Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 21:35:44 +03:00
Code Issues Wiki Activity

Some cleanups

Browse source 
Fix missing bracket
This commit is contained in:
borisbstyle 2016-02-24 23:42:14 +01:00
parent df159d195d
commit 127251cc99
5 changed files with 4 additions and 14 deletions
Download patch file Download diff file Expand all files Collapse all files

1
src/main/config/config.c
View file

@ -334,7 +334,6 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
void resetMixerConfig(mixerConfig_t *mixerConfig) { void resetMixerConfig(mixerConfig_t *mixerConfig) {
mixerConfig->yaw_motor_direction = 1; mixerConfig->yaw_motor_direction = 1;
mixerConfig->airmode_saturation_limit = 30;
mixerConfig->yaw_jump_prevention_limit = 200; mixerConfig->yaw_jump_prevention_limit = 200;
#ifdef USE_SERVOS #ifdef USE_SERVOS
mixerConfig->tri_unarmed_servo = 1; mixerConfig->tri_unarmed_servo = 1;

5
src/main/flight/mixer.c
View file

@ -854,11 +854,10 @@ void mixTable(void)
for (i = 0; i < motorCount; i++) { for (i = 0; i < motorCount; i++) {
rollPitchYawMix[i] = qMultiply(mixReduction,rollPitchYawMix[i]); rollPitchYawMix[i] = qMultiply(mixReduction,rollPitchYawMix[i]);
} }
// Get the maximum correction by setting offset to center. Only active below 50% of saturation levels to reduce spazzing out in crashes // Get the maximum correction by setting offset to center
if ((qPercent(mixReduction) > mixerConfig->airmode_saturation_limit) && IS_RC_MODE_ACTIVE(BOXAIRMODE)) { if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
throttleMin = throttleMax = throttleMin + (throttleRange / 2); throttleMin = throttleMax = throttleMin + (throttleRange / 2);
} }
} else { } else {
motorLimitReached = false; motorLimitReached = false;
throttleMin = throttleMin + (rollPitchYawMixRange / 2); throttleMin = throttleMin + (rollPitchYawMixRange / 2);

1
src/main/flight/mixer.h
View file

@ -71,7 +71,6 @@ typedef struct mixer_s {
typedef struct mixerConfig_s { typedef struct mixerConfig_s {
int8_t yaw_motor_direction; int8_t yaw_motor_direction;
uint8_t airmode_saturation_limit; // Percentage in airmode where the mixer stops trying to get maximum possible correction
uint16_t yaw_jump_prevention_limit; // make limit configurable (original fixed value was 100) uint16_t yaw_jump_prevention_limit; // make limit configurable (original fixed value was 100)
#ifdef USE_SERVOS #ifdef USE_SERVOS
uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed

1
src/main/io/serial_cli.c
View file

@ -630,7 +630,6 @@ const clivalue_t valueTable[] = {
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, .config.minmax = { -1, 1 } }, { "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, .config.minmax = { -1, 1 } },
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1, 1 } }, { "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1, 1 } },
{ "airmode_saturation_limit", VAR_UINT8 | MASTER_VALUE, &masterConfig.mixerConfig.airmode_saturation_limit, .config.minmax = { 0, 100 } },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH } }, { "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH } },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } }, { "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
#ifdef USE_SERVOS #ifdef USE_SERVOS

10
src/main/io/serial_msp.c
View file

@ -113,13 +113,12 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.gyro_lpf = 0; masterConfig.gyro_lpf = 0;
gyroSampleRate = 125; gyroSampleRate = 125;
maxDivider = 8; maxDivider = 8;
masterConfig.pid_process_denom = 1;
if (looptime < 250) { if (looptime < 250) {
masterConfig.acc_hardware = 1; masterConfig.acc_hardware = 1;
masterConfig.baro_hardware = 1; masterConfig.baro_hardware = 1;
masterConfig.mag_hardware = 1; masterConfig.mag_hardware = 1;
masterConfig.pid_process_denom = 2; masterConfig.pid_process_denom = 2;
} else if (looptime < 1000) {
masterConfig.pid_process_denom = 1;
} }
} else { } else {
masterConfig.gyro_lpf = 1; masterConfig.gyro_lpf = 1;
@ -133,6 +132,7 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.mag_hardware = 1; masterConfig.mag_hardware = 1;
gyroSampleRate = 125; gyroSampleRate = 125;
maxDivider = 8; maxDivider = 8;
masterConfig.pid_process_denom = 1;
if (looptime < 250) { if (looptime < 250) {
masterConfig.pid_process_denom = 3; masterConfig.pid_process_denom = 3;
} else if (looptime < 500) { } else if (looptime < 500) {
@ -141,12 +141,6 @@ void setGyroSamplingSpeed(uint16_t looptime) {
} else { } else {
masterConfig.pid_process_denom = 2; masterConfig.pid_process_denom = 2;
} }
} else {
if (currentProfile->pidProfile.pidController == 2) {
masterConfig.pid_process_denom = 2;
} else {
masterConfig.pid_process_denom = 1;
}
} }
} else { } else {
masterConfig.gyro_lpf = 1; masterConfig.gyro_lpf = 1;