Merge pull request #163 from ericogr/aat-improvements

Enhance Automatic Antenna Tracker (AAT) configuration via web interface
ExpressLRS · Oct 19, 2024 · cfeb404 · cfeb404
2 parents 575681d + 4748d00
commit cfeb404
Show file tree

Hide file tree

Showing 6 changed files with 66 additions and 13 deletions.
diff --git a/html/scan.js b/html/scan.js
@@ -73,8 +73,10 @@ function updateAatConfig(config)
     _('azim_center').value = config.aat.azim_center;
     _('azim_min').value = config.aat.azim_min;
     _('azim_max').value = config.aat.azim_max;
+    _('azim_sff').checked = config.aat.azim_sff === 1;
     _('elev_min').value = config.aat.elev_min;
     _('elev_max').value = config.aat.elev_max;
+    _('satmin').value = config.aat.satmin;
     aatAzimCenterChanged();
 
     // VBAT
@@ -412,6 +414,7 @@ function aatLineElementChanged()
         body: new URLSearchParams({
             'bear': _('bear').value,
             'elev': _('elev').value,
+            'azim_sff': _('azim_sff').checked ? 1 : 0,
         })
     });
   }

diff --git a/html/vrx_index.html b/html/vrx_index.html
@@ -108,8 +108,8 @@ <h2>RTC Update via NTP</h2>
 				<form action="/aatconfig" id="aatconfig" method="POST" class="mui-form">
 					<div class="mui-panel">
 						<fieldset><legend>Servo maximum speed</legend>
-							Use the slider to limit the maximum rotational speed of the servo. Note that when the azimuth servo
-							must flip from one side to the other, the servo always will move at full speed.
+							Use the slider to set a limit on the servo's maximum rotational speed. Note that when the azimuth servo
+							needs to flip from one side to the other, it may move at full speed if the 'Fast Flip' option is enabled.
 							<input type="range" id="servosmoo" name="servosmoo" list="servosmoo_markers" value="5" min="0" max="9" step="1" style="width: 100%;"/>
 							<datalist id="servosmoo_markers">
 								<option value="0" label="Fast" title="Lickedy Speed"></option>
@@ -138,7 +138,7 @@ <h2>RTC Update via NTP</h2>
 					</div>
 					<div class="mui-panel">
 						<fieldset><legend>Azimuth servo</legend>
-							Enter the micrsecond (us) values for the min and max position of the horizontal servo, using the slider to test positions.
+							Enter the microsecond (us) values for the min and max position of the horizontal servo, using the slider to test positions.
 							<input type="range" id="bear" name="bear" class="aatlive" list="azim_markers" value="0" min="-180" max="180" step="45" style="width: 100%;"/>
 							<datalist id="bear_markers">
 								<option value="-180"></option>
@@ -164,9 +164,15 @@ <h2>RTC Update via NTP</h2>
 								<input id="azim_max" type="number" name="azim_max" min="500" max="2500"/>
 								<label for="azim_max">Max</label>
 							</div>
+							<div class="mui-checkbox mui-col-xs-12">
+								<label>
+									<input id="azim_sff" type="checkbox" name="azim_sff" value="1">
+									Fast Flip (If the azimuth servo needs to move more than 80% of the distance, jump immediately)
+								</label>
+							</div>
 						</fieldset>
 						<fieldset><legend>Elevation servo</legend>
-							Enter the micrsecond (us) values for the min and max position of the vertical servo, using the slider to test positions.
+							Enter the microsecond (us) values for the min and max position of the vertical servo, using the slider to test positions.
 							<input type="range" id="elev" name="elev" class="aatlive" list="elev_markers" value="45" min="0" max="90" step="15" style="width: 100%;"/>
 							<datalist id="elev_markers">
 								<option value="0" label="0"></option>
@@ -192,7 +198,7 @@ <h2>RTC Update via NTP</h2>
 					</div>
 					<div class="mui-panel">
 						<fieldset><legend>Battery voltage</legend>
-							Battery voltage is calculated using the formula <strong>VBAT = (ADC - offset) / scale</strong>. If voltage is reading too high, increase scale.
+							<div>Battery voltage is calculated using the formula <strong>VBAT = (ADC - offset) / scale</strong>. If voltage is reading too high, increase scale.</div>
 							<div class="mui-textfield mui-col-xs-6">
 								<input id="vbat_scale" type="number" name="vbat_scale" min="1" max="1000"/>
 								<label for="vbat_scale">Scale</label>
@@ -203,6 +209,25 @@ <h2>RTC Update via NTP</h2>
 							</div>
 						</fieldset>
 					</div>
+					<div class="mui-panel">
+						<fieldset>
+							<legend>Home position settings</legend>
+							Define the minimum number of satellites required to establish the home position.
+							<input type="range" id="satmin" name="satmin" list="satmin_markers" min="5" max="21" step="2"
+								style="width: 100%;" />
+							<datalist id="satmin_markers">
+								<option value="5" label="5" title="Less precise"></option>
+								<option value="7" label="7"></option>
+								<option value="9" label="9"></option>
+								<option value="11" label="11"></option>
+								<option value="13" label="13"></option>
+								<option value="15" label="15"></option>
+								<option value="17" label="17"></option>
+								<option value="19" label="19"></option>
+								<option value="21" label="21" title="More precise"></option>
+							</datalist>
+						</fieldset>
+					</div>
 					<input type="hidden" name="commit" value="1"/>
 					<input type="submit" id="aatsubmit" value="Save" class="mui-btn mui-btn--primary"/>
 					</form>

