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Second draft of the tuneup.

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This uses ints for the sensitivity instead of mapping floats back and forth.
 Also the stick position is read directly, without the RC_Rate affecting this value.
This commit is contained in:
Ben Hitchcock 2015-01-07 21:54:13 +08:00
parent 6b7c9facd3
commit 69d94c81e1
8 changed files with 23 additions and 11 deletions
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15
src/main/flight/flight.c
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@ -96,6 +96,7 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
{
float RateError, errorAngle, AngleRate, gyroRate;
float ITerm,PTerm,DTerm;
int32_t stickPosAil, stickPosEle, mostDeflectedPos;
static float lastGyroRate[3];
static float delta1[3], delta2[3];
float delta, deltaSum;
@ -107,19 +108,23 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
if (FLIGHT_MODE(HORIZON_MODE)) {
if(abs(rcCommand[FD_ROLL]) > abs(rcCommand[FD_PITCH])){
axis = FD_ROLL;
// Figure out the raw stick positions
stickPosAil = getRcStickPosition(FD_ROLL);
stickPosEle = getRcStickPosition(FD_PITCH);
if(abs(stickPosAil) > abs(stickPosEle)){
mostDeflectedPos = abs(stickPosAil);
}
else {
axis = FD_PITCH;
mostDeflectedPos = abs(stickPosEle);
}
// Progressively turn off the horizon self level strength as the stick is banged over
horizonLevelStrength = (float)(500 - abs(rcCommand[axis])) / 500; // 1 at centre stick, 0 = max stick deflection
horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500; // 1 at centre stick, 0 = max stick deflection
if(pidProfile->H_sensitivity == 0){
horizonLevelStrength = 0;
} else {
horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (10 / pidProfile->H_sensitivity)) + 1, 0, 1);
horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->H_sensitivity)) + 1, 0, 1);
}
}