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Code Issues Wiki Activity

When in ACRO mode use trim sticks to adjust RATE profile

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This commit is contained in:
Martin Budden 2017-11-15 09:03:39 +00:00
parent 75632daf6b
commit 36957d6075
3 changed files with 45 additions and 25 deletions
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68
src/main/fc/rc_controls.c
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@ -243,13 +243,13 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
return;
}
// Multiple configuration profiles
// Change PID profile
int newPidProfile = 0;
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) { // ROLL left -> Profile 1
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) { // ROLL left -> PID profile 1
newPidProfile = 1;
} else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) { // PITCH up -> Profile 2
} else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) { // PITCH up -> PID profile 2
newPidProfile = 2;
} else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) { // ROLL right -> Profile 3
} else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) { // ROLL right -> PID profile 3
newPidProfile = 3;
}
if (newPidProfile) {
@ -275,28 +275,46 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
}
// Accelerometer Trim
rollAndPitchTrims_t accelerometerTrimsDelta;
memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta));
if (FLIGHT_MODE(ANGLE_MODE|HORIZON_MODE)) {
// in ANGLE or HORIZON mode, so use sticks to apply accelerometer trims
rollAndPitchTrims_t accelerometerTrimsDelta;
memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta));
bool shouldApplyRollAndPitchTrimDelta = false;
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
accelerometerTrimsDelta.values.pitch = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
accelerometerTrimsDelta.values.pitch = -2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
accelerometerTrimsDelta.values.roll = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
accelerometerTrimsDelta.values.roll = -2;
shouldApplyRollAndPitchTrimDelta = true;
}
if (shouldApplyRollAndPitchTrimDelta) {
applyAndSaveAccelerometerTrimsDelta(&accelerometerTrimsDelta);
repeatAfter(STICK_AUTOREPEAT_MS);
return;
bool shouldApplyRollAndPitchTrimDelta = false;
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
accelerometerTrimsDelta.values.pitch = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
accelerometerTrimsDelta.values.pitch = -2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
accelerometerTrimsDelta.values.roll = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
accelerometerTrimsDelta.values.roll = -2;
shouldApplyRollAndPitchTrimDelta = true;
}
if (shouldApplyRollAndPitchTrimDelta) {
applyAndSaveAccelerometerTrimsDelta(&accelerometerTrimsDelta);
repeatAfter(STICK_AUTOREPEAT_MS);
return;
}
} else {
// in ACRO mode, so use sticks to change RATE profile
switch (rcSticks) {
case THR_HI + YAW_CE + PIT_HI + ROL_CE:
changeControlRateProfile(0);
return;
case THR_HI + YAW_CE + PIT_LO + ROL_CE:
changeControlRateProfile(1);
return;
case THR_HI + YAW_CE + PIT_CE + ROL_HI:
changeControlRateProfile(2);
return;
case THR_HI + YAW_CE + PIT_CE + ROL_LO:
changeControlRateProfile(3);
return;
}
}
#ifdef USE_DASHBOARD