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Code Issues Wiki Activity

Additional configs moved from profile to master

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This commit is contained in:
KiteAnton 2016-01-26 22:23:39 +01:00
parent 0d054af27f
commit 62e0e59ab5
7 changed files with 131 additions and 137 deletions
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24
src/main/mw.c
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@ -127,8 +127,8 @@ extern pidControllerFuncPtr pid_controller;
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
{
currentProfile->accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;
currentProfile->accelerometerTrims.values.pitch += rollAndPitchTrimsDelta->values.pitch;
masterConfig.accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;
masterConfig.accelerometerTrims.values.pitch += rollAndPitchTrimsDelta->values.pitch;
saveConfigAndNotify();
}
@ -240,9 +240,9 @@ void annexCode(void)
for (axis = 0; axis < 3; axis++) {
tmp = MIN(ABS(rcData[axis] - masterConfig.rxConfig.midrc), 500);
if (axis == ROLL || axis == PITCH) {
if (currentProfile->rcControlsConfig.deadband) {
if (tmp > currentProfile->rcControlsConfig.deadband) {
tmp -= currentProfile->rcControlsConfig.deadband;
if (masterConfig.rcControlsConfig.deadband) {
if (tmp > masterConfig.rcControlsConfig.deadband) {
tmp -= masterConfig.rcControlsConfig.deadband;
} else {
tmp = 0;
}
@ -253,9 +253,9 @@ void annexCode(void)
prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
} else if (axis == YAW) {
if (currentProfile->rcControlsConfig.yaw_deadband) {
if (tmp > currentProfile->rcControlsConfig.yaw_deadband) {
tmp -= currentProfile->rcControlsConfig.yaw_deadband;
if (masterConfig.rcControlsConfig.yaw_deadband) {
if (tmp > masterConfig.rcControlsConfig.yaw_deadband) {
tmp -= masterConfig.rcControlsConfig.yaw_deadband;
} else {
tmp = 0;
}
@ -674,8 +674,8 @@ void taskMainPidLoop(void)
rcCommand[YAW] = 0;
}
if (currentProfile->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile->throttle_correction_value);
if (masterConfig.throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(masterConfig.throttle_correction_value);
}
#ifdef GPS
@ -691,7 +691,7 @@ void taskMainPidLoop(void)
&currentProfile->pidProfile,
currentControlRateProfile,
masterConfig.max_angle_inclination,
&currentProfile->accelerometerTrims,
&masterConfig.accelerometerTrims,
&masterConfig.rxConfig
);
@ -738,7 +738,7 @@ void taskMainPidLoopCheck(void) {
void taskUpdateAccelerometer(void)
{
imuUpdateAccelerometer(&currentProfile->accelerometerTrims);
imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
}
void taskHandleSerial(void)