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Merge pull request #831 from borisbstyle/master

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Yaw_fix default values
This commit is contained in:
Dominic Clifton 2015-05-04 09:09:26 +01:00
commit a7faa28ee9
4 changed files with 6 additions and 5 deletions
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2
src/main/config/config.c
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@ -319,7 +319,7 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
void resetMixerConfig(mixerConfig_t *mixerConfig) {
mixerConfig->pid_at_min_throttle = 1;
mixerConfig->yaw_direction = 1;
mixerConfig->yaw_jump_prevention_limit = 0;
mixerConfig->yaw_jump_prevention_limit = 200;
#ifdef USE_SERVOS
mixerConfig->tri_unarmed_servo = 1;
mixerConfig->servo_lowpass_freq = 400;

4
src/main/flight/mixer.c
View file

@ -564,8 +564,8 @@ void mixTable(void)
{
uint32_t i;
if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit) {
// prevent "yaw jump" during yaw correction
if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit < 500) {
// prevent "yaw jump" during yaw correction (500 is disabled jump protection)
axisPID[YAW] = constrain(axisPID[YAW], -mixerConfig->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}

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

@ -387,7 +387,7 @@ const clivalue_t valueTable[] = {
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.mixerConfig.pid_at_min_throttle, 0, 1 },
{ "yaw_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_direction, -1, 1 },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, 0, 500 },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, 80, 500 },
#ifdef USE_SERVOS
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.tri_unarmed_servo, 0, 1 },
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, 10, 400},