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Remove old mixer // Separate Acro Plus from Airmode // Fix MOTOLAB merge issues

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borisbstyle 2016-02-03 00:58:38 +01:00
parent 61186c0227
commit a1ebe6fd4f
8 changed files with 143 additions and 247 deletions
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45
src/main/mw.c
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@ -103,11 +103,6 @@ enum {
#define GYRO_WATCHDOG_DELAY 100 // Watchdog delay for gyro sync
// AIR MODE Reset timers
#define ERROR_RESET_DEACTIVATE_DELAY (1 * 1000) // 1 sec delay to disable AIR MODE Iterm resetting
bool preventItermWindup = false;
static bool ResetErrorActivated = true;
uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
float dT;
@ -482,40 +477,8 @@ void processRx(void)
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
static bool airModeErrorResetIsEnabled = true; // Should always initialize with reset enabled
static uint32_t airModeErrorResetTimeout = 0; // Timeout for both activate and deactivate mode
if (throttleStatus == THROTTLE_LOW) {
// When in AIR Mode LOW Throttle and reset was already disabled we will only prevent further growing
if ((IS_RC_MODE_ACTIVE(BOXAIRMODE)) && !airModeErrorResetIsEnabled) {
if (calculateRollPitchCenterStatus(&masterConfig.rxConfig) == CENTERED) {
preventItermWindup = true; // Iterm is now limited to the last value
} else {
preventItermWindup = false; // Iterm should considered safe to increase
}
}
// Conditions to reset Error
if (!ARMING_FLAG(ARMED) || feature(FEATURE_MOTOR_STOP) || ((IS_RC_MODE_ACTIVE(BOXAIRMODE)) && airModeErrorResetIsEnabled) || !IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
ResetErrorActivated = true; // As RX code is not executed each loop a flag has to be set for fast looptimes
airModeErrorResetTimeout = millis() + ERROR_RESET_DEACTIVATE_DELAY; // Reset de-activate timer
airModeErrorResetIsEnabled = true; // Enable Reset again especially after Disarm
preventItermWindup = false; // Reset limiting
}
} else {
if (!(feature(FEATURE_MOTOR_STOP)) && ARMING_FLAG(ARMED) && IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
if (airModeErrorResetIsEnabled) {
if (millis() > airModeErrorResetTimeout && calculateRollPitchCenterStatus(&masterConfig.rxConfig) == NOT_CENTERED) { // Only disable error reset when roll and pitch not centered
airModeErrorResetIsEnabled = false;
preventItermWindup = false; // Reset limiting for Iterm
}
} else {
preventItermWindup = false; // Reset limiting for Iterm
}
} else {
preventItermWindup = false; // Reset limiting. Usefull when flipping between normal and AIR mode
}
ResetErrorActivated = false; // Disable resetting of error
if (throttleStatus == THROTTLE_LOW) {
pidResetErrorGyro();
}
// When armed and motors aren't spinning, do beeps and then disarm
@ -723,10 +686,6 @@ void taskMainPidLoop(void)
}
#endif
if (ResetErrorActivated) {
pidResetErrorGyro();
}
// PID - note this is function pointer set by setPIDController()
pid_controller(
&currentProfile->pidProfile,