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GPS can now be conditionally compiled in.

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This commit is contained in:
Dominic Clifton 2014-06-28 20:20:16 +09:00
parent b3a718882c
commit 3b629d58a0
19 changed files with 144 additions and 29 deletions
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19
src/main/flight/flight.c
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@ -102,9 +102,13 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
AngleRate = (float)((controlRateConfig->yawRate + 10) * rcCommand[YAW]) / 50.0f;
} else {
// calculate error and limit the angle to the max inclination
#ifdef GPS
errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
#else
errorAngle = (constrain(rcCommand[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
#endif
if (shouldAutotune()) {
errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
}
@ -174,8 +178,13 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
for (axis = 0; axis < 3; axis++) {
if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
// observe max inclination
#ifdef GPS
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
#else
errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
#endif
if (shouldAutotune()) {
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
@ -243,9 +252,13 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
AngleRateTmp = (((int32_t)(controlRateConfig->yawRate + 27) * rcCommand[YAW]) >> 5);
} else {
// calculate error and limit the angle to max configured inclination
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int) max_angle_inclination),
#ifdef GPS
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
#else
errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
#endif
if (shouldAutotune()) {
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
}