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G-Tune port from Harakiri

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Enabled for NAZE, ALIENWWIIF1 and ALIENWIIF3 targets
Implement G-Tune for all PID controllers
The G-Tune tuning results will be save if G-Tune mode will be disabled
during copter is disarmed.
Update PID controller and G-Tune documentation
This commit is contained in:
Michael Jakob 2015-02-27 07:38:51 +01:00
parent b20dc77a74
commit 43f5792a61
15 changed files with 371 additions and 4 deletions
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6
src/main/io/serial_msp.c
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@ -347,6 +347,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXSERVO3, "SERVO3;", 25 },
{ BOXBLACKBOX, "BLACKBOX;", 26 },
{ BOXFAILSAFE, "FAILSAFE;", 27 },
{ BOXGTUNE, "GTUNE;", 28 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -703,6 +704,10 @@ void mspInit(serialConfig_t *serialConfig)
activeBoxIds[activeBoxIdCount++] = BOXFAILSAFE;
}
#ifdef GTUNE
activeBoxIds[activeBoxIdCount++] = BOXGTUNE;
#endif
memset(mspPorts, 0x00, sizeof(mspPorts));
mspAllocateSerialPorts(serialConfig);
}
@ -822,6 +827,7 @@ static bool processOutCommand(uint8_t cmdMSP)
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)) << BOXOSD |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)) << BOXTELEMETRY |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAUTOTUNE)) << BOXAUTOTUNE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGTUNE)) << BOXGTUNE |
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |