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Angle pitch offset (for wings) (#14009)

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* angle pitch offset (for wings)

* made angle_pitch_offset int16, and changed direction to follow BF convention

* Update src/main/blackbox/blackbox.c

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

---------

Co-authored-by: Jan Post <Rm2k-Freak@web.de>
This commit is contained in:
Ivan Efimov 2024-11-08 13:15:09 -06:00 • committed by GitHub
parent 56a3688d7d
commit 89f2ec9880
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5 changed files with 12 additions and 0 deletions
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7
src/main/flight/pid.c
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@ -252,6 +252,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.tpa_speed_max_voltage = 2520,
.tpa_speed_pitch_offset = 0,
.yaw_type = YAW_TYPE_RUDDER,
.angle_pitch_offset = 0,
);
}
@ -496,6 +497,12 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
float angleTarget = angleLimit * currentPidSetpoint * maxSetpointRateInv;
// use acro rates for the angle target in both horizon and angle modes, converted to -1 to +1 range using maxRate
#ifdef USE_WING
if (axis == FD_PITCH) {
angleTarget += (float)pidProfile->angle_pitch_offset / 10.0f;
}
#endif // USE_WING
#ifdef USE_GPS_RESCUE
angleTarget += gpsRescueAngle[axis] / 100.0f; // Angle is in centidegrees, stepped on roll at 10Hz but not on pitch
#endif