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Merge pull request #1688 from martinbudden/bf_throttle_correction_to_structs 

Moved masterConfig throttle correction items into a struct
This commit is contained in:
Martin Budden 2016-11-29 22:17:51 +01:00 committed by GitHub
parent 1bfeabfa96 84467ea0e1
commit d7a231f97b
5 changed files with 14 additions and 9 deletions
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4
src/main/config/config_master.h
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@ -109,8 +109,8 @@ typedef struct master_s {
barometerConfig_t barometerConfig;
uint8_t acc_unarmedcal; // turn automatic acc compensation on/off
uint16_t throttle_correction_angle; // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
uint8_t throttle_correction_value; // the correction that will be applied at throttle_correction_angle.
throttleCorrectionConfig_t throttleCorrectionConfig;
batteryConfig_t batteryConfig;
// Radio/ESC-related configuration

6
src/main/fc/config.c
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@ -719,8 +719,8 @@ void createDefaultConfig(master_t *config)
resetRcControlsConfig(&config->rcControlsConfig);
config->throttle_correction_value = 0; // could 10 with althold or 40 for fpv
config->throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
config->throttleCorrectionConfig.throttle_correction_value = 0; // could 10 with althold or 40 for fpv
config->throttleCorrectionConfig.throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
// Failsafe Variables
config->failsafeConfig.failsafe_delay = 10; // 1sec
@ -867,7 +867,7 @@ void activateConfig(void)
&imuRuntimeConfig,
&currentProfile->pidProfile,
&masterConfig.accDeadband,
masterConfig.throttle_correction_angle
masterConfig.throttleCorrectionConfig.throttle_correction_angle
);
configureAltitudeHold(

4
src/main/fc/mw.c
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@ -745,8 +745,8 @@ void subTaskMainSubprocesses(void)
setpointRate[YAW] = 0;
}
if (masterConfig.throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(masterConfig.throttle_correction_value);
if (masterConfig.throttleCorrectionConfig.throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(masterConfig.throttleCorrectionConfig.throttle_correction_value);
}
processRcCommand();

5
src/main/flight/imu.h
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@ -51,6 +51,11 @@ typedef struct accDeadband_s {
uint8_t z; // set the acc deadband for z-Axis, this ignores small accelerations
} accDeadband_t;
typedef struct throttleCorrectionConfig_s {
uint16_t throttle_correction_angle; // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
uint8_t throttle_correction_value; // the correction that will be applied at throttle_correction_angle.
} throttleCorrectionConfig_t;
typedef struct imuRuntimeConfig_s {
uint8_t acc_cut_hz;
uint8_t acc_unarmedcal;

4
src/main/io/serial_cli.c
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@ -827,8 +827,8 @@ const clivalue_t valueTable[] = {
{ "deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.rcControlsConfig.deadband, .config.minmax = { 0, 32 } },
{ "yaw_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.rcControlsConfig.yaw_deadband, .config.minmax = { 0, 100 } },
{ "throttle_correction_value", VAR_UINT8 | MASTER_VALUE, &masterConfig.throttle_correction_value, .config.minmax = { 0, 150 } },
{ "throttle_correction_angle", VAR_UINT16 | MASTER_VALUE, &masterConfig.throttle_correction_angle, .config.minmax = { 1, 900 } },
{ "throttle_correction_value", VAR_UINT8 | MASTER_VALUE, &masterConfig.throttleCorrectionConfig.throttle_correction_value, .config.minmax = { 0, 150 } },
{ "throttle_correction_angle", VAR_UINT16 | MASTER_VALUE, &masterConfig.throttleCorrectionConfig.throttle_correction_angle, .config.minmax = { 1, 900 } },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, .config.minmax = { -1, 1 } },