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Code Issues Wiki Activity

Smooth anti gravity

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This commit is contained in:
ctzsnooze 2018-07-09 11:35:26 +10:00 • committed by mikeller
parent 60a59334a5
commit 4c917efa50
17 changed files with 103 additions and 22 deletions
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1
src/test/unit/arming_prevention_unittest.cc
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@ -850,4 +850,5 @@ extern "C" {
void rescheduleTask(cfTaskId_e, uint32_t) {}
bool usbCableIsInserted(void) { return false; }
bool usbVcpIsConnected(void) { return false; }
void pidSetAntiGravityState(bool) {}
}

2
src/test/unit/osd_unittest.cc
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@ -1036,5 +1036,5 @@ extern "C" {
return false;
}
float pidItermAccelerator(void) { return 1.0; }
bool pidOsdAntiGravityActive(void) { return false; }
}

3
src/test/unit/pid_unittest.cc
View file

@ -105,7 +105,8 @@ void setDefaultTestSettings(void) {
pidProfile->dtermSetpointWeight = 0;
pidProfile->yawRateAccelLimit = 100;
pidProfile->rateAccelLimit = 0;
pidProfile->itermThrottleThreshold = 350;
pidProfile->antiGravityMode = ANTI_GRAVITY_SMOOTH;
pidProfile->itermThrottleThreshold = 250;
pidProfile->itermAcceleratorGain = 1000;
pidProfile->crash_time = 500;
pidProfile->crash_delay = 0;