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Code Issues Wiki Activity

autopilot naming, function sharing

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This commit is contained in:
ctzsnooze 2024-09-29 21:42:34 +10:00
parent 53d44aa1b1
commit aa9d3e3ffe
9 changed files with 20 additions and 5 deletions
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1
mk/source.mk
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@ -23,6 +23,7 @@ PG_SRC = \
pg/msp.c \
pg/pg.c \
pg/piniobox.c \
pg/autopilot.c \
pg/pinio.c \
pg/pin_pull_up_down.c \
pg/rcdevice.c \

1
src/main/blackbox/blackbox.c
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@ -69,6 +69,7 @@
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/position.h"
#include "flight/autopilot.h"
#include "flight/rpm_filter.h"
#include "flight/servos.h"
#include "flight/imu.h"

1
src/main/cli/cli.c
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@ -110,6 +110,7 @@ bool cliMode = false;
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/position.h"
#include "flight/autopilot.h"
#include "flight/servos.h"
#include "io/asyncfatfs/asyncfatfs.h"

2
src/main/cli/settings.c
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@ -64,6 +64,8 @@
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/position.h"
#include "flight/autopilot.h"
#include "flight/alt_hold.h"
#include "flight/rpm_filter.h"
#include "flight/servos.h"

9
src/main/cms/cms_menu_gps_rescue.c
View file

@ -40,6 +40,7 @@
#include "flight/autopilot.h"
#include "flight/gps_rescue.h"
#include "flight/position.h"
#include "flight/autopilot.h"
static uint16_t gpsRescueConfig_minStartDistM; //meters
static uint8_t gpsRescueConfig_altitudeMode;
@ -115,10 +116,10 @@ const OSD_Entry cms_menuGpsRescuePidEntries[] =
{
{"--- GPS RESCUE PID---", OME_Label, NULL, NULL},
{ "ALTITUDE P", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_P, 0, 200, 1 } },
{ "ALTITUDE I", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_I, 0, 200, 1 } },
{ "ALTITUDE D", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_D, 0, 200, 1 } },
{ "ALTITUDE F", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_F, 0, 200, 1 } },
{ "ALTITUDE P", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_P, 0, 255, 1 } },
{ "ALTITUDE I", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_I, 0, 255, 1 } },
{ "ALTITUDE D", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_D, 0, 255, 1 } },
{ "ALTITUDE F", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_F, 0, 255, 1 } },
{ "YAW P", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &gpsRescueConfig_yawP, 0, 200, 1 } },

3
src/main/flight/alt_hold.c
View file

@ -21,13 +21,16 @@
#ifdef USE_ALT_HOLD_MODE
#include "build/debug.h"
#include "common/maths.h"
#include "config/config.h"
#include "fc/rc.h"
#include "fc/runtime_config.h"
#include "flight/autopilot.h"
#include "flight/failsafe.h"
#include "flight/position.h"
#include "rx/rx.h"
#include "alt_hold.h"

6
src/main/flight/autopilot.c
View file

@ -23,7 +23,6 @@
#include "platform.h"
#include "build/debug.h"
#include "common/maths.h"
#include "flight/imu.h"
#include "flight/pid.h"
#include "flight/position.h"
@ -48,6 +47,11 @@ void autopilotInit(const autopilotConfig_t *config)
altitudePidCoeffs.Kf = config->altitude_F * ALTITUDE_F_SCALE;
}
const pidCoefficient_t *getAltitudePidCoeffs(void)
{
return &altitudePidCoeffs;
}
void resetAltitudeControl (void) {
altitudeI = 0.0f;
}

1
src/main/flight/mixer.c
View file

@ -53,6 +53,7 @@
#include "flight/mixer_init.h"
#include "flight/mixer_tricopter.h"
#include "flight/pid.h"
#include "flight/autopilot.h"
#include "flight/rpm_filter.h"
#include "io/gps.h"

1
src/test/Makefile
View file

@ -478,6 +478,7 @@ althold_unittest_SRC := \
$(USER_DIR)/flight/alt_hold.c \
$(USER_DIR)/flight/autopilot.c \
$(USER_DIR)/common/maths.c \
$(USER_DIR)/flight/autopilot.c \
$(USER_DIR)/pg/rx.c
althold_unittest_DEFINES := \