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Merge pull request #11910 from blckmn/sitl

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J Blackman 2022-10-22 20:49:37 +11:00 • committed by GitHub
commit 950d586e66
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3 changed files with 5 additions and 3 deletions
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2
make/targets_list.mk
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@ -171,7 +171,7 @@ LEGACY_TARGETS := MATEKF405 \
# Temporarily excluded to get CI coverage for USE_SPI_TRANSACTION # Temporarily excluded to get CI coverage for USE_SPI_TRANSACTION
# STM32F4DISCOVERY \ # STM32F4DISCOVERY \
CI_TARGETS := $(UNIFIED_TARGETS) CI_TARGETS := $(UNIFIED_TARGETS) SITL
TARGETS_TOTAL := $(words $(CI_TARGETS)) TARGETS_TOTAL := $(words $(CI_TARGETS))
TARGET_GROUPS := 3 TARGET_GROUPS := 3

2
src/main/fc/init.c
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@ -767,7 +767,9 @@ void init(void)
#ifdef USE_GPS #ifdef USE_GPS
if (featureIsEnabled(FEATURE_GPS)) { if (featureIsEnabled(FEATURE_GPS)) {
gpsInit(); gpsInit();
#ifdef USE_GPS_RESCUE
gpsRescueInit(); gpsRescueInit();
#endif
} }
#endif #endif

4
src/main/flight/mixer.c
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@ -437,7 +437,7 @@ static void applyMixerAdjustmentLinear(float *motorMix, const bool airmodeEnable
motorDeltaScale *= airmodeTransitionPercent; // this should be half of the motor authority allowed motorDeltaScale *= airmodeTransitionPercent; // this should be half of the motor authority allowed
} }
const float motorMixNormalizationFactor = motorMixRange > 1.0 ? airmodeTransitionPercent / motorMixRange : airmodeTransitionPercent; const float motorMixNormalizationFactor = motorMixRange > 1.0f ? airmodeTransitionPercent / motorMixRange : airmodeTransitionPercent;
const float motorMixDelta = motorDeltaScale * motorMixRange; const float motorMixDelta = motorDeltaScale * motorMixRange;
@ -475,7 +475,7 @@ static void applyMixerAdjustment(float *motorMix, const float motorMixMin, const
airmodeTransitionPercent = scaleRangef(throttle, 0.0f, 0.5f, 0.5f, 1.0f); // 0.5 throttle is full transition, and 0.0 throttle is 50% airmodeTransitionPercent airmodeTransitionPercent = scaleRangef(throttle, 0.0f, 0.5f, 0.5f, 1.0f); // 0.5 throttle is full transition, and 0.0 throttle is 50% airmodeTransitionPercent
} }
const float motorMixNormalizationFactor = motorMixRange > 1.0 ? airmodeTransitionPercent / motorMixRange : airmodeTransitionPercent; const float motorMixNormalizationFactor = motorMixRange > 1.0f ? airmodeTransitionPercent / motorMixRange : airmodeTransitionPercent;
for (int i = 0; i < mixerRuntime.motorCount; i++) { for (int i = 0; i < mixerRuntime.motorCount; i++) {
motorMix[i] *= motorMixNormalizationFactor; motorMix[i] *= motorMixNormalizationFactor;