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atbetaflight
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Merge remote-tracking branch 'borisbstyle/betaflight' into betaflight

This commit is contained in:
Gary Keeble 2016-05-31 13:47:45 +01:00
parent 72b53a9db6 39763abe0b
commit 2cc6262776
3 changed files with 10 additions and 8 deletions
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3
fake_travis_build.sh
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@ -16,7 +16,8 @@ targets=("PUBLISHMETA=True" \
"TARGET=IRCFUSIONF3" \ "TARGET=IRCFUSIONF3" \
"TARGET=ALIENFLIGHTF1" \ "TARGET=ALIENFLIGHTF1" \
"TARGET=ALIENFLIGHTF3" \ "TARGET=ALIENFLIGHTF3" \
"TARGET=DOGE") "TARGET=DOGE" \
"TARGET=SINGULARITY")
#fake a travis build environment #fake a travis build environment
export TRAVIS_BUILD_NUMBER=$(date +%s) export TRAVIS_BUILD_NUMBER=$(date +%s)

13
src/main/flight/pid.c
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@ -74,16 +74,15 @@ void setTargetPidLooptime(uint8_t pidProcessDenom) {
targetPidLooptime = targetLooptime * pidProcessDenom; targetPidLooptime = targetLooptime * pidProcessDenom;
} }
float calculateExpoPlus(int axis, const rxConfig_t *rxConfig) { float calculateExpoPlus(int axis, const rxConfig_t *rxConfig, const controlRateConfig_t *controlRateConfig) {
float propFactor; float propFactor, superExpoFactor, rcFactor;
float superExpoFactor;
if (axis == YAW && !rxConfig->superExpoYawMode) { if (axis == YAW && !rxConfig->superExpoYawMode) {
propFactor = 1.0f; propFactor = 1.0f;
} else { } else {
float rcFactor = (ABS(rcCommand[axis]) / 500.0f);
superExpoFactor = (axis == YAW) ? rxConfig->superExpoFactorYaw : rxConfig->superExpoFactor; superExpoFactor = (axis == YAW) ? rxConfig->superExpoFactorYaw : rxConfig->superExpoFactor;
rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / 500.0f) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f)));
propFactor = constrainf(1.0f - ((superExpoFactor / 100.0f) * rcFactor * rcFactor * rcFactor), 0.0f, 1.0f); propFactor = constrainf(1.0f - ((superExpoFactor / 100.0f) * rcFactor * rcFactor * rcFactor), 0.0f, 1.0f);
} }
@ -210,7 +209,7 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
// -----calculate P component // -----calculate P component
if ((isSuperExpoActive() && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) { if ((isSuperExpoActive() && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) {
PTerm = (luxPTermScale * kP * tpaFactor) * (AngleRate - gyroRate * calculateExpoPlus(axis, rxConfig)); PTerm = (luxPTermScale * kP * tpaFactor) * (AngleRate - gyroRate * calculateExpoPlus(axis, rxConfig, controlRateConfig));
} else { } else {
PTerm = luxPTermScale * RateError * kP * tpaFactor; PTerm = luxPTermScale * RateError * kP * tpaFactor;
} }
@ -335,7 +334,7 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
// -----calculate P component // -----calculate P component
if ((isSuperExpoActive() && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) { if ((isSuperExpoActive() && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) {
PTerm = (kP * PIDweight[axis] / 100) * (AngleRateTmp - (int32_t)(gyroRate * calculateExpoPlus(axis, rxConfig))) >> 7; PTerm = (kP * PIDweight[axis] / 100) * (AngleRateTmp - (int32_t)(gyroRate * calculateExpoPlus(axis, rxConfig, controlRateConfig))) >> 7;
} else { } else {
PTerm = (RateError * kP * PIDweight[axis] / 100) >> 7; PTerm = (RateError * kP * PIDweight[axis] / 100) >> 7;
} }

2
top_makefile
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@ -14,6 +14,7 @@ ALL_TARGETS += rmdo
ALL_TARGETS += ircfusionf3 ALL_TARGETS += ircfusionf3
ALL_TARGETS += afromini ALL_TARGETS += afromini
ALL_TARGETS += doge ALL_TARGETS += doge
ALL_TARGETS += singularity
CLEAN_TARGETS := $(addprefix clean_, $(ALL_TARGETS)) CLEAN_TARGETS := $(addprefix clean_, $(ALL_TARGETS))
@ -33,6 +34,7 @@ clean_rmdo rmdo : opts := TARGET=RMDO
clean_ircfusionf3 ircfusionf3 : opts := TARGET=IRCFUSIONF3 clean_ircfusionf3 ircfusionf3 : opts := TARGET=IRCFUSIONF3
clean_afromini afromini : opts := TARGET=AFROMINI clean_afromini afromini : opts := TARGET=AFROMINI
clean_doge doge : opts := TARGET=DOGE clean_doge doge : opts := TARGET=DOGE
clean_singularity singularity : opts := TARGET=SINGULARITY
.PHONY: all clean .PHONY: all clean