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Merge branch 'GTune' of https://github.com/MJ666/cleanflight into
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:
commit
123a4ccfc5
33 changed files with 497 additions and 52 deletions
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@ -70,6 +70,7 @@
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#include "flight/imu.h"
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#include "flight/altitudehold.h"
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#include "flight/failsafe.h"
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#include "flight/gtune.h"
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#include "flight/navigation.h"
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#include "flight/filter.h"
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@ -121,6 +122,30 @@ void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsD
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saveConfigAndNotify();
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}
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#ifdef GTUNE
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void updateGtuneState(void)
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{
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static bool GTuneWasUsed = false;
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if (IS_RC_MODE_ACTIVE(BOXGTUNE)) {
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if (!FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
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ENABLE_FLIGHT_MODE(GTUNE_MODE);
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init_Gtune(¤tProfile->pidProfile);
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GTuneWasUsed = true;
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}
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if (!FLIGHT_MODE(GTUNE_MODE) && !ARMING_FLAG(ARMED) && GTuneWasUsed) {
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saveConfigAndNotify();
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GTuneWasUsed = false;
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}
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} else {
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if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
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DISABLE_FLIGHT_MODE(GTUNE_MODE);
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}
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}
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}
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#endif
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bool isCalibrating()
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{
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#ifdef BARO
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@ -759,6 +784,10 @@ void loop(void)
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}
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#endif
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#ifdef GTUNE
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updateGtuneState();
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#endif
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#if defined(BARO) || defined(SONAR)
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if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
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if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
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