Merge pull request #580 from iNavFlight/dzikuvx-braking-msp-frames-support

Support for braking mode

_locales/en/messages.json

@@ -2754,5 +2754,56 @@
     },
     "HOME_DISTANCE": {
         "message": "Distance to Home"
+    },
+    "brakingSpeedThreshold": {
+        "message": "Min. speed threshold [cm/s]"
+    },
+    "brakingSpeedThresholdTip": {
+        "message": "Braking will be enabled only if actual speed if higher than threshold"
+    },
+    "brakingDisengageSpeed": {
+        "message": "Braking disengage speed [cm/s]"
+    },
+    "brakingDisengageSpeedTip": {
+        "message": "Braking will end when speed goes below this value"
+    },
+    "brakingTimeout": {
+        "message": "Max. braking length [ms]"
+    },
+    "brakingTimeoutTip": {
+        "message": "Safety measure. This is the longest period of time braking can be active."
+    },
+    "brakingBoostFactor": {
+        "message": "Boost factor [%]"
+    },
+    "brakingBoostFactorTip": {
+        "message": "Defines for strong braking boost will be. 100% means navigation engine is allowed to double banking speed and acceleration than normal"
+    },
+    "brakingBoostTimeout": {
+        "message": "Max. braking boost length [ms]"
+    },
+    "brakingBoostTimeoutTip": {
+        "message": "Safety measure. This is the longest period of time braking boost can be active."
+    },
+    "brakingBoostSpeedThreshold": {
+        "message": "Boost min. speed threshold [cm/s]"
+    },
+    "brakingBoostSpeedThresholdTip": {
+        "message": "Braking boost will be enabled only if actual speed if higher than threshold"
+    },
+    "brakingBoostDisengageSpeed": {
+        "message": "Braking boost disengage speed [cm/s]"
+    },
+    "brakingBoostDisengageSpeedTip": {
+        "message": "Braking boost will end when speed goes below this value"
+    },
+    "brakingBankAngle": {
+        "message": "Max. bank angle [degrees]"
+    },
+    "brakingBankAngleTip": {
+        "message": "Max bank angle allowed during braking phase"
+    },
+    "multirotorBrakingConfiguration": {
+        "message": "Multirotor braking mode configuration"
     }
 }

js/fc.js

@@ -55,7 +55,8 @@ var CONFIG,
     MIXER_CONFIG,
     BATTERY_CONFIG,
     OUTPUT_MAPPING,
-    SETTINGS;
+    SETTINGS,
+    BRAKING_CONFIG;
 
 var FC = {
     MAX_SERVO_RATE: 125,
@@ -506,6 +507,17 @@ var FC = {
             loiterRadius: null
         };
 
+        BRAKING_CONFIG = {
+            speedThreshold: null,
+            disengageSpeed: null,
+            timeout: null,
+            boostFactor: null,
+            boostTimeout: null,
+            boostSpeedThreshold: null,
+            boostDisengageSpeed: null,
+            bankAngle: null
+        }
+
         RXFAIL_CONFIG = [];
 
         OUTPUT_MAPPING = new OutputMappingCollection();

js/msp/MSPCodes.js

@@ -186,5 +186,8 @@ var MSPCodes = {
     MSP2_INAV_OSD_PREFERENCES:          0x2016,
     MSP2_INAV_OSD_SET_PREFERENCES:      0x2017,
 
+    MSP2_INAV_MC_BRAKING:               0x200B,
+    MSP2_INAV_SET_MC_BRAKING:           0x200C,
+
     MSP2_INAV_SELECT_BATTERY_PROFILE:   0x2018
 };

