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Add feature for SuperExpo and Airmode // Super Expo by default activated

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borisbstyle 2016-05-30 20:34:33 +02:00
parent 23b0e79eff
commit 3470181a0f
8 changed files with 25 additions and 13 deletions
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4
src/main/flight/pid.c
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@ -209,7 +209,7 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
uint16_t kP = (pidProfile->dynamic_pid) ? getDynamicKp(axis, pidProfile) : pidProfile->P8[axis];
// -----calculate P component
if ((IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) {
if ((isSuperExpoActive() && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) {
PTerm = (luxPTermScale * kP * tpaFactor) * (AngleRate - gyroRate * calculateExpoPlus(axis, rxConfig));
} else {
PTerm = luxPTermScale * RateError * kP * tpaFactor;
@ -334,7 +334,7 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
uint16_t kP = (pidProfile->dynamic_pid) ? getDynamicKp(axis, pidProfile) : pidProfile->P8[axis];
// -----calculate P component
if ((IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) {
if ((isSuperExpoActive() && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) {
PTerm = (kP * PIDweight[axis] / 100) * (AngleRateTmp - (int32_t)(gyroRate * calculateExpoPlus(axis, rxConfig))) >> 7;
} else {
PTerm = (RateError * kP * PIDweight[axis] / 100) >> 7;