Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 00:05:33 +03:00
Code Issues Wiki Activity

Moved masterConfig imu items into a struct

Browse source
This commit is contained in:
Martin Budden 2016-11-29 22:28:11 +00:00
parent c0761eb619
commit 6ff265ec62
6 changed files with 41 additions and 42 deletions
Download patch file Download diff file Expand all files Collapse all files

21
src/main/fc/config.c
View file

@ -565,8 +565,8 @@ void createDefaultConfig(master_t *config)
// global settings
config->current_profile_index = 0; // default profile
config->dcm_kp = 2500; // 1.0 * 10000
config->dcm_ki = 0; // 0.003 * 10000
config->imuConfig.dcm_kp = 2500; // 1.0 * 10000
config->imuConfig.dcm_ki = 0; // 0.003 * 10000
config->gyroConfig.gyro_lpf = GYRO_LPF_256HZ; // 256HZ default
#ifdef STM32F10X
config->gyroConfig.gyro_sync_denom = 8;
@ -669,7 +669,7 @@ void createDefaultConfig(master_t *config)
config->armingConfig.gyro_cal_on_first_arm = 0; // TODO - Cleanup retarded arm support
config->armingConfig.disarm_kill_switch = 1;
config->armingConfig.auto_disarm_delay = 5;
config->armingConfig.small_angle = 25;
config->imuConfig.small_angle = 25;
config->airplaneConfig.fixedwing_althold_dir = 1;
@ -703,9 +703,9 @@ void createDefaultConfig(master_t *config)
config->compassConfig.mag_declination = 0;
config->accelerometerConfig.acc_lpf_hz = 10.0f;
config->accDeadband.xy = 40;
config->accDeadband.z = 40;
config->acc_unarmedcal = 1;
config->imuConfig.accDeadband.xy = 40;
config->imuConfig.accDeadband.z = 40;
config->imuConfig.acc_unarmedcal = 1;
#ifdef BARO
resetBarometerConfig(&config->barometerConfig);
@ -822,8 +822,6 @@ void activateControlRateConfig(void)
void activateConfig(void)
{
static imuRuntimeConfig_t imuRuntimeConfig;
activateControlRateConfig();
resetAdjustmentStates();
@ -859,15 +857,10 @@ void activateConfig(void)
servoUseConfigs(&masterConfig.servoMixerConfig, masterConfig.servoConf, &masterConfig.gimbalConfig);
#endif
imuRuntimeConfig.dcm_kp = masterConfig.dcm_kp / 10000.0f;
imuRuntimeConfig.dcm_ki = masterConfig.dcm_ki / 10000.0f;
imuRuntimeConfig.acc_unarmedcal = masterConfig.acc_unarmedcal;
imuRuntimeConfig.small_angle = masterConfig.armingConfig.small_angle;
imuConfigure(
&imuRuntimeConfig,
&masterConfig.imuConfig,
&currentProfile->pidProfile,
&masterConfig.accDeadband,
masterConfig.throttleCorrectionConfig.throttle_correction_angle
);