js/msp/MSPHelper.js

@@ -1401,6 +1401,22 @@ var mspHelper = (function (gui) {
                 for (i = 0; i < data.byteLength; ++i)
                     OUTPUT_MAPPING.put(data.getUint8(i));
                 break;
+
+            case MSPCodes.MSP2_INAV_MC_BRAKING:
+                BRAKING_CONFIG.speedThreshold = data.getUint16(0, true);
+                BRAKING_CONFIG.disengageSpeed = data.getUint16(2, true);
+                BRAKING_CONFIG.timeout = data.getUint16(4, true);
+                BRAKING_CONFIG.boostFactor = data.getInt8(6);
+                BRAKING_CONFIG.boostTimeout = data.getUint16(7, true);
+                BRAKING_CONFIG.boostSpeedThreshold = data.getUint16(9, true);
+                BRAKING_CONFIG.boostDisengageSpeed = data.getUint16(11, true);
+                BRAKING_CONFIG.bankAngle = data.getInt8(13);
+                break;
+
+            case MSPCodes.MSP2_INAV_SET_MC_BRAKING:
+                console.log('Braking config saved');
+                break;
+            
             default:
                 console.log('Unknown code detected: ' + dataHandler.code);
         } else {
@@ -2038,6 +2054,26 @@ var mspHelper = (function (gui) {
                 buffer.push(highByte(MIXER_CONFIG.appliedMixerPreset));
                 break;
 
+            case MSPCodes.MSP2_INAV_SET_MC_BRAKING:
+                buffer.push(lowByte(BRAKING_CONFIG.speedThreshold));
+                buffer.push(highByte(BRAKING_CONFIG.speedThreshold));
+                buffer.push(lowByte(BRAKING_CONFIG.disengageSpeed));
+                buffer.push(highByte(BRAKING_CONFIG.disengageSpeed));
+                buffer.push(lowByte(BRAKING_CONFIG.timeout));
+                buffer.push(highByte(BRAKING_CONFIG.timeout));
+
+                buffer.push(BRAKING_CONFIG.boostFactor);
+
+                buffer.push(lowByte(BRAKING_CONFIG.boostTimeout));
+                buffer.push(highByte(BRAKING_CONFIG.boostTimeout));
+                buffer.push(lowByte(BRAKING_CONFIG.boostSpeedThreshold));
+                buffer.push(highByte(BRAKING_CONFIG.boostSpeedThreshold));
+                buffer.push(lowByte(BRAKING_CONFIG.boostDisengageSpeed));
+                buffer.push(highByte(BRAKING_CONFIG.boostDisengageSpeed));
+
+                buffer.push(BRAKING_CONFIG.bankAngle);
+                break;
+
             default:
                 return false;
         }
@@ -3146,6 +3182,22 @@ var mspHelper = (function (gui) {
         }
     };
 
+    self.loadBrakingConfig = function(callback) {
+        if (semver.gte(CONFIG.flightControllerVersion, "2.1.0")) {
+            MSP.send_message(MSPCodes.MSP2_INAV_MC_BRAKING, false, false, callback);
+        } else {
+            callback();
+        }
+    }
+
+    self.saveBrakingConfig = function(callback) {
+        if (semver.gte(CONFIG.flightControllerVersion, "2.1.0")) {
+            MSP.send_message(MSPCodes.MSP2_INAV_SET_MC_BRAKING, mspHelper.crunch(MSPCodes.MSP2_INAV_SET_MC_BRAKING), false, callback);
+        } else {
+            callback();
+        }
+    };
+
     self.loadParameterGroups = function(callback) {
         if (semver.gte(CONFIG.flightControllerVersion, "2.0.0")) {
             MSP.send_message(MSPCodes.MSP2_COMMON_PG_LIST, false, false, function (resp) {

