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Rename `yaw_direction` to `yaw_motor_direction` to avoid confusion 

between `yaw_control_direction` and yaw servo configuration.
This commit is contained in:
Dominic Clifton 2015-07-13 01:54:45 +01:00
parent d23dc246d0
commit cc06113c8f
5 changed files with 5 additions and 5 deletions
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2
docs/Cli.md
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@ -183,7 +183,7 @@ Re-apply any new defaults as desired.
| `throttle_correction_value` | The throttle_correction_value will be added to the throttle input. It will be maximal at the throttle_correction_angle and over, null when the copter is leveled and proportional in bewteen. The angle is set with 0.1 deg steps from 1 to 900, ie : 300 = 30.0 deg, 225 = 22.5 deg. | 0 | 150 | 0 | Profile | UINT8 |
| `throttle_correction_angle` | The throttle_correction_value will be added to the throttle input. It will be maximal at the throttle_correction_angle and over, null when the copter is leveled and proportional in bewteen. The angle is set with 0.1 deg steps from 1 to 900, ie : 300 = 30.0 deg, 225 = 22.5 deg. | 1 | 900 | 800 | Profile | UINT16 |
| `yaw_control_direction` | | -1 | 1 | 1 | Master | INT8 |
| `yaw_direction` | | -1 | 1 | 1 | Profile | INT8 |
| `yaw_motor_direction` | | -1 | 1 | 1 | Profile | INT8 |
| `yaw_jump_prevention_limit` | Prevent yaw jumps during yaw stops. To disable set to 500. | 200 | 80 | 500 | Master | UINT16 |
| `tri_unarmed_servo` | On tricopter mix only, if this is set to 1, servo will always be correcting regardless of armed state. to disable this, set it to 0. | 0 | 1 | 1 | Profile | INT8 |
| `default_rate_profile` | Default = profile number | 0 | 2 | | Profile | UINT8 |

2
src/main/config/config.c
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@ -312,7 +312,7 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
void resetMixerConfig(mixerConfig_t *mixerConfig) {
mixerConfig->pid_at_min_throttle = 1;
mixerConfig->yaw_direction = 1;
mixerConfig->yaw_motor_direction = 1;
mixerConfig->yaw_jump_prevention_limit = 200;
#ifdef USE_SERVOS
mixerConfig->tri_unarmed_servo = 1;

2
src/main/flight/mixer.c
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@ -789,7 +789,7 @@ void mixTable(void)
rcCommand[THROTTLE] * currentMixer[i].throttle +
axisPID[PITCH] * currentMixer[i].pitch +
axisPID[ROLL] * currentMixer[i].roll +
-mixerConfig->yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
-mixerConfig->yaw_motor_direction * axisPID[YAW] * currentMixer[i].yaw;
}
if (ARMING_FLAG(ARMED)) {

2
src/main/flight/mixer.h
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@ -70,7 +70,7 @@ typedef struct mixer_t {
typedef struct mixerConfig_s {
uint8_t pid_at_min_throttle; // when enabled pids are used at minimum throttle
int8_t yaw_direction;
int8_t yaw_motor_direction;
uint16_t yaw_jump_prevention_limit; // make limit configurable (original fixed value was 100)
#ifdef USE_SERVOS
uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed

2
src/main/io/serial_cli.c
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@ -399,7 +399,7 @@ const clivalue_t valueTable[] = {
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, -1, 1 },
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.mixerConfig.pid_at_min_throttle, 0, 1 },
{ "yaw_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_direction, -1, 1 },
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, -1, 1 },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH },
#ifdef USE_SERVOS
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.tri_unarmed_servo, 0, 1 },