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Merge pull request #6 from stephenwilley/betaflight

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Floating point inflight adjustments adjust by 0.01 instead of 0.1
This commit is contained in:
borisbstyle 2015-09-19 00:03:23 +02:00
commit 2bf343c5f7
2 changed files with 6 additions and 6 deletions
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6
src/main/io/rc_controls.c
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@ -529,7 +529,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_PITCH_ROLL_P:
case ADJUSTMENT_PITCH_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->P_f[PIDPITCH] + (float)(delta / 10.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = constrainf(pidProfile->P_f[PIDPITCH] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDPITCH] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_PITCH_P, newFloatValue);
} else {
@ -543,7 +543,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
// follow though for combined ADJUSTMENT_PITCH_ROLL_P
case ADJUSTMENT_ROLL_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->P_f[PIDROLL] + (float)(delta / 10.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = constrainf(pidProfile->P_f[PIDROLL] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDROLL] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_ROLL_P, newFloatValue);
} else {
@ -606,7 +606,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
break;
case ADJUSTMENT_YAW_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->P_f[PIDYAW] + (float)(delta / 10.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = constrainf(pidProfile->P_f[PIDYAW] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDYAW] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_YAW_P, newFloatValue);
} else {

6
src/test/unit/rc_controls_unittest.cc
View file

@ -673,9 +673,9 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController2)
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
// and
EXPECT_EQ(0.1f, pidProfile.P_f[PIDPITCH]);
EXPECT_EQ(5.1f, pidProfile.P_f[PIDROLL]);
EXPECT_EQ(7.1f, pidProfile.P_f[PIDYAW]);
EXPECT_EQ(0.01f, pidProfile.P_f[PIDPITCH]);
EXPECT_EQ(5.01f, pidProfile.P_f[PIDROLL]);
EXPECT_EQ(7.01f, pidProfile.P_f[PIDYAW]);
EXPECT_EQ(10.01f, pidProfile.I_f[PIDPITCH]);
EXPECT_EQ(15.01f, pidProfile.I_f[PIDROLL]);
EXPECT_EQ(17.01f, pidProfile.I_f[PIDYAW]);