tabs/advanced_tuning.html

@@ -284,6 +284,79 @@
                 </div>
             </div>
 
+            <div class="config-section gui_box grey requires-v2_1">
+                <div class="gui_box_titlebar">
+                    <div class="spacer_box_title" data-i18n="multirotorBrakingConfiguration"></div>
+                </div>
+                <div class="spacer_box">
+
+                    <div class="number">
+                        <input id="brakingSpeedThreshold" type="number" data-simple-bind="BRAKING_CONFIG.speedThreshold" step="1" min="0" max="1000">
+                        <label for="brakingSpeedThreshold">
+                            <span data-i18n="brakingSpeedThreshold"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="brakingSpeedThresholdTip"></div>
+                    </div>
+
+                    <div class="number">
+                        <input id="brakingDisengageSpeed" type="number" data-simple-bind="BRAKING_CONFIG.disengageSpeed" step="1" min="0" max="1000">
+                        <label for="brakingDisengageSpeed">
+                            <span data-i18n="brakingDisengageSpeed"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="brakingDisengageSpeedTip"></div>
+                    </div>
+
+                    <div class="number">
+                        <input id="brakingTimeout" type="number" data-simple-bind="BRAKING_CONFIG.timeout" step="1" min="100" max="5000">
+                        <label for="brakingTimeout">
+                            <span data-i18n="brakingTimeout"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="brakingTimeoutTip"></div>
+                    </div>
+
+                    <div class="number">
+                        <input id="brakingBoostFactor" type="number" data-simple-bind="BRAKING_CONFIG.boostFactor" step="1" min="0" max="200">
+                        <label for="brakingBoostFactor">
+                            <span data-i18n="brakingBoostFactor"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="brakingBoostFactorTip"></div>
+                    </div>
+
+                    <div class="number">
+                        <input id="brakingBoostTimeout" type="number" data-simple-bind="BRAKING_CONFIG.boostTimeout" step="1" min="0" max="5000">
+                        <label for="brakingBoostTimeout">
+                            <span data-i18n="brakingBoostTimeout"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="brakingBoostTimeoutTip"></div>
+                    </div>
+
+                    <div class="number">
+                        <input id="brakingBoostSpeedThreshold" type="number" data-simple-bind="BRAKING_CONFIG.boostSpeedThreshold" step="1" min="100" max="1000">
+                        <label for="brakingBoostSpeedThreshold">
+                            <span data-i18n="brakingBoostSpeedThreshold"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="brakingBoostSpeedThresholdTip"></div>
+                    </div>
+
+                    <div class="number">
+                        <input id="brakingBoostDisengageSpeed" type="number" data-simple-bind="BRAKING_CONFIG.boostDisengageSpeed" step="1" min="100" max="1000">
+                        <label for="brakingBoostDisengageSpeed">
+                            <span data-i18n="brakingBoostDisengageSpeed"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="brakingBoostDisengageSpeedTip"></div>
+                    </div>
+
+                    <div class="number">
+                        <input id="brakingBankAngle" type="number" data-simple-bind="BRAKING_CONFIG.bankAngle" step="1" min="15" max="60">
+                        <label for="brakingBankAngle">
+                            <span data-i18n="brakingBankAngle"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="brakingBankAngleTip"></div>
+                    </div>
+
+                </div>
+            </div>
+
         </div>
 
         <div class="clear-both"></div>

tabs/advanced_tuning.js

@@ -16,7 +16,8 @@ TABS.advanced_tuning.initialize = function (callback) {
         mspHelper.loadNavPosholdConfig,
         mspHelper.loadPositionEstimationConfig,
         mspHelper.loadRthAndLandConfig,
-        mspHelper.loadFwConfig
+        mspHelper.loadFwConfig,
+        mspHelper.loadBrakingConfig
     ]);
     loadChainer.setExitPoint(loadHtml);
     loadChainer.execute();
@@ -26,6 +27,7 @@ TABS.advanced_tuning.initialize = function (callback) {
         mspHelper.savePositionEstimationConfig,
         mspHelper.saveRthAndLandConfig,
         mspHelper.saveFwConfig,
+        mspHelper.saveBrakingConfig,
         mspHelper.saveToEeprom
     ]);
     saveChainer.setExitPoint(reboot);
@@ -59,6 +61,13 @@ TABS.advanced_tuning.initialize = function (callback) {
             $rthAllowLanding = $('#rthAllowLanding'),
             $rthAltControlMode = $('#rthAltControlMode');
 
+        if (semver.gte(CONFIG.flightControllerVersion, "2.1.0")) {
+
+            $('.requires-v2_1').show();
+        } else {
+            $('.requires-v2_1').hide();
+        }
+
         if (semver.gte(CONFIG.flightControllerVersion, "1.7.1")) {
 
             $rthClimbFirst.prop("checked", RTH_AND_LAND_CONFIG.rthClimbFirst);