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Decouple altitudehold.c from config.c. Update flight_imu_unittest and

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altitude_hold_unittest.
This commit is contained in:
Dominic Clifton 2014-11-03 20:03:21 +01:00
parent f8b13d7c62
commit 503e7a0817
15 changed files with 243 additions and 121 deletions
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17
src/main/config/config.c
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@ -248,7 +248,13 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
controlRateConfig->thrExpo8 = 0;
controlRateConfig->dynThrPID = 0;
controlRateConfig->tpa_breakpoint = 1500;
}
void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
rcControlsConfig->deadband = 0;
rcControlsConfig->yaw_deadband = 0;
rcControlsConfig->alt_hold_deadband = 40;
rcControlsConfig->alt_hold_fast_change = 1;
}
uint8_t getCurrentProfile(void)
@ -330,7 +336,7 @@ static void resetConf(void)
masterConfig.small_angle = 25;
masterConfig.airplaneConfig.flaps_speed = 0;
masterConfig.fixedwing_althold_dir = 1;
masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
// Motor/ESC/Servo
resetEscAndServoConfig(&masterConfig.escAndServoConfig);
@ -377,10 +383,9 @@ static void resetConf(void)
// Radio
parseRcChannels("AETR1234", &masterConfig.rxConfig);
currentProfile->deadband = 0;
currentProfile->yaw_deadband = 0;
currentProfile->alt_hold_deadband = 40;
currentProfile->alt_hold_fast_change = 1;
resetRcControlsConfig(&currentProfile->rcControlsConfig);
currentProfile->throttle_correction_value = 0; // could 10 with althold or 40 for fpv
currentProfile->throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
@ -508,7 +513,7 @@ void activateConfig(void)
imuRuntimeConfig.small_angle = masterConfig.small_angle;
configureImu(&imuRuntimeConfig, &currentProfile->pidProfile, &currentProfile->accDeadband);
configureAltitudeHold(&currentProfile->pidProfile, &currentProfile->barometerConfig);
configureAltitudeHold(&currentProfile->pidProfile, &currentProfile->barometerConfig, &currentProfile->rcControlsConfig, &masterConfig.escAndServoConfig);
calculateThrottleAngleScale(currentProfile->throttle_correction_angle);
calculateAccZLowPassFilterRCTimeConstant(currentProfile->accz_lpf_cutoff);