Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 05:15:25 +03:00
Code Issues Wiki Activity

Fix yaw reset and throttle angle correction to be before rc interpolation

Browse source 
In #5905 the ordering of rc interpolation processing was moved out of subTaskMainSubprocesses() and into a separate subTaskRcCommand() process that ran earlier in the PID loop. Previously the logic to handle stick arming yaw reset was immediately before the rc interpolation logic and after the previous change it ran later in the process and after rc interpolation.

This fix moves the related throttle/yaw processing into the subTaskRcCommand() before rc interpolation to match the ordering that existed previously.  The fixes introduced by #5905 (throttle spikes) are still retained.
This commit is contained in:
Bruce Luckcuck 2018-05-27 08:16:13 -04:00
parent 4ac5bf69a5
commit 89a1aa7cc6
1 changed files with 21 additions and 20 deletions
Download patch file Download diff file Expand all files Collapse all files

41
src/main/fc/fc_core.c
View file

@ -910,26 +910,6 @@ static FAST_CODE_NOINLINE void subTaskMainSubprocesses(timeUs_t currentTimeUs)
#ifdef USE_GPS_RESCUE
updateGPSRescueState();
#endif
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
#ifndef USE_QUAD_MIXER_ONLY
#ifdef USE_SERVOS
&& !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoConfig()->tri_unarmed_servo)
#endif
&& mixerConfig()->mixerMode != MIXER_AIRPLANE
&& mixerConfig()->mixerMode != MIXER_FLYING_WING
#endif
) {
resetYawAxis();
}
if (throttleCorrectionConfig()->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value);
}
#ifdef USE_SDCARD
afatfs_poll();
@ -984,6 +964,27 @@ static FAST_CODE void subTaskMotorUpdate(timeUs_t currentTimeUs)
static void subTaskRcCommand(timeUs_t currentTimeUs)
{
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
#ifndef USE_QUAD_MIXER_ONLY
#ifdef USE_SERVOS
&& !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoConfig()->tri_unarmed_servo)
#endif
&& mixerConfig()->mixerMode != MIXER_AIRPLANE
&& mixerConfig()->mixerMode != MIXER_FLYING_WING
#endif
) {
resetYawAxis();
}
if (throttleCorrectionConfig()->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value);
}
processRcCommand();
UNUSED(currentTimeUs);
}