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Merge pull request #8126 from opentx/3djc/fix-trims2subtrims

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Crosstrims fixes
This commit is contained in:
Bertrand Songis
2020-12-04 16:05:32 +01:00
committed by GitHub
parent ea6765a859 92a4733355
commit 04c69cd176
3 changed files with 133 additions and 16 deletions
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radio/src/mixer.cpp
+22 -8
View File
@@ -539,14 +539,25 @@ int getStickTrimValue(int stick, int stickValue)
return trim;
}
int getSourceTrimValue(int source, int stickValue=0)
int getSourceTrimOrigin(int source)
{
if (source >= MIXSRC_Rud && source <= MIXSRC_Ail)
return getStickTrimValue(source - MIXSRC_Rud, stickValue);
return source - MIXSRC_Rud;
else if (source >= MIXSRC_FIRST_INPUT && source <= MIXSRC_LAST_INPUT)
return getStickTrimValue(virtualInputsTrims[source - MIXSRC_FIRST_INPUT], stickValue);
return virtualInputsTrims[source - MIXSRC_FIRST_INPUT];
else
return -1;
}
int getSourceTrimValue(int source, int stickValue=0)
{
auto origin = getSourceTrimOrigin(source);
if (origin >= 0) {
return getStickTrimValue(origin, stickValue);
}
else {
return 0;
}
}
uint8_t mixerCurrentFlightMode;
@@ -741,13 +752,16 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
}
if (applyOffsetAndCurve) {
//========== TRIMS ================
if (!(mode & e_perout_mode_notrims)) {
if (md->carryTrim == 0) {
v += getSourceTrimValue(md->srcRaw, v);
bool applyTrims = !(mode & e_perout_mode_notrims);
if (!applyTrims && g_model.thrTrim) {
auto origin = getSourceTrimOrigin(md->srcRaw);
if (origin == g_model.getThrottleStickTrimSource() - MIXSRC_FIRST_TRIM) {
applyTrims = true;
}
}
if (applyTrims && md->carryTrim == 0) {
v += getSourceTrimValue(md->srcRaw, v);
}
}
int32_t weight = GET_GVAR_PREC1(MD_WEIGHT(md), GV_RANGELARGE_NEG, GV_RANGELARGE, mixerCurrentFlightMode);
radio/src/opentx.cpp
+11 -8
View File
@@ -1119,7 +1119,7 @@ void checkTrims()
else {
phase = getTrimFlightMode(mixerCurrentFlightMode, idx);
before = getTrimValue(phase, idx);
thro = (idx==THR_STICK && g_model.thrTrim);
thro = (idx == (g_model.getThrottleStickTrimSource() - MIXSRC_FIRST_TRIM) && g_model.thrTrim);
}
#else
phase = getTrimFlightMode(mixerCurrentFlightMode, idx);
@@ -1824,24 +1824,27 @@ void moveTrimsToOffsets() // copy state of 3 primary to subtrim
pauseMixerCalculations();
evalFlightModeMixes(e_perout_mode_noinput, 0); // do output loop - zero input sticks and trims
for (uint8_t i=0; i<MAX_OUTPUT_CHANNELS; i++) {
for (uint8_t i = 0; i < MAX_OUTPUT_CHANNELS; i++) {
zeros[i] = applyLimits(i, chans[i]);
}
evalFlightModeMixes(e_perout_mode_noinput-e_perout_mode_notrims, 0); // do output loop - only trims
for (uint8_t i=0; i<MAX_OUTPUT_CHANNELS; i++) {
int16_t output = applyLimits(i, chans[i]) - zeros[i];
for (uint8_t i = 0; i < MAX_OUTPUT_CHANNELS; i++) {
int16_t diff = applyLimits(i, chans[i]) - zeros[i];
int16_t v = g_model.limitData[i].offset;
if (g_model.limitData[i].revert)
output = -output;
v += (output * 125) / 128;
g_model.limitData[i].offset = limit((int16_t)-1000, (int16_t)v, (int16_t)1000); // make sure the offset doesn't go haywire
diff = -diff;
v += (diff * 125) / 128;
g_model.limitData[i].offset = limit((int16_t) -1000, (int16_t) v, (int16_t) 1000); // make sure the offset doesn't go haywire
}
// reset all trims, except throttle (if throttle trim)
for (uint8_t i=0; i<NUM_TRIMS; i++) {
if (i != THR_STICK || !g_model.thrTrim) {
auto thrStick = g_model.getThrottleStickTrimSource() - MIXSRC_FIRST_TRIM;
if (i != thrStick || !g_model.thrTrim) {
int16_t original_trim = getTrimValue(mixerCurrentFlightMode, i);
for (uint8_t fm=0; fm<MAX_FLIGHT_MODES; fm++) {
trim_t trim = getRawTrimValue(fm, i);
radio/src/tests/mixer.cpp
+100
