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Code Issues Wiki Activity

Renaming getRcStickPosition to getRcStickDeflection and moving to

Browse source 
rc_controls.c.
This commit is contained in:
Dominic Clifton 2015-01-16 01:00:40 +00:00
parent b7462c0b3d
commit b64c71264c
5 changed files with 21 additions and 16 deletions
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18
src/main/flight/flight.c
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@ -57,10 +57,10 @@ static float errorGyroIf[3] = { 0.0f, 0.0f, 0.0f };
static int32_t errorAngleI[2] = { 0, 0 };
static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim);
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim); // pid controller function prototype
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
@ -97,7 +97,7 @@ bool shouldAutotune(void)
#endif
static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{
float RateError, errorAngle, AngleRate, gyroRate;
float ITerm,PTerm,DTerm;
@ -114,8 +114,8 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
if (FLIGHT_MODE(HORIZON_MODE)) {
// Figure out the raw stick positions
stickPosAil = getRcStickPosition(FD_ROLL);
stickPosEle = getRcStickPosition(FD_PITCH);
stickPosAil = getRcStickDeflection(FD_ROLL, rxConfig->midrc);
stickPosEle = getRcStickDeflection(FD_PITCH, rxConfig->midrc);
if(abs(stickPosAil) > abs(stickPosEle)){
mostDeflectedPos = abs(stickPosAil);
@ -205,8 +205,10 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
}
static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{
UNUSED(rxConfig);
int axis, prop;
int32_t error, errorAngle;
int32_t PTerm, ITerm, PTermACC = 0, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
@ -288,8 +290,10 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
#define GYRO_I_MAX 256
static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
rollAndPitchTrims_t *angleTrim)
rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{
UNUSED(rxConfig);
int32_t errorAngle;
int axis;
int32_t delta, deltaSum;