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Merge branch 'GTune' of https://github.com/MJ666/cleanflight into

Browse source 
MJ666-Harakiri_PID_update

Conflicts:
	Makefile
	src/main/blackbox/blackbox_fielddefs.h
	src/main/flight/pid.c
	src/main/io/serial_msp.c
	src/main/mw.c
	src/main/target/ALIENWIIF3/target.h
	src/main/target/CC3D/target.h
	src/main/target/NAZE/target.h
	src/main/target/NAZE32PRO/target.h
	src/main/target/SPARKY/target.h
This commit is contained in:
Dominic Clifton 2015-10-06 20:16:37 +01:00
commit 123a4ccfc5
33 changed files with 497 additions and 52 deletions
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29
src/main/mw.c
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@ -70,6 +70,7 @@
#include "flight/imu.h"
#include "flight/altitudehold.h"
#include "flight/failsafe.h"
#include "flight/gtune.h"
#include "flight/navigation.h"
#include "flight/filter.h"
@ -121,6 +122,30 @@ void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsD
saveConfigAndNotify();
}
#ifdef GTUNE
void updateGtuneState(void)
{
static bool GTuneWasUsed = false;
if (IS_RC_MODE_ACTIVE(BOXGTUNE)) {
if (!FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
ENABLE_FLIGHT_MODE(GTUNE_MODE);
init_Gtune(&currentProfile->pidProfile);
GTuneWasUsed = true;
}
if (!FLIGHT_MODE(GTUNE_MODE) && !ARMING_FLAG(ARMED) && GTuneWasUsed) {
saveConfigAndNotify();
GTuneWasUsed = false;
}
} else {
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
DISABLE_FLIGHT_MODE(GTUNE_MODE);
}
}
}
#endif
bool isCalibrating()
{
#ifdef BARO
@ -759,6 +784,10 @@ void loop(void)
}
#endif
#ifdef GTUNE
updateGtuneState();
#endif
#if defined(BARO) || defined(SONAR)
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {