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Further AIR MODE enhancements // Motor stop overules AIR MODE low throttle

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reset iterm for motor stop

fix luxfloat
This commit is contained in:
borisbstyle 2015-12-07 10:00:11 +01:00
parent b0d3db2456
commit 763ff23ede
3 changed files with 11 additions and 11 deletions
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4
src/main/flight/mixer.c
View file

@ -801,7 +801,7 @@ void mixTable(void)
}
// adjust feedback to scale PID error inputs to our limitations.
rpy_limiting = constrainf(((rpy_limiting * th_range) / rpy_range), 0.2f, 1.0f);
rpy_limiting = constrainf(((float)th_range / rpy_range), 0.1f, 1.0f);
}
if (ARMING_FLAG(ARMED)) {
@ -854,7 +854,7 @@ void mixTable(void)
// If we're at minimum throttle and FEATURE_MOTOR_STOP enabled,
// do not spin the motors.
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
if (((rcData[THROTTLE]) < rxConfig->mincheck) && !(IS_RC_MODE_ACTIVE(BOXAIRMODE))) {
if (((rcData[THROTTLE]) < rxConfig->mincheck)) {
if (feature(FEATURE_MOTOR_STOP)) {
motor[i] = escAndServoConfig->mincommand;
}

16
src/main/flight/pid.c
View file

@ -161,10 +161,6 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
}
}
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
AngleRate = AngleRate * rpy_limiting;
}
gyroRate = gyroADC[axis] * gyro.scale; // gyro output scaled to dps
// --------low-level gyro-based PID. ----------
@ -173,6 +169,10 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// multiplication of rcCommand corresponds to changing the sticks scaling here
RateError = AngleRate - gyroRate;
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
RateError = RateError * rpy_limiting;
}
// -----calculate P component
PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
@ -283,16 +283,16 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
}
}
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
AngleRateTmp = AngleRateTmp * rpy_limiting;
}
// --------low-level gyro-based PID. ----------
// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
// -----calculate scaled error.AngleRates
// multiplication of rcCommand corresponds to changing the sticks scaling here
RateError = AngleRateTmp - (gyroADC[axis] / 4);
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
RateError = RateError * rpy_limiting;
}
// -----calculate P component
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;

2
src/main/io/rc_controls.h
View file

@ -126,7 +126,7 @@ typedef struct modeActivationCondition_s {
#define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
#define SHOULD_RESET_ERRORS ((throttleStatus == THROTTLE_LOW && !(IS_RC_MODE_ACTIVE(BOXAIRMODE))) || !(ARMING_FLAG(ARMED)) || failsafeIsActive())
#define SHOULD_RESET_ERRORS ((throttleStatus == THROTTLE_LOW && !(IS_RC_MODE_ACTIVE(BOXAIRMODE))) || !(ARMING_FLAG(ARMED)) || failsafeIsActive()|| feature(FEATURE_MOTOR_STOP))
typedef struct controlRateConfig_s {
uint8_t rcRate8;