diff --git a/lib/config/config.cpp b/lib/config/config.cpp
@@ -164,6 +164,7 @@ VrxBackpackConfig::SetDefaults()
     m_config.aat.project = 0xff;
     m_config.aat.servoSmooth = 5;
     m_config.aat.centerDir = 0; // N
+    m_config.aat.azimuthServoFastFlip = 1;
     m_config.aat.servoEndpoints[0].low = 500; // AZIM
     m_config.aat.servoEndpoints[0].high = 2500;
     m_config.aat.servoEndpoints[1].low = 1000; // ELEV
@@ -220,6 +221,12 @@ VrxBackpackConfig::SetAatServoSmooth(uint8_t val)
     CONFIG_MOD_CHECK(m_config.aat.servoSmooth, val);
 }
 
+void
+VrxBackpackConfig::SetAatAzimuthServoFastFlip(uint8_t val)
+{
+    CONFIG_MOD_CHECK(m_config.aat.azimuthServoFastFlip, val);
+}
+
 void
 VrxBackpackConfig::SetAatServoLow(uint8_t idx, uint16_t val)
 {
@@ -256,6 +263,12 @@ VrxBackpackConfig::SetAatServoMode(uint8_t val)
     CONFIG_MOD_CHECK(m_config.aat.servoMode, val);
 }
 
+void
+VrxBackpackConfig::SetAatSatelliteHomeMin(uint8_t val)
+{
+    CONFIG_MOD_CHECK(m_config.aat.satelliteHomeMin, val);
+}
+
 /**
  * @brief: Validate that the endpoints have a valid range, i.e. low/high not the same
 */

diff --git a/lib/config/config.h b/lib/config/config.h
@@ -84,13 +84,14 @@ typedef struct {
 
