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Add Yaw RC Rate as adjustment function

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This commit is contained in:
KiteAnton 2016-08-08 14:26:11 +02:00
parent c83fe933d2
commit 909fee4205
2 changed files with 11 additions and 0 deletions
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10
src/main/io/rc_controls.c
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@ -470,6 +470,11 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.adjustmentFunction = ADJUSTMENT_ROLL_D, .adjustmentFunction = ADJUSTMENT_ROLL_D,
.mode = ADJUSTMENT_MODE_STEP, .mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }} .data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_RC_RATE_YAW,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
} }
}; };
@ -595,6 +600,11 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
pidProfile->D8[PIDYAW] = newValue; pidProfile->D8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
break; break;
case ADJUSTMENT_RC_RATE_YAW:
newValue = constrain((int)controlRateConfig->rcYawRate8 + delta, 0, 300); // FIXME magic numbers repeated in serial_cli.c
controlRateConfig->rcYawRate8 = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
break;
default: default:
break; break;
}; };

1
src/main/io/rc_controls.h
View file

@ -195,6 +195,7 @@ typedef enum {
ADJUSTMENT_ROLL_P, ADJUSTMENT_ROLL_P,
ADJUSTMENT_ROLL_I, ADJUSTMENT_ROLL_I,
ADJUSTMENT_ROLL_D, ADJUSTMENT_ROLL_D,
ADJUSTMENT_RC_RATE_YAW,
ADJUSTMENT_FUNCTION_COUNT, ADJUSTMENT_FUNCTION_COUNT,
} adjustmentFunction_e; } adjustmentFunction_e;