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Add config reload to inflight adjustments and osd

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borisbstyle 2016-11-30 13:59:30 +01:00
parent 4a0f678dec
commit 29690b9c00
3 changed files with 6 additions and 2 deletions
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2
src/main/cms/cms_menu_imu.c
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@ -130,6 +130,7 @@ static long cmsx_PidWriteback(const OSD_Entry *self)
masterConfig.profile[profileIndex].pidProfile.I8[i] = tempPid[i][1]; masterConfig.profile[profileIndex].pidProfile.I8[i] = tempPid[i][1];
masterConfig.profile[profileIndex].pidProfile.D8[i] = tempPid[i][2]; masterConfig.profile[profileIndex].pidProfile.D8[i] = tempPid[i][2];
} }
pidInitConfig(&currentProfile->pidProfile);
return 0; return 0;
} }
@ -248,6 +249,7 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
masterConfig.profile[profileIndex].pidProfile.dtermSetpointWeight = cmsx_dtermSetpointWeight; masterConfig.profile[profileIndex].pidProfile.dtermSetpointWeight = cmsx_dtermSetpointWeight;
masterConfig.profile[profileIndex].pidProfile.setpointRelaxRatio = cmsx_setpointRelaxRatio; masterConfig.profile[profileIndex].pidProfile.setpointRelaxRatio = cmsx_setpointRelaxRatio;
pidInitConfig(&currentProfile->pidProfile);
masterConfig.profile[profileIndex].pidProfile.P8[PIDLEVEL] = cmsx_angleStrength; masterConfig.profile[profileIndex].pidProfile.P8[PIDLEVEL] = cmsx_angleStrength;
masterConfig.profile[profileIndex].pidProfile.I8[PIDLEVEL] = cmsx_horizonStrength; masterConfig.profile[profileIndex].pidProfile.I8[PIDLEVEL] = cmsx_horizonStrength;

5
src/main/fc/rc_controls.c
View file

@ -579,7 +579,7 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
case ADJUSTMENT_ROLL_D: case ADJUSTMENT_ROLL_D:
newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D8[PIDROLL] = newValue; pidProfile->D8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
break; break;
case ADJUSTMENT_YAW_P: case ADJUSTMENT_YAW_P:
newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -676,7 +676,8 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
continue; continue;
} }
applyStepAdjustment(controlRateConfig, adjustmentFunction, delta); applyStepAdjustment(controlRateConfig,adjustmentFunction,delta);
pidInitConfig(pidProfile);
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) { } else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions); uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth; uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;

1
src/main/target/COLIBRI_RACE/i2c_bst.c
View file

@ -708,6 +708,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite8(currentProfile->pidProfile.I8[i]); bstWrite8(currentProfile->pidProfile.I8[i]);
bstWrite8(currentProfile->pidProfile.D8[i]); bstWrite8(currentProfile->pidProfile.D8[i]);
} }
pidInitConfig(&currentProfile->pidProfile);
break; break;
case BST_PIDNAMES: case BST_PIDNAMES:
bstWriteNames(pidnames); bstWriteNames(pidnames);