 #if defined(AAT_BACKPACK)
     struct __attribute__((packed)) tagAatConfig {
-        uint8_t     satelliteHomeMin;   // minimum number of satellites to establish home
-        uint8_t     servoSmooth;    // 0-9 for min smoothing to most smoothing
-        uint8_t     centerDir;      // Direction servo points at center position 0=N 2=E 4=S 6=W (can hold 45 degrees but only 90 is supported)
-        uint8_t     project;        // FUTURE: 0=none, 1=projectAzim, 2=projectElev, 3=projectBoth
-        uint8_t     units;          // FUTURE: 0=meters, anything else=also meters :-D
-        uint8_t     servoMode;      // 0=2:1, 1=clip180, FUTURE: 180+flip servo
-                                    // Also maybe invertAzim / invertElev servo bit or just swap low/high
+        uint8_t     satelliteHomeMin;     // minimum number of satellites to establish home
+        uint8_t     azimuthServoFastFlip; // 0=off, 1=on
+        uint8_t     servoSmooth;          // 0-9 for min smoothing to most smoothing
+        uint8_t     centerDir;            // Direction servo points at center position 0=N 2=E 4=S 6=W (can hold 45 degrees but only 90 is supported)
+        uint8_t     project;              // FUTURE: 0=none, 1=projectAzim, 2=projectElev, 3=projectBoth
+        uint8_t     units;                // FUTURE: 0=meters, anything else=also meters :-D
+        uint8_t     servoMode;            // 0=2:1, 1=clip180, FUTURE: 180+flip servo
+                                          // Also maybe invertAzim / invertElev servo bit or just swap low/high
         struct __attribute__((packed)) tagServoEndoint {
             uint16_t low;
             uint16_t high;
@@ -129,6 +130,9 @@ class VrxBackpackConfig
 
 #if defined(AAT_BACKPACK)
     uint8_t GetAatSatelliteHomeMin() const { return m_config.aat.satelliteHomeMin; }
+    void SetAatSatelliteHomeMin(uint8_t val);
+    uint8_t GetAatAzimuthServoFastFlip() const { return m_config.aat.azimuthServoFastFlip; }
+    void SetAatAzimuthServoFastFlip(uint8_t val);
     uint8_t GetAatServoSmooth() const { return m_config.aat.servoSmooth; }
     void SetAatServoSmooth(uint8_t val);
     uint8_t GetAatServoMode() const { return m_config.aat.servoMode; }

diff --git a/src/devwifi_proxy_aat.cpp b/src/devwifi_proxy_aat.cpp
@@ -7,6 +7,7 @@ void WebAatAppendConfig(ArduinoJson::JsonDocument &json)
 {
     auto aat = json["config"].createNestedObject("aat");
     aat["satmin"] = config.GetAatSatelliteHomeMin();
+    aat["azim_sff"] = config.GetAatAzimuthServoFastFlip();
     aat["servosmoo"] = config.GetAatServoSmooth();
     aat["servomode"] = config.GetAatServoMode();
     aat["project"] = config.GetAatProject();
@@ -28,6 +29,10 @@ void WebAatConfig(AsyncWebServerRequest *request)
     // Servos
     if (request->hasArg("servosmoo"))
         config.SetAatServoSmooth(request->arg("servosmoo").toInt());
+    if (request->hasArg("azim_sff"))
+        config.SetAatAzimuthServoFastFlip(request->arg("azim_sff").toInt());
+    else
+        config.SetAatAzimuthServoFastFlip(0);
     if (request->hasArg("servomode"))
         config.SetAatServoMode(request->arg("servomode").toInt());
     if (request->hasArg("azim_center"))
@@ -50,6 +55,9 @@ void WebAatConfig(AsyncWebServerRequest *request)
         vrxModule.overrideTargetBearing(request->arg("bear").toInt());
     if (request->hasArg("elev"))
         vrxModule.overrideTargetElev(request->arg("elev").toInt());
+    // Satellite Config
+    if (request->hasArg("satmin"))
+        config.SetAatSatelliteHomeMin(request->arg("satmin").toInt());
 
     const char *response;
     if (request->arg("commit").toInt() == 1)

diff --git a/src/module_aat.cpp b/src/module_aat.cpp
@@ -578,7 +578,7 @@ void AatModule::servoUpdate(uint32_t now)
         int32_t maxDiff = (10 - config.GetAatServoSmooth()) * SMOOTHNESS_US_PER_STEP;
         // If the distance the servo needs to go is more than 80% away
         // jump immediately. otherwise smooth it
-        if (idx == IDX_AZIM && (abs(diff) * 100 / range) > 80)
+        if (config.GetAatAzimuthServoFastFlip() && idx == IDX_AZIM && (abs(diff) * 100 / range) > 80)
         {
             // Prevent the servo from flipping back and forth around the 180 point
             // by only allowing 1 flip ever Xms. Just keep pushing toward the limit