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Update external defines for ALT / POS HOLD (#14069)

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* Update external defines for ALT / POS HOLD

* Update unit test define
This commit is contained in:
Mark Haslinghuis 2024-12-08 16:23:38 +01:00 • committed by GitHub
parent b5ab83b3bc
commit 2426f43502
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GPG key ID: B5690EEEBB952194
21 changed files with 39 additions and 39 deletions
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10
src/main/flight/pid.c
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@ -570,7 +570,7 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
#ifdef USE_GPS_RESCUE
angleTarget += gpsRescueAngle[axis] / 100.0f; // Angle is in centidegrees, stepped on roll at 10Hz but not on pitch
#endif
#ifdef USE_POS_HOLD_MODE
#ifdef USE_POSITION_HOLD
if (FLIGHT_MODE(POS_HOLD_MODE)) {
angleFeedforward = 0.0f; // otherwise the lag of the PT3 carries recent stick inputs into the hold
if (isAutopilotInControl()) {
@ -942,7 +942,7 @@ static FAST_CODE_NOINLINE void disarmOnImpact(void)
if (wasThrottleRaised()
// and, either sticks are centred and throttle zeroed,
&& ((getMaxRcDeflectionAbs() < 0.05f && mixerGetRcThrottle() < 0.05f)
#ifdef USE_ALT_HOLD_MODE
#ifdef USE_ALTITUDE_HOLD
// or, in altitude hold mode, where throttle can be non-zero
|| FLIGHT_MODE(ALT_HOLD_MODE)
#endif
@ -950,7 +950,7 @@ static FAST_CODE_NOINLINE void disarmOnImpact(void)
// increase sensitivity by 50% when low and in altitude hold or failsafe landing
// for more reliable disarm with gentle controlled landings
float lowAltitudeSensitivity = 1.0f;
#ifdef USE_ALT_HOLD_MODE
#ifdef USE_ALTITUDE_HOLD
lowAltitudeSensitivity = (FLIGHT_MODE(ALT_HOLD_MODE) && isBelowLandingAltitude()) ? 1.5f : 1.0f;
#endif
// and disarm if jerk exceeds threshold...
@ -1123,10 +1123,10 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
float horizonLevelStrength = 0.0f;
const bool isExternalAngleModeRequest = FLIGHT_MODE(GPS_RESCUE_MODE)
#ifdef USE_ALT_HOLD_MODE
#ifdef USE_ALTITUDE_HOLD
|| FLIGHT_MODE(ALT_HOLD_MODE) // todo - check if this is needed
#endif
#ifdef USE_POS_HOLD_MODE
#ifdef USE_POSITION_HOLD
|| FLIGHT_MODE(POS_HOLD_MODE)
#endif
;