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Allow independent in-flight adjustment of roll and pitch.

This commit is contained in:
Dominic Clifton 2015-03-07 15:14:52 +00:00
parent b595b49ca8
commit e4a6886266
2 changed files with 10 additions and 2 deletions
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6
src/main/io/rc_controls.c
View File

@ -402,8 +402,14 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
generateThrottleCurve(controlRateConfig, escAndServoConfig);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
newValue = (int)controlRateConfig->rates[FD_PITCH] + delta;
controlRateConfig->rates[FD_PITCH] = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
case ADJUSTMENT_ROLL_RATE:
newValue = (int)controlRateConfig->rates[FD_ROLL] + delta;
controlRateConfig->rates[FD_ROLL] = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
break;

6
src/main/io/rc_controls.h
View File

@ -156,10 +156,12 @@ typedef enum {
ADJUSTMENT_YAW_P,
ADJUSTMENT_YAW_I,
ADJUSTMENT_YAW_D,
ADJUSTMENT_RATE_PROFILE
ADJUSTMENT_RATE_PROFILE,
ADJUSTMENT_PITCH_RATE,
ADJUSTMENT_ROLL_RATE,
} adjustmentFunction_e;
#define ADJUSTMENT_FUNCTION_COUNT 13
#define ADJUSTMENT_FUNCTION_COUNT 15
typedef enum {
ADJUSTMENT_MODE_STEP,