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Fix initialization of mixer related pidProfile settings

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Previously the variables were only initialized at boot and were not updated when the pidProfile changed.
This commit is contained in:
Bruce Luckcuck 2020-03-18 10:32:17 -04:00
parent 9b6911f80c
commit 37069ba267
3 changed files with 15 additions and 3 deletions
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16
src/main/flight/mixer.c
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@ -347,6 +347,16 @@ void initEscEndpoints(void)
rcCommandThrottleRange = PWM_RANGE_MAX - PWM_RANGE_MIN;
}
// Initialize pidProfile related mixer settings
void mixerInitProfile(void)
{
#ifdef USE_DYN_IDLE
idleMinMotorRps = currentPidProfile->idle_min_rpm * 100.0f / 60.0f;
idleMaxIncrease = currentPidProfile->idle_max_increase * 0.001f;
idleP = currentPidProfile->idle_p * 0.0001f;
#endif
}
void mixerInit(mixerMode_e mixerMode)
{
currentMixerMode = mixerMode;
@ -357,12 +367,12 @@ void mixerInit(mixerMode_e mixerMode)
mixerTricopterInit();
}
#endif
#ifdef USE_DYN_IDLE
idleMinMotorRps = currentPidProfile->idle_min_rpm * 100.0f / 60.0f;
idleMaxIncrease = currentPidProfile->idle_max_increase * 0.001f;
idleThrottleOffset = motorConfig()->digitalIdleOffsetValue * 0.0001f;
idleP = currentPidProfile->idle_p * 0.0001f;
#endif
mixerInitProfile();
}
#ifdef USE_LAUNCH_CONTROL