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allow 0 for looptime to go back to not-rate-limited loop.

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@183 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-07-21 07:06:19 +00:00
parent c98113b82c
commit 75adda0597
4 changed files with 2372 additions and 2372 deletions
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4738
obj/baseflight.hex
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2
src/cli.c
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@ -142,7 +142,7 @@ const clivalue_t valueTable[] = {
{ "nav_speed_min", VAR_UINT16, &cfg.nav_speed_min, 10, 2000 }, { "nav_speed_min", VAR_UINT16, &cfg.nav_speed_min, 10, 2000 },
{ "nav_speed_max", VAR_UINT16, &cfg.nav_speed_max, 10, 2000 }, { "nav_speed_max", VAR_UINT16, &cfg.nav_speed_max, 10, 2000 },
{ "nav_slew_rate", VAR_UINT8, &cfg.nav_slew_rate, 0, 100 }, { "nav_slew_rate", VAR_UINT8, &cfg.nav_slew_rate, 0, 100 },
{ "looptime", VAR_UINT16, &cfg.looptime, 1500, 9000 }, { "looptime", VAR_UINT16, &cfg.looptime, 0, 9000 },
{ "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200 }, { "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200 },
{ "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200 }, { "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200 },
{ "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200 }, { "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200 },

2
src/config.c
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@ -89,7 +89,7 @@ void checkFirstTime(bool reset)
featureClearAll(); featureClearAll();
featureSet(FEATURE_VBAT); featureSet(FEATURE_VBAT);
cfg.looptime = 3000; cfg.looptime = 0;
cfg.P8[ROLL] = 40; cfg.P8[ROLL] = 40;
cfg.I8[ROLL] = 30; cfg.I8[ROLL] = 30;
cfg.D8[ROLL] = 23; cfg.D8[ROLL] = 23;

2
src/mw.c
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@ -523,7 +523,7 @@ void loop(void)
} }
currentTime = micros(); currentTime = micros();
if (currentTime > loopTime) { if (cfg.looptime == 0 || currentTime > loopTime) {
loopTime = currentTime + cfg.looptime; loopTime = currentTime + cfg.looptime;
computeIMU(); computeIMU();