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Merge pull request #6250 from mikeller/fix_rc_smoothing_validation

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Fixed conditions for RC smoothing validation.
This commit is contained in:
Michael Keller 2018-07-01 21:29:59 +12:00 • committed by GitHub
commit 7936d2ec57
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 13 additions and 6 deletions
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9
src/main/fc/config.c
View file

@ -245,18 +245,15 @@ static void validateAndFixConfig(void)
rxConfigMutable()->rssi_src_frame_errors = false;
}
if ((
#if defined(USE_RC_SMOOTHING_FILTER)
rxConfig()->rc_smoothing_type == RC_SMOOTHING_TYPE_INTERPOLATION &&
#endif
rxConfig()->rcInterpolation == RC_SMOOTHING_OFF) || rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_T) {
if (!rcSmoothingIsEnabled() || rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_T) {
for (unsigned i = 0; i < MAX_PROFILE_COUNT; i++) {
pidProfilesMutable(i)->dtermSetpointWeight = 0;
}
}
#if defined(USE_THROTTLE_BOOST)
if (!(rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_RPYT
if (!rcSmoothingIsEnabled() ||
!(rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_RPYT
|| rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_T
|| rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_RPT)) {
for (unsigned i = 0; i < MAX_PROFILE_COUNT; i++) {

9
src/main/fc/fc_rc.c
View file

@ -732,6 +732,15 @@ void initRcProcessing(void)
}
}
bool rcSmoothingIsEnabled(void)
{
return !(
#if defined(USE_RC_SMOOTHING_FILTER)
rxConfig()->rc_smoothing_type == RC_SMOOTHING_TYPE_INTERPOLATION &&
#endif
rxConfig()->rcInterpolation == RC_SMOOTHING_OFF);
}
#ifdef USE_RC_SMOOTHING_FILTER
int rcSmoothingGetValue(int whichValue)
{

1
src/main/fc/fc_rc.h
View file

@ -39,5 +39,6 @@ void updateRcCommands(void);
void resetYawAxis(void);
void initRcProcessing(void);
bool isMotorsReversed(void);
bool rcSmoothingIsEnabled(void);
int rcSmoothingGetValue(int whichValue);
bool rcSmoothingAutoCalculate(void);