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merge upstream into sirinfpv branch

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This commit is contained in:
Evgeny Sychov 2016-03-23 21:50:52 -07:00
commit a147f15258
4 changed files with 15 additions and 3 deletions
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1
README.md
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@ -42,6 +42,7 @@ Cleanflight also has additional features not found in baseflight.
* Graupner HoTT telemetry.
* Multiple simultaneous telemetry providers.
* Configurable serial ports for Serial RX, Telemetry, MSP, GPS - Use most devices on any port, softserial too.
* Optional lost buzzer on port 6 for CC3D (set enable_buzzer_p6 = ON)
* And many more minor bug fixes.
For a list of features, changes and some discussion please review the thread on MultiWii forums and consult the documentation.

0
fake_travis_build.sh Normal file → Executable file
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2
src/main/config/config.c
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@ -188,7 +188,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->P_f[PITCH] = 1.4f;
pidProfile->I_f[PITCH] = 0.4f;
pidProfile->D_f[PITCH] = 0.01f;
pidProfile->P_f[YAW] = 4.0f;
pidProfile->P_f[YAW] = 2.5f;
pidProfile->I_f[YAW] = 0.4f;
pidProfile->D_f[YAW] = 0.00f;
pidProfile->A_level = 4.0f;

15
src/main/mw.c
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@ -205,10 +205,21 @@ void filterRc(void){
}
void scaleRcCommandToFpvCamAngle(void) {
//recalculate sin/cos only when masterConfig.rxConfig.fpvCamAngleDegrees changed
static uint8_t lastFpvCamAngleDegrees = 0;
static float cosFactor = 1.0;
static float sinFactor = 0.0;
if (lastFpvCamAngleDegrees != masterConfig.rxConfig.fpvCamAngleDegrees){
lastFpvCamAngleDegrees = masterConfig.rxConfig.fpvCamAngleDegrees;
cosFactor = cos_approx(masterConfig.rxConfig.fpvCamAngleDegrees * RAD);
sinFactor = sin_approx(masterConfig.rxConfig.fpvCamAngleDegrees * RAD);
}
int16_t roll = rcCommand[ROLL];
int16_t yaw = rcCommand[YAW];
rcCommand[ROLL] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * roll - sin(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * yaw, -500, 500);
rcCommand[YAW] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * yaw + sin(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * roll, -500, 500);
rcCommand[ROLL] = constrain(roll * cosFactor - yaw * sinFactor, -500, 500);
rcCommand[YAW] = constrain(yaw * cosFactor + roll * sinFactor, -500, 500);
}
void annexCode(void)