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Changed 'yaw_control_direction' into 'yaw_control_inverted' and made it a boolean, to get rid of the 'undefined' case 0.

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mikeller 2017-03-19 16:37:35 +13:00 • committed by Michael Keller
parent b55b46a2b5
commit 728adb3a86
6 changed files with 7 additions and 6 deletions
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2
src/main/fc/cli.c
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@ -723,7 +723,7 @@ static const clivalue_t valueTable[] = {
{ "alt_hold_fast_change", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, alt_hold_fast_change) },
{ "deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 32 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, deadband) },
{ "yaw_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_deadband) },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, .config.minmax = { -1, 1 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_control_direction) },
{ "yaw_control_reversed", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_control_reversed) },
// PG_PID_CONFIG
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, MAX_PID_PROCESS_DENOM }, PG_PID_CONFIG, offsetof(pidConfig_t, pid_process_denom) },

2
src/main/fc/config.c
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@ -559,7 +559,7 @@ void createDefaultConfig(master_t *config)
config->boardAlignment.pitchDegrees = 0;
config->boardAlignment.yawDegrees = 0;
#endif
config->rcControlsConfig.yaw_control_direction = 1;
config->rcControlsConfig.yaw_control_reversed = false;
// xxx_hardware: 0:default/autodetect, 1: disable
config->compassConfig.mag_hardware = 1;

2
src/main/fc/fc_core.c
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@ -273,7 +273,7 @@ void updateMagHold(void)
dif += 360;
if (dif >= +180)
dif -= 360;
dif *= -rcControlsConfig()->yaw_control_direction;
dif *= -GET_YAW_DIRECTION(rcControlsConfig()->yaw_control_reversed);
if (STATE(SMALL_ANGLE))
rcCommand[YAW] -= dif * currentPidProfile->P8[PIDMAG] / 30; // 18 deg
} else

2
src/main/fc/fc_rc.c
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@ -284,7 +284,7 @@ void updateRcCommands(void)
} else {
tmp = 0;
}
rcCommand[axis] = tmp * -rcControlsConfig()->yaw_control_direction;
rcCommand[axis] = tmp * -GET_YAW_DIRECTION(rcControlsConfig()->yaw_control_reversed);
}
if (rcData[axis] < rxConfig()->midrc) {
rcCommand[axis] = -rcCommand[axis];

2
src/main/fc/rc_controls.c
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@ -77,7 +77,7 @@ PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
.yaw_deadband = 0,
.alt_hold_deadband = 40,
.alt_hold_fast_change = 1,
.yaw_control_direction = 1,
.yaw_control_reversed = false,
);
PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 0);

3
src/main/fc/rc_controls.h
View file

@ -158,11 +158,12 @@ typedef struct rcControlsConfig_s {
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
int8_t yaw_control_direction; // change control direction of yaw (inverted, normal)
int8_t yaw_control_reversed; // invert control direction of yaw
} rcControlsConfig_t;
PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
#define GET_YAW_DIRECTION(isInverted) (2 * (isInverted) - 1)
typedef struct flight3DConfig_s {
uint16_t deadband3d_low; // min 3d value
uint16_t deadband3d_high; // max 3d value