From ed434fe47b5865dd55907a59c0bfb84aac62dce5 Mon Sep 17 00:00:00 2001 From: Dominic Clifton Date: Mon, 9 Mar 2015 22:50:27 +0000 Subject: [PATCH] Use a positive named setting and variable instead of a negative one to simplify the logic and aid understanding. --- docs/Cli.md | 2 +- src/main/config/config.c | 2 +- src/main/config/config_master.h | 2 +- src/main/flight/mixer.c | 4 +--- src/main/io/serial_cli.c | 2 +- 5 files changed, 5 insertions(+), 7 deletions(-) diff --git a/docs/Cli.md b/docs/Cli.md index 7c140be87..9980dc1c3 100644 --- a/docs/Cli.md +++ b/docs/Cli.md @@ -118,7 +118,7 @@ Re-apply any new defaults as desired. | disarm_kill_switch | Enabled by default. Disarms the motors independently of throttle value. Setting to 0 reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel. | 0 | 1 | 1 | Master | UINT8 | | auto_disarm_delay | | 0 | 60 | 5 | Master | UINT8 | | small_angle | If the copter tilt angle exceed this value the copter will refuse to arm. default is 25°. | 0 | 180 | 25 | Master | UINT8 | -| disable_pid_at_min_throttle | If enabled, the copter will not process the pid algorithm at minimum throttle. | 0 | 1 | 0 | Master | UINT8 | +| pid_at_min_throttle | If enabled, the copter will process the pid algorithm at minimum throttle. | 0 | 1 | 0 | Master | UINT8 | | flaps_speed | | 0 | 100 | 0 | Master | UINT8 | | fixedwing_althold_dir | | -1 | 1 | 1 | Master | INT8 | | reboot_character | | 48 | 126 | 82 | Master | UINT8 | diff --git a/src/main/config/config.c b/src/main/config/config.c index 45861c92e..91620e0a5 100644 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -378,7 +378,7 @@ static void resetConf(void) masterConfig.disarm_kill_switch = 1; masterConfig.auto_disarm_delay = 5; masterConfig.small_angle = 25; - masterConfig.disable_pid_at_min_throttle = 0; + masterConfig.pid_at_min_throttle = 1; masterConfig.airplaneConfig.flaps_speed = 0; diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h index 6de9f68a1..ef6f584c1 100644 --- a/src/main/config/config_master.h +++ b/src/main/config/config_master.h @@ -65,7 +65,7 @@ typedef struct master_t { uint8_t disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value uint8_t auto_disarm_delay; // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0 uint8_t small_angle; - uint8_t disable_pid_at_min_throttle; // when enabled (nonzero), ignore pids at minimum throttle + uint8_t pid_at_min_throttle; // when enabled pids are used at minimum throttle airplaneConfig_t airplaneConfig; diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c index d504bc473..961b6675b 100755 --- a/src/main/flight/mixer.c +++ b/src/main/flight/mixer.c @@ -714,13 +714,11 @@ void mixTable(void) } else { // If we're at minimum throttle and FEATURE_MOTOR_STOP enabled, // do not spin the motors. - // If we're at minimum throttle and disable_pid_at_min_throttle - // is enabled, spin motors at minimum throttle. motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle); if ((rcData[THROTTLE]) < rxConfig->mincheck) { if (feature(FEATURE_MOTOR_STOP)) { motor[i] = escAndServoConfig->mincommand; - } else if (masterConfig.disable_pid_at_min_throttle != 0) { + } else if (masterConfig.pid_at_min_throttle == 0) { motor[i] = escAndServoConfig->minthrottle; } } diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 511d0c12f..3624e34ce 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -274,7 +274,7 @@ const clivalue_t valueTable[] = { { "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE, &masterConfig.disarm_kill_switch, 0, 1 }, { "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.auto_disarm_delay, 0, 60 }, { "small_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.small_angle, 0, 180 }, - { "disable_pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.disable_pid_at_min_throttle, 0, 1 }, + { "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_at_min_throttle, 0, 1 }, { "flaps_speed", VAR_UINT8 | MASTER_VALUE, &masterConfig.airplaneConfig.flaps_speed, 0, 100 },