Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-21 15:25:36 +03:00
Code Issues Wiki Activity

Code tidy. Renamed vbatscale in blackbox

Browse source
This commit is contained in:
Martin Budden 2017-03-31 07:44:28 +01:00
parent 86b3d862a2
commit 318fd2ee15
3 changed files with 6 additions and 8 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/blackbox/blackbox.c
View file

@ -1214,7 +1214,7 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE_CUSTOM( BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) { if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
blackboxPrintfHeaderLine("vbatscale", "%u", voltageSensorADCConfig(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale); blackboxPrintfHeaderLine("vbat_scale", "%u", voltageSensorADCConfig(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale);
} else { } else {
xmitState.headerIndex += 2; // Skip the next two vbat fields too xmitState.headerIndex += 2; // Skip the next two vbat fields too
} }

2
src/main/fc/cli.c
View file

@ -493,7 +493,6 @@ typedef union {
cliMinMaxConfig_t minmax; cliMinMaxConfig_t minmax;
} cliValueConfig_t; } cliValueConfig_t;
#ifdef USE_PARAMETER_GROUPS
typedef struct { typedef struct {
const char *name; const char *name;
const uint8_t type; // see cliValueFlag_e const uint8_t type; // see cliValueFlag_e
@ -975,7 +974,6 @@ displayPortProfile_t displayPortProfileMax7456Copy;
static pidConfig_t pidConfigCopy; static pidConfig_t pidConfigCopy;
static controlRateConfig_t controlRateProfilesCopy[CONTROL_RATE_PROFILE_COUNT]; static controlRateConfig_t controlRateProfilesCopy[CONTROL_RATE_PROFILE_COUNT];
static pidProfile_t pidProfileCopy[MAX_PROFILE_COUNT]; static pidProfile_t pidProfileCopy[MAX_PROFILE_COUNT];
#endif // USE_PARAMETER_GROUPS
static void cliPrint(const char *str) static void cliPrint(const char *str)
{ {

10
src/main/flight/pid.c
View file

@ -273,13 +273,13 @@ static float calcHorizonLevelStrength(void) {
static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) { static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
// calculate error angle and limit the angle to the max inclination // calculate error angle and limit the angle to the max inclination
float errorAngle = pidProfile->levelSensitivity * getRcDeflection(axis); float angle = pidProfile->levelSensitivity * getRcDeflection(axis);
#ifdef GPS #ifdef GPS
errorAngle += GPS_angle[axis]; angle += GPS_angle[axis];
#endif #endif
errorAngle = constrainf(errorAngle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit); angle = constrainf(angle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit);
errorAngle = errorAngle - ((attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f); const float errorAngle = angle - ((attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f);
if(FLIGHT_MODE(ANGLE_MODE)) { if (FLIGHT_MODE(ANGLE_MODE)) {
// ANGLE mode - control is angle based, so control loop is needed // ANGLE mode - control is angle based, so control loop is needed
currentPidSetpoint = errorAngle * levelGain; currentPidSetpoint = errorAngle * levelGain;
} else { } else {