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Code Issues Wiki Activity

Less Anti Winduo in Air mode

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This commit is contained in:
borisbstyle 2016-02-03 01:32:57 +01:00
parent 9b3a2f3f76
commit 9859bbfcae
5 changed files with 10 additions and 8 deletions
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9
src/main/flight/pid.c
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@ -75,14 +75,17 @@ typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig
pidControllerFuncPtr pid_controller = pidRewrite; // which pid controller are we using, defaultMultiWii pidControllerFuncPtr pid_controller = pidRewrite; // which pid controller are we using, defaultMultiWii
void pidResetErrorGyro(void) void pidResetErrorGyro(rxConfig_t *rxConfig)
{ {
int axis; int axis;
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) { if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
PREVENT_WINDUP(errorGyroI[axis], previousErrorGyroI[axis]); int rollPitchStatus = calculateRollPitchCenterStatus(rxConfig);
PREVENT_WINDUP(errorGyroIf[axis], previousErrorGyroIf[axis]); if (rollPitchStatus == CENTERED) {
PREVENT_WINDUP(errorGyroI[axis], previousErrorGyroI[axis]);
PREVENT_WINDUP(errorGyroIf[axis], previousErrorGyroIf[axis]);
}
} else { } else {
errorGyroI[axis] = 0; errorGyroI[axis] = 0;
errorGyroIf[axis] = 0.0f; errorGyroIf[axis] = 0.0f;

3
src/main/flight/pid.h
View file

@ -14,6 +14,7 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include "rx/rx.h"
#pragma once #pragma once
@ -81,5 +82,5 @@ extern int16_t axisPID[XYZ_AXIS_COUNT];
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3]; extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
void pidSetController(pidControllerType_e type); void pidSetController(pidControllerType_e type);
void pidResetErrorGyro(void); void pidResetErrorGyro(rxConfig_t *rxConfig);

2
src/main/io/rc_controls.c
View file

@ -120,7 +120,6 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
return THROTTLE_HIGH; return THROTTLE_HIGH;
} }
/* TODO - Cleanup
rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig) rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig)
{ {
if (((rcData[PITCH] < (rxConfig->midrc + AIRMODEDEADBAND)) && (rcData[PITCH] > (rxConfig->midrc -AIRMODEDEADBAND))) if (((rcData[PITCH] < (rxConfig->midrc + AIRMODEDEADBAND)) && (rcData[PITCH] > (rxConfig->midrc -AIRMODEDEADBAND)))
@ -129,7 +128,6 @@ rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig)
return NOT_CENTERED; return NOT_CENTERED;
} }
*/
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch) void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch)
{ {

2
src/main/io/rc_controls.h
View file

@ -78,7 +78,7 @@ typedef enum {
THROTTLE_HIGH THROTTLE_HIGH
} throttleStatus_e; } throttleStatus_e;
#define AIRMODEDEADBAND 10 #define AIRMODEDEADBAND 12
typedef enum { typedef enum {
NOT_CENTERED = 0, NOT_CENTERED = 0,

2
src/main/mw.c
View file

@ -478,7 +478,7 @@ void processRx(void)
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle); throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
if (throttleStatus == THROTTLE_LOW) { if (throttleStatus == THROTTLE_LOW) {
pidResetErrorGyro(); pidResetErrorGyro(&masterConfig.rxConfig);
} }
// When armed and motors aren't spinning, do beeps and then disarm // When armed and motors aren't spinning, do beeps and then disarm