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Add inflight adjustments for Dterm sliders

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This commit is contained in:
borisbstyle 2016-11-30 14:19:19 +01:00
parent 29690b9c00
commit cbc8efd16a
2 changed files with 20 additions and 0 deletions
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18
src/main/fc/rc_controls.c
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@ -471,6 +471,16 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.adjustmentFunction = ADJUSTMENT_RC_RATE_YAW,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_D_SETPOINT,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_D_SETPOINT_TRANSITION,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}
};
@ -601,6 +611,14 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
controlRateConfig->rcYawRate8 = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
break;
case ADJUSTMENT_D_SETPOINT:
newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 254); // FIXME magic numbers repeated in serial_cli.c
pidProfile->dtermSetpointWeight = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
case ADJUSTMENT_D_SETPOINT_TRANSITION:
newValue = constrain((int)pidProfile->setpointRelaxRatio + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->setpointRelaxRatio = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT_TRANSITION, newValue);
default:
break;
};