Merge pull request #2106 from iNavFlight/mmosca-gimbal-test

Serial gimbal support
iNavFlight · Jun 20, 2024 · e3a6096 · e3a6096
2 parents dd3ca98 + 7aeef9f
commit e3a6096
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Showing 7 changed files with 148 additions and 3 deletions.
diff --git a/.gitignore b/.gitignore
@@ -8,3 +8,11 @@ inav-configurator.iml
 /out
 .eslintrc.json
 /.project
+/cache/
+/dist/
+/apps/
+/build/
+*~
+*.swp
+*.bak
+eeprom.bin
diff --git a/js/fc.js b/js/fc.js
@@ -941,6 +941,9 @@ var FC = {
             'GVAR 6',               // 36
             'GVAR 7',               // 37
             'Mixer Transition',     // 38
+	    'Head Tracker Pan',     // 39
+            'Head Tracker Tilt',    // 40
+            'Head Tracker Roll',    // 41
         ];
     },
     getServoMixInputName: function (input) {
@@ -1116,4 +1119,4 @@ var FC = {
     }
 };
 
-module.exports = FC;
+module.exports = FC;
diff --git a/js/flightModes.js b/js/flightModes.js
@@ -280,6 +280,26 @@ var FLIGHT_MODES = [
         boxId: 55,
         boxName: "ANGLE HOLD",
         permanentId: 64
+    },
+    {
+        boxId: 56,
+        boxName: "GIMBAL LEVEL TILT",
+        permanentId: 65,
+    },
+    {
+        boxId: 57,
+        boxName: "GIMBAL LEVEL ROLL",
+        permanentId: 66
+    },
+    {
+        boxId: 58,
+        boxName: "GIMBAL CENTER",
+        permanentId: 67
+    },
+    {
+        boxId: 59,
+        boxName: "GIMBAL HEADTRACKER",
+        permanentId: 68
     }
 ];
 

diff --git a/js/serialPortHelper.js b/js/serialPortHelper.js
@@ -121,6 +121,16 @@ const serialPortHelper = (function () {
             name: 'SBUS_OUTPUT',
             groups: ['peripherals'],
             defaultBaud: 115200
+        },
+        {
+            name: 'GIMBAL',
+            groups: ['peripherals'],
+            defaultBaud: 115200
+        },
+        {
+            name: 'HEADTRACKER',
+            groups: ['peripherals'],
+            defaultBaud: 115200
         }
     ];
 
@@ -150,6 +160,8 @@ const serialPortHelper = (function () {
         'SBUS_OUTPUT': 22,
         'SMARTPORT_MASTER': 23,
         'MSP_DISPLAYPORT': 25,
+        'GIMBAL': 26,
+        'HEADTRACKER': 27
     };
 
     privateScope.identifierToName = {
@@ -182,7 +194,8 @@ const serialPortHelper = (function () {
             '19200',
             '38400',
             '57600',
-            '115200'
+            '115200',
+            '230400'
         ],
         'TELEMETRY': [
             'AUTO',

diff --git a/locale/en/messages.json b/locale/en/messages.json
@@ -1235,6 +1235,36 @@
     "configurationVTXLowPowerDisarmValue_2": {
         "message": "Until first arm"
     },
+    "configurationGimbal": {
+        "message": "Serial Gimbal"
+    },
+    "configurationGimbalSensitivity": { 
+        "message":"Gimbal sensitivity"
+    },
+    "configurationGimbalPanChannel": { 
+        "message":"Pan channel (yaw)"
+    },
+    "configurationGimbalTiltChannel": { 
+        "message":"Tilt channel (pitch)"
+    },
+    "configurationGimbalRollChannel": { 
+        "message":"Roll channel"
+    },
+    "configurationHeadtracker": {
+        "message": "Headtracker"
+    },
+    "configurationHeadtrackerType": {
+        "message": "Head tracker type"
+    },
+    "configurationHeadtrackerPanRatio": {
+        "message": "Head tracker pan movement ratio"
+    },
+    "configurationHeadtrackerTiltRatio": {
+        "message": "Head tracker tilt movement ratio"
+    },
+    "configurationHeadtrackerRollRatio": {
+        "message": "Head tracker roll movement ratio"
+    },
     "portsHelp": {
         "message": "<strong>Note:</strong> not all combinations are valid.  When the flight controller firmware detects this the serial port configuration will be reset."
     },
@@ -1322,6 +1352,12 @@
     "portsFunction_SBUS_OUTPUT": {
         "message": "SBus Output"
     },
+    "portsFunction_GIMBAL": {
+        "message": "Serial Gimbal"
+    },
+    "portsFunction_HEADTRACKER": {
+        "message": "Serial Headtracker"
+    },
     "pidTuning_Other": {
         "message": "Other"
     },

