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Fix for changing PID's for users with Inflight Adjustments

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Users who upgraded from 1.9 and have inflight adjustments configured now
experience changed PID's. Sometimes even to dangerous and unflyable
situation. Sometimes rx boots slower than the FC

This is because AUX channels go low and usually thats where they change
things.

IMO the new failsafe behaviour for AUX should be midrc default like
before!

cleanup
This commit is contained in:
borisbstyle 2015-09-24 13:56:40 +02:00
parent 0d6d83925f
commit bc7dfb5ff5
2 changed files with 4 additions and 7 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/config/config.c
View file

@ -128,7 +128,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 105;
static const uint8_t EEPROM_CONF_VERSION = 106;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -413,7 +413,7 @@ static void resetConf(void)
for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i];
channelFailsafeConfiguration->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
channelFailsafeConfiguration->mode = RX_FAILSAFE_MODE_AUTO;
channelFailsafeConfiguration->step = (i == THROTTLE) ? masterConfig.rxConfig.rx_min_usec : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
}

7
src/main/rx/rx.c
View file

@ -368,16 +368,13 @@ static uint16_t getRxfailValue(uint8_t channel)
switch(channelFailsafeConfiguration->mode) {
case RX_FAILSAFE_MODE_AUTO:
switch (channel) {
case ROLL:
case PITCH:
case YAW:
return rxConfig->midrc;
case THROTTLE:
if (feature(FEATURE_3D))
return rxConfig->midrc;
else
return rxConfig->rx_min_usec;
default:
return rxConfig->midrc;
}
/* no break */