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Decouple altitudehold.c from config.c. Update flight_imu_unittest and
altitude_hold_unittest.
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f8b13d7c62
commit
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15 changed files with 243 additions and 121 deletions
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@ -248,7 +248,13 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
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controlRateConfig->thrExpo8 = 0;
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controlRateConfig->dynThrPID = 0;
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controlRateConfig->tpa_breakpoint = 1500;
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}
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void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
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rcControlsConfig->deadband = 0;
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rcControlsConfig->yaw_deadband = 0;
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rcControlsConfig->alt_hold_deadband = 40;
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rcControlsConfig->alt_hold_fast_change = 1;
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}
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uint8_t getCurrentProfile(void)
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@ -330,7 +336,7 @@ static void resetConf(void)
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masterConfig.small_angle = 25;
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masterConfig.airplaneConfig.flaps_speed = 0;
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masterConfig.fixedwing_althold_dir = 1;
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masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
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// Motor/ESC/Servo
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resetEscAndServoConfig(&masterConfig.escAndServoConfig);
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@ -377,10 +383,9 @@ static void resetConf(void)
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// Radio
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parseRcChannels("AETR1234", &masterConfig.rxConfig);
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currentProfile->deadband = 0;
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currentProfile->yaw_deadband = 0;
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currentProfile->alt_hold_deadband = 40;
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currentProfile->alt_hold_fast_change = 1;
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resetRcControlsConfig(¤tProfile->rcControlsConfig);
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currentProfile->throttle_correction_value = 0; // could 10 with althold or 40 for fpv
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currentProfile->throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
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@ -508,7 +513,7 @@ void activateConfig(void)
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imuRuntimeConfig.small_angle = masterConfig.small_angle;
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configureImu(&imuRuntimeConfig, ¤tProfile->pidProfile, ¤tProfile->accDeadband);
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configureAltitudeHold(¤tProfile->pidProfile, ¤tProfile->barometerConfig);
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configureAltitudeHold(¤tProfile->pidProfile, ¤tProfile->barometerConfig, ¤tProfile->rcControlsConfig, &masterConfig.escAndServoConfig);
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calculateThrottleAngleScale(currentProfile->throttle_correction_angle);
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calculateAccZLowPassFilterRCTimeConstant(currentProfile->accz_lpf_cutoff);
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