diff --git a/tabs/auxiliary.js b/tabs/auxiliary.js
@@ -59,7 +59,10 @@ TABS.auxiliary.initialize = function (callback) {
         modeSections["Multi-rotor"] = ["FPV ANGLE MIX", "TURTLE", "MC BRAKING", "HEADFREE", "HEADADJ"];
         modeSections["OSD Modes"] = ["OSD OFF", "OSD ALT 1", "OSD ALT 2", "OSD ALT 3"];
         modeSections["FPV Camera Modes"] = ["CAMSTAB", "CAMERA CONTROL 1", "CAMERA CONTROL 2", "CAMERA CONTROL 3"];
-        modeSections["Misc Modes"] = ["BEEPER", "LEDS OFF", "LIGHTS", "HOME RESET", "WP PLANNER", "MISSION CHANGE", "BLACKBOX", "FAILSAFE", "KILLSWITCH", "TELEMETRY", "MSP RC OVERRIDE", "USER1", "USER2", "USER3", "USER4"];
+        modeSections["VTOL"] = ["MIXER PROFILE 2", "MIXER TRANSITION"];
+        modeSections["Beeper"] = ["BEEPER", "BEEPER MUTE"];
+        modeSections["Gimbal"] = ["GIMBAL LEVEL TILT", "GIMBAL LEVEL ROLL", "GIMBAL LEVEL PAN", "GIMBAL HEADTRACKER", "GIMBAL CENTER"];
+        modeSections["Misc Modes"] = ["LEDS OFF", "LIGHTS", "HOME RESET", "WP PLANNER", "MISSION CHANGE", "BLACKBOX", "FAILSAFE", "KILLSWITCH", "TELEMETRY", "MSP RC OVERRIDE", "USER1", "USER2", "USER3", "USER4"];
 
     function sort_modes_for_display() {
         // Sort the modes

diff --git a/tabs/configuration.html b/tabs/configuration.html
@@ -234,6 +234,68 @@
                 </div>
             </div>
 
+            <div class="config-section gui_box grey config-gimbal">
+                <div class="gui_box_titlebar">
+                    <div class="spacer_box_title" data-i18n="configurationGimbal"></div>
+                </div>
+                    <div class="number gimbal_sensitivity_wrapper">
+                        <input type="number" id="gimbal_sensitivity" name="gimbal_sensitivity" data-setting="gimbal_sensitivity" />
+                        <label for="gimbal_sensitivity">
+                            <span data-i18n="configurationGimbalSensitivity"></span>
+                        </label>
+                    </div>
+                    <div class="number gimbal_pan_channel_wrapper">
+                        <input type="number" id="gimbal_pan_channel" name="gimbal_pan_channel" data-setting="gimbal_pan_channel" />
+                        <label for="gimbal_pan_channel">
+                            <span data-i18n="configurationGimbalPanChannel"></span>
+                        </label>
+                    </div>
+                    <div class="number gimbal_tilt_channel_wrapper">
+                        <input type="number" id="gimbal_tilt_channel" name="gimbal_tilt_channel" data-setting="gimbal_tilt_channel" />
+                        <label for="gimbal_tilt_channel">
+                            <span data-i18n="configurationGimbalTiltChannel"></span>
+                        </label>
+                    </div>
+                    <div class="number gimbal_roll_channel_wrapper">
+                        <input type="number" id="gimbal_roll_channel" name="gimbal_roll_channel" data-setting="gimbal_roll_channel" />
+                        <label for="gimbal_roll_channel">
+                            <span data-i18n="configurationGimbalRollChannel"></span>
+                        </label>
+                    </div>
+            </div>
+
+            <div class="config-section gui_box grey config-headtracker">
+                <div class="gui_box_titlebar">
+                    <div class="spacer_box_title" data-i18n="configurationHeadtracker"></div>
+                </div>
+                    <div class="select headtracker_type_wrapper">
+                        <select id="headtracker-type" data-setting="headtracker_type"></select>
+                        <label for="headtrack-type">
+                            <span data-i18n="configurationHeadtrackerType"></span>
+                        </label>
+                    </div>
+
+                    <div class="number headtracker_pan_ratio_wrapper">
+                        <input type="number" data-step="0.01" min="0" max="5" id="headtracker_pan_ratio" data-setting="headtracker_pan_ratio">
+                        <label for="headtracker_pan_ratio">
+                            <span data-i18n="configurationHeadtrackerPanRatio"></span>
+                        </label>
+                    </div>
+                    <div class="number headtracker_tilt_ratio_wrapper">
+                        <input type="number" data-step="0.01" min="0" max="5" id="headtracker_tilt_ratio" data-setting="headtracker_tilt_ratio">
+                        <label for="headtracker_tilt_ratio">
+                            <span data-i18n="configurationHeadtrackerPanRatio"></span>
+                        </label>
+                    </div>
+                    <div class="number headtracker_roll_ratio_wrapper">
+                        <input type="number" data-step="0.01" id="headtracker_roll_ratio" data-setting="headtracker_roll_ratio">
+                        <label for="headtracker_roll_ratio">
+                            <span data-i18n="configurationHeadtrackerRollRatio"></span>
+                        </label>
+                    </div>
+            </div>
+        </div>
+
         </div>
 
         <div class="clear-both"></div>