPM"
Tested on STM32H743 with PPM input on PC7 (TIM8_CH2).
* rc_input: enable sharing serial and PPM pin
By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to
use the same pin on the STM32 for PPM input as well as serial input.
* boards: Add support for Holybro KakuteH7-Wing
A board can optionaly define RC_SERIAL_SWAP_USING_SINGLEWIRE
If the board is wired board with TX to the input (Swapped) and
the SoC does not support U[S]ART level RX-TX swapping to allow
useing onewire to do the swap if and only if:
RC_SERIAL_SWAP_USING_SINGLEWIRE is defined
RC_SERIAL_SWAP_RXTX is defined
TIOCSSWAP is defined and retuns !OK
TIOCSSINGLEWIRE is defined
Add support for the basic GPS telemetry values when using the GHST protocol.
* Fix formatting in GHST GPS telemetry changes
* GHST GPS Telemetry formatting cleanup
* GHST GPS Telemetry, Last formatting change
- As it is always only used for the vehicle command ack message
- It was a duplicate, hence making it error prone for maintainment
- The uORB message comments were updated to make the relationship with
the MAVLink message / enum definitions clear
- this allows jumping straight to a non-SBUS RC protocol
- increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases.
- only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds
- RC_PORT_CONFIG is disabled by default if the board doesn't have
CONFIG_BOARD_SERIAL_RC set
- allows user facing custom RC configuration that overrides board
defaults
- remove GPS failsafe mode
- for VTOL: transition to hover in Descend (unless NAV_FORCE_VT is not set)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Send battery status (ghst_telemetry). Apply factors to show correct values of volts, amps and mAh. Change ghost protocol code to follow more MISRA C++ guidelines.
- always check system field for validity
- reject any data outside of "servo position" valid range from Spektrum specification
- properly support XPlus channels (12+)
- debug message if channel count changes
