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Renamed alt_hold_throttle_neutral to alt_hold_deadband for consistency.

This commit is contained in:
Dominic Clifton 2014-06-21 22:39:42 +01:00
parent d2ff7550ac
commit ed3e0769cf
5 changed files with 12 additions and 8 deletions
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4
docs/Configuration.md
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@ -230,3 +230,7 @@ reason: renamed to `3d_deadband_throttle` for consistency
### neutral3d
reason: renamed to `3d_neutral` for consistency
### alt_hold_throttle_neutral
reason: renamed to 'alt_hold_deadband'

2
src/main/config/config.c
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@ -291,7 +291,7 @@ static void resetConf(void)
parseRcChannels("AETR1234", &masterConfig.rxConfig);
currentProfile.deadband = 0;
currentProfile.yaw_deadband = 0;
currentProfile.alt_hold_throttle_neutral = 40;
currentProfile.alt_hold_deadband = 40;
currentProfile.alt_hold_fast_change = 1;
currentProfile.throttle_correction_value = 0; // could 10 with althold or 40 for fpv
currentProfile.throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv

6
src/main/config/config_profile.h
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@ -45,9 +45,9 @@ typedef struct profile_s {
// Radio/ESC-related configuration
uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
uint8_t yaw_deadband; // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
uint8_t alt_hold_throttle_neutral; // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
uint8_t alt_hold_fast_change; // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_throttle_neutral; when enabled, altitude changes slowly proportional to stick movement
uint8_t yaw_deadband; // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
uint8_t alt_hold_deadband; // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
uint8_t alt_hold_fast_change; // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_deadband; when enabled, altitude changes slowly proportional to stick movement
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.

2
src/main/io/serial_cli.c
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@ -232,7 +232,7 @@ const clivalue_t valueTable[] = {
{ "gyro_cmpf_factor", VAR_UINT16, &masterConfig.gyro_cmpf_factor, 100, 1000 },
{ "gyro_cmpfm_factor", VAR_UINT16, &masterConfig.gyro_cmpfm_factor, 100, 1000 },
{ "alt_hold_throttle_neutral", VAR_UINT8, &currentProfile.alt_hold_throttle_neutral, 1, 250 },
{ "alt_hold_deadband", VAR_UINT8, &currentProfile.alt_hold_deadband, 1, 250 },
{ "alt_hold_fast_change", VAR_UINT8, &currentProfile.alt_hold_fast_change, 0, 1 },
{ "throttle_correction_value", VAR_UINT8, &currentProfile.throttle_correction_value, 0, 150 },

6
src/main/mw.c
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@ -575,10 +575,10 @@ void loop(void)
// multirotor alt hold
if (currentProfile.alt_hold_fast_change) {
// rapid alt changes
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > currentProfile.alt_hold_throttle_neutral) {
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > currentProfile.alt_hold_deadband) {
errorAltitudeI = 0;
isAltHoldChanged = 1;
rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -currentProfile.alt_hold_throttle_neutral : currentProfile.alt_hold_throttle_neutral;
rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -currentProfile.alt_hold_deadband : currentProfile.alt_hold_deadband;
} else {
if (isAltHoldChanged) {
AltHold = EstAlt;
@ -588,7 +588,7 @@ void loop(void)
}
} else {
// slow alt changes for apfags
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > currentProfile.alt_hold_throttle_neutral) {
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > currentProfile.alt_hold_deadband) {
// Slowly increase/decrease AltHold proportional to stick movement ( +100 throttle gives ~ +50 cm in 1 second with cycle time about 3-4ms)
AltHoldCorr += rcCommand[THROTTLE] - initialThrottleHold;
AltHold += AltHoldCorr / 2000;