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Merge pull request #9779 from mikeller/fix_anti_gravity_mode_condition

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Michael Keller 2020-05-09 14:50:35 +12:00 • committed by mikeller
parent 2af0f2b1e6
commit cceb3b12f8
4 changed files with 12 additions and 3 deletions
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2
src/main/cli/settings.c
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@ -988,7 +988,7 @@ const clivalue_t valueTable[] = {
{ "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, pidAtMinThrottle) },
{ "anti_gravity_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ANTI_GRAVITY_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, antiGravityMode) },
{ "anti_gravity_threshold", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
{ "anti_gravity_gain", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 1000, 30000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
{ "anti_gravity_gain", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
{ "feedforward_transition", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedForwardTransition) },
{ "acc_limit_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },
{ "acc_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },

2
src/main/cms/cms_menu_imu.c
View file

@ -456,7 +456,7 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 },
{ "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } , 0 },
{ "HORZN TRS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonTransition, 0, 200, 1 } , 0 },
{ "AG GAIN", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermAcceleratorGain, 1000, 30000, 10 } , 0 },
{ "AG GAIN", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermAcceleratorGain, ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX, 10 } , 0 },
{ "AG THR", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermThrottleThreshold, 20, 1000, 1 } , 0 },
#ifdef USE_THROTTLE_BOOST
{ "THR BOOST", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_throttleBoost, 0, 100, 1 } , 0 },

2
src/main/flight/pid.h
View file

@ -48,6 +48,8 @@
#define ITERM_RELAX_SETPOINT_THRESHOLD 40.0f
#define ITERM_RELAX_CUTOFF_DEFAULT 20
#define ITERM_ACCELERATOR_GAIN_OFF 1000
#define ITERM_ACCELERATOR_GAIN_MAX 30000
typedef enum {
PID_ROLL,
PID_PITCH,

9
src/main/msp/msp_box.c
View file

@ -34,6 +34,7 @@
#include "fc/runtime_config.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "sensors/sensors.h"
@ -171,7 +172,13 @@ void initActiveBoxIds(void)
BME(BOXAIRMODE);
}
if (!featureIsEnabled(FEATURE_ANTI_GRAVITY)) {
bool acceleratorGainsEnabled = false;
for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
if (pidProfiles(i)->itermAcceleratorGain != ITERM_ACCELERATOR_GAIN_OFF) {
acceleratorGainsEnabled = true;
}
}
if (acceleratorGainsEnabled && !featureIsEnabled(FEATURE_ANTI_GRAVITY)) {
BME(BOXANTIGRAVITY);
}