View File
@@ -339,6 +339,106 @@ TEST_F(TrimsTest, CopySticksToOffset)
EXPECT_EQ(g_model.limitData[1].offset, -97);
}
TEST_F(TrimsTest, MoveTrimsToOffsets)
{
// No trim idle only
g_model.thrTrim = 0;
anaInValues[THR_STICK] = 0;
setTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM, 100);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, -100);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 200); // THR output value is reflecting 100 trim
moveTrimsToOffsets();
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[2].offset, 195); // value transferred
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[1].offset, -195); // value transferred
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 200); // THR output value is still reflecting 100 trim
}
TEST_F(TrimsTest, MoveTrimsToOffsetsWithTrimIdle)
{
// Trim idle only
g_model.thrTrim = 1;
anaInValues[THR_STICK] = -1024; // Min stick
g_model.limitData[2].offset = 0;
g_model.limitData[1].offset = 0;
setTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM, 100);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, -100);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -574); // THR output value is reflecting 100 trim idle
moveTrimsToOffsets();
// Trim affecting Throttle should not be affected
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM), 100); // unchanged
EXPECT_EQ(g_model.limitData[2].offset, 0); // unchanged
// Other trims should
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[1].offset, -195); // value transferred
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -574); // THR output value is still reflecting 100 trim idle
}
TEST_F(TrimsTest, MoveTrimsToOffsetsWithCrossTrims)
{
// No trim idle only
// Cross trims
g_model.thrTrim = 0;
g_model.limitData[2].offset = 0;
g_model.limitData[1].offset = 0;
g_model.thrTrimSw = MIXSRC_TrimEle - MIXSRC_FIRST_TRIM;
ExpoData *expo = expoAddress(THR_STICK);
expo->carryTrim = TRIM_ELE;
expo = expoAddress(ELE_STICK);
expo->carryTrim = TRIM_THR;
anaInValues[THR_STICK] = 0;
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 100);
setTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM, -100);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 200); // THR output value is reflecting 100 Ele trim
moveTrimsToOffsets();
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 200); // THR output value remains unchanged
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[2].offset, 195); // value transferred
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[1].offset, -195); // value transferred
}
TEST_F(TrimsTest, MoveTrimsToOffsetsWithCrosstrimsAndTrimIdle)
{
// Trim idle only
// Cross trims
g_model.limitData[2].offset = 0;
g_model.limitData[1].offset = 0;
g_model.thrTrim = 1;
g_model.thrTrimSw = MIXSRC_TrimEle - MIXSRC_FIRST_TRIM;
ExpoData *expo = expoAddress(THR_STICK);
expo->carryTrim = TRIM_ELE;
expo = expoAddress(ELE_STICK);
expo->carryTrim = TRIM_THR;
anaInValues[THR_STICK] = -1024; // Min stick
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 100);
setTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM, -100);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -574); // THR output value is reflecting 100 ele trim idle
moveTrimsToOffsets();
// Trim affecting Throttle (now Ele because of crosstrims) should not be affected
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM), 100); // unchanged
EXPECT_EQ(g_model.limitData[2].offset, 0); // THR chan offset unchanged
// Other trims should
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[1].offset, -195); // Ele chan offset transfered
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -574); // THR output value is still reflecting 100 trim idle
}
TEST_F(TrimsTest, InstantTrim)
{
anaInValues[AIL_STICK] = 50;