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Merge pull request #3799 from adrianmiriuta/HEADFREE_MAG

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HEADFREE true 3D (second edition)...
This commit is contained in:
Michael Keller 2017-10-12 00:01:23 +13:00 • committed by GitHub
commit a7deb8b899
11 changed files with 181 additions and 92 deletions
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9
src/main/fc/fc_core.c
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@ -106,8 +106,6 @@ enum {
int16_t magHold;
#endif
int16_t headFreeModeHold;
static bool reverseMotors = false;
static bool flipOverAfterCrashMode = false;
@ -281,10 +279,11 @@ void tryArm(void)
ENABLE_ARMING_FLAG(ARMED);
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
if (isModeActivationConditionPresent(BOXPREARM)) {
ENABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
}
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
imuQuaternionHeadfreeOffsetSet();
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
@ -524,7 +523,9 @@ void processRx(timeUs_t currentTimeUs)
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // acquire new heading
if (imuQuaternionHeadfreeOffsetSet()){
beeper(BEEPER_RX_SET);
}
}
}
#endif