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Allow inflight adjustment of pitch/roll (linked) and yaw PID settings.

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This commit is contained in:
Dominic Clifton 2014-10-24 23:10:17 +01:00
parent 7548154d25
commit 2df976409d
3 changed files with 66 additions and 5 deletions
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4
src/main/config/config.c
View file

@ -70,7 +70,7 @@ void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse,
escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse,
airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfig, gimbalConfig_t *gimbalConfigToUse);
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse);
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
#define FLASH_TO_RESERVE_FOR_CONFIG 0x800
@ -433,7 +433,7 @@ void activateConfig(void)
generatePitchRollCurve(&currentProfile->controlRateConfig);
generateThrottleCurve(&currentProfile->controlRateConfig, &masterConfig.escAndServoConfig);
useRcControlsConfig(currentProfile->modeActivationConditions, &masterConfig.escAndServoConfig);
useRcControlsConfig(currentProfile->modeActivationConditions, &masterConfig.escAndServoConfig, &currentProfile->pidProfile);
useGyroConfig(&masterConfig.gyroConfig);
#ifdef TELEMETRY

59
src/main/io/rc_controls.c
View file

@ -47,6 +47,7 @@
#include "io/rc_curves.h"
static escAndServoConfig_t *escAndServoConfig;
static pidProfile_t *pidProfile;
static bool isUsingSticksToArm = true;
@ -289,8 +290,31 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
{
.adjustmentFunction = ADJUSTMENT_YAW_RATE,
.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_YAW_P,
.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_YAW_I,
.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_YAW_D,
.step = 1
}
};
#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
@ -352,6 +376,36 @@ void applyAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentF
newValue = (int)controlRateConfig->yawRate + delta;
controlRateConfig->yawRate = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
break;
case ADJUSTMENT_PITCH_ROLL_P:
newValue = (int)pidProfile->P8[PIDPITCH] + delta;
pidProfile->P8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
newValue = (int)pidProfile->P8[PIDROLL] + delta;
pidProfile->P8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
break;
case ADJUSTMENT_PITCH_ROLL_I:
newValue = (int)pidProfile->I8[PIDPITCH] + delta;
pidProfile->I8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
newValue = (int)pidProfile->I8[PIDROLL] + delta;
pidProfile->I8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
break;
case ADJUSTMENT_PITCH_ROLL_D:
newValue = (int)pidProfile->D8[PIDPITCH] + delta;
pidProfile->D8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
newValue = (int)pidProfile->D8[PIDROLL] + delta;
pidProfile->D8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
break;
case ADJUSTMENT_YAW_P:
newValue = (int)pidProfile->P8[PIDYAW] + delta;
pidProfile->P8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
break;
case ADJUSTMENT_YAW_I:
newValue = (int)pidProfile->I8[PIDYAW] + delta;
pidProfile->I8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
break;
case ADJUSTMENT_YAW_D:
newValue = (int)pidProfile->D8[PIDYAW] + delta;
pidProfile->D8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
break;
default:
break;
};
@ -420,11 +474,12 @@ void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
}
}
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse)
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse)
{
uint8_t index;
escAndServoConfig = escAndServoConfigToUse;
pidProfile = pidProfileToUse;
for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];

8
src/main/io/rc_controls.h
View file

@ -140,9 +140,15 @@ typedef enum {
ADJUSTMENT_THROTTLE_EXPO,
ADJUSTMENT_PITCH_ROLL_RATE,
ADJUSTMENT_YAW_RATE,
ADJUSTMENT_PITCH_ROLL_P,
ADJUSTMENT_PITCH_ROLL_I,
ADJUSTMENT_PITCH_ROLL_D,
ADJUSTMENT_YAW_P,
ADJUSTMENT_YAW_I,
ADJUSTMENT_YAW_D,
} adjustmentFunction_e;
#define ADJUSTMENT_FUNCTION_COUNT 6
#define ADJUSTMENT_FUNCTION_COUNT 12
typedef struct adjustmentConfig_s {
uint8_t adjustmentFunction;