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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
Nicholas Sherlock 2015-01-04 10:35:59 +13:00
commit 6c2ce5038c
12 changed files with 151 additions and 89 deletions
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41
src/main/config/config.c
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@ -574,28 +574,37 @@ void activateConfig(void)
activateControlRateConfig();
useRcControlsConfig(currentProfile->modeActivationConditions, &masterConfig.escAndServoConfig, &currentProfile->pidProfile);
useRcControlsConfig(
currentProfile->modeActivationConditions,
&masterConfig.escAndServoConfig,
&currentProfile->pidProfile
);
useGyroConfig(&masterConfig.gyroConfig);
#ifdef TELEMETRY
useTelemetryConfig(&masterConfig.telemetryConfig);
#endif
setPIDController(currentProfile->pidController);
#ifdef GPS
gpsUseProfile(&currentProfile->gpsProfile);
gpsUsePIDs(&currentProfile->pidProfile);
#endif
useFailsafeConfig(&currentProfile->failsafeConfig);
setAccelerationTrims(&masterConfig.accZero);
mixerUseConfigs(
currentProfile->servoConf,
&masterConfig.flight3DConfig,
&masterConfig.escAndServoConfig,
&currentProfile->mixerConfig,
&masterConfig.airplaneConfig,
&masterConfig.rxConfig,
&currentProfile->gimbalConfig
);
currentProfile->servoConf,
&masterConfig.flight3DConfig,
&masterConfig.escAndServoConfig,
&currentProfile->mixerConfig,
&masterConfig.airplaneConfig,
&masterConfig.rxConfig,
&currentProfile->gimbalConfig
);
imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor;
imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor;
@ -603,8 +612,18 @@ void activateConfig(void)
imuRuntimeConfig.acc_unarmedcal = currentProfile->acc_unarmedcal;;
imuRuntimeConfig.small_angle = masterConfig.small_angle;
configureImu(&imuRuntimeConfig, &currentProfile->pidProfile, &currentProfile->accDeadband);
configureAltitudeHold(&currentProfile->pidProfile, &currentProfile->barometerConfig, &currentProfile->rcControlsConfig, &masterConfig.escAndServoConfig);
configureImu(
&imuRuntimeConfig,
&currentProfile->pidProfile,
&currentProfile->accDeadband
);
configureAltitudeHold(
&currentProfile->pidProfile,
&currentProfile->barometerConfig,
&currentProfile->rcControlsConfig,
&masterConfig.escAndServoConfig
);
calculateThrottleAngleScale(currentProfile->throttle_correction_angle);
calculateAccZLowPassFilterRCTimeConstant(currentProfile->accz_lpf_cutoff);