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Allow inflight adjustment of pitch/roll rate.

This commit is contained in:
Dominic Clifton 2014-10-24 21:49:46 +01:00
parent a406cb6f96
commit 81e3425326
2 changed files with 12 additions and 2 deletions
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9
src/main/io/rc_controls.c
View File

@ -267,7 +267,12 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
{
.adjustmentFunction = ADJUSTMENT_RC_RATE,
.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
.step = 1
}
};
#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
@ -311,6 +316,10 @@ void applyAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentF
controlRateConfig->rcRate8 = constrain(newValue, 0, 250); // FIXME magic numbers repeated in serial_cli.c
generatePitchRollCurve(controlRateConfig);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
newValue = (int)controlRateConfig->rollPitchRate + delta;
controlRateConfig->rollPitchRate = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
break;
default:
break;
};

5
src/main/io/rc_controls.h
View File

@ -135,10 +135,11 @@ void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
typedef enum {
ADJUSTMENT_NONE = 0,
ADJUSTMENT_RC_RATE
ADJUSTMENT_RC_RATE,
ADJUSTMENT_PITCH_ROLL_RATE
} adjustmentFunction_e;
#define ADJUSTMENT_FUNCTION_COUNT 2
#define ADJUSTMENT_FUNCTION_COUNT 3
typedef struct adjustmentConfig_s {
uint8_t adjustmentFunction;