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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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7
src/main/io/rc_controls.h
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@ -128,6 +128,13 @@ typedef struct controlRateConfig_s {
extern int16_t rcCommand[4];
typedef struct rcControlsConfig_s {
uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
uint8_t yaw_deadband; // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
uint8_t alt_hold_deadband; // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
uint8_t alt_hold_fast_change; // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_deadband; when enabled, altitude changes slowly proportional to stick movement
} rcControlsConfig_t;
bool areSticksInApModePosition(uint16_t ap_mode);
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch);