Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-21 07:15:18 +03:00
Code Issues Wiki Activity

Revert "Remove GTUNE"

Browse source 
This reverts commit a16ac7fbe7.
This commit is contained in:
borisbstyle 2016-02-21 14:06:10 +01:00
parent a1f30841c0
commit 4eb6456ea1
28 changed files with 350 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

29
src/main/mw.c
View file

@ -78,6 +78,7 @@
#include "flight/imu.h"
#include "flight/altitudehold.h"
#include "flight/failsafe.h"
#include "flight/gtune.h"
#include "flight/navigation.h"
#include "config/runtime_config.h"
@ -134,6 +135,30 @@ void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsD
saveConfigAndNotify();
}
#ifdef GTUNE
void updateGtuneState(void)
{
static bool GTuneWasUsed = false;
if (IS_RC_MODE_ACTIVE(BOXGTUNE)) {
if (!FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
ENABLE_FLIGHT_MODE(GTUNE_MODE);
init_Gtune(&currentProfile->pidProfile);
GTuneWasUsed = true;
}
if (!FLIGHT_MODE(GTUNE_MODE) && !ARMING_FLAG(ARMED) && GTuneWasUsed) {
saveConfigAndNotify();
GTuneWasUsed = false;
}
} else {
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
DISABLE_FLIGHT_MODE(GTUNE_MODE);
}
}
}
#endif
bool isCalibrating()
{
#ifdef BARO
@ -633,6 +658,10 @@ void taskMainPidLoop(void)
}
#endif
#ifdef GTUNE
updateGtuneState();
#endif
#if defined(BARO) || defined(SONAR)
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {