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Code Issues Wiki Activity

initial take at configurable FEATURE_3D

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completely untested and may attempt to kill you when enabled. no binary.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@360 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-06-30 07:11:49 +00:00
parent e010e3a354
commit 3afeb3d1c8
6 changed files with 53 additions and 11 deletions
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13
src/mw.c
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@ -433,6 +433,7 @@ void loop(void)
static uint32_t loopTime;
uint16_t auxState = 0;
static uint8_t GPSNavReset = 1;
bool isThrottleLow = false;
// this will return false if spektrum is disabled. shrug.
if (spektrumFrameComplete())
@ -444,6 +445,12 @@ void loop(void)
if (!feature(FEATURE_SPEKTRUM))
computeRC();
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!rcOptions[BOXARM])
mwDisarm();
}
// Failsafe routine
if (feature(FEATURE_FAILSAFE)) {
if (failsafeCnt > (5 * cfg.failsafe_delay) && f.ARMED) { // Stabilize, and set Throttle to specified level
@ -481,7 +488,11 @@ void loop(void)
rcSticks = stTmp;
// perform actions
if (rcData[THROTTLE] < mcfg.mincheck) {
if (feature(FEATURE_3D) && (rcData[THROTTLE] > (mcfg.midrc - mcfg.deadband3d_throttle) && rcData[THROTTLE] < (mcfg.midrc + mcfg.deadband3d_throttle)))
isThrottleLow = true;
else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < mcfg.mincheck))
isThrottleLow = true;
if (isThrottleLow) {
errorGyroI[ROLL] = 0;
errorGyroI[PITCH] = 0;
errorGyroI[YAW] = 0;