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Merge branch 'master' into development

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borisbstyle 2016-10-07 01:41:55 +02:00
commit 09d16bd0cb
28 changed files with 482 additions and 145 deletions
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17
src/main/fc/mw.c
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@ -122,10 +122,9 @@ static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the m
extern uint8_t PIDweight[3];
uint16_t filteredCycleTime;
static bool isRXDataNew;
static bool armingCalibrationWasInitialised;
float setpointRate[3], ptermSetpointRate[3];
float setpointRate[3];
float rcInput[3];
extern pidControllerFuncPtr pid_controller;
@ -203,19 +202,7 @@ void calculateSetpointRate(int axis, int16_t rc) {
if (currentControlRateProfile->rates[axis]) {
rcSuperfactor = 1.0f / (constrainf(1.0f - (ABS(rcCommandf) * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
if (currentProfile->pidProfile.pidController == PID_CONTROLLER_BETAFLIGHT) {
ptermSetpointRate[axis] = constrainf(angleRate * rcSuperfactor, -1998.0f, 1998.0f);
if (currentProfile->pidProfile.ptermSRateWeight < 100 && axis != YAW && !flightModeFlags) {
const float pWeight = currentProfile->pidProfile.ptermSRateWeight / 100.0f;
angleRate = angleRate + (pWeight * ptermSetpointRate[axis] - angleRate);
} else {
angleRate = ptermSetpointRate[axis];
}
} else {
angleRate *= rcSuperfactor;
}
} else {
if (currentProfile->pidProfile.pidController == PID_CONTROLLER_BETAFLIGHT) ptermSetpointRate[axis] = angleRate;
angleRate *= rcSuperfactor;
}
if (debugMode == DEBUG_ANGLERATE) {