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Code Issues Wiki Activity

Added USE_ALT_HOLD build flag

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This commit is contained in:
Martin Budden 2017-11-19 10:10:47 +00:00
parent fc632c131b
commit d22b01b5ec
6 changed files with 21 additions and 12 deletions
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2
src/main/fc/fc_core.c
View file

@ -617,7 +617,7 @@ static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
}
#endif
#if defined(USE_BARO) || defined(USE_SONAR)
#if defined(USE_ALT_HOLD)
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {

12
src/main/fc/fc_tasks.c
View file

@ -140,12 +140,13 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
processRx(currentTimeUs);
isRXDataNew = true;
#if !defined(USE_BARO) && !defined(USE_SONAR)
#if !defined(USE_ALT_HOLD)
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
#endif
updateArmingStatus();
#ifdef USE_ALT_HOLD
#ifdef USE_BARO
if (sensors(SENSOR_BARO)) {
updateAltHoldState();
@ -157,6 +158,7 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
updateSonarAltHoldState();
}
#endif
#endif // USE_ALT_HOLD
}
#endif
@ -183,7 +185,7 @@ static void taskUpdateBaro(timeUs_t currentTimeUs)
}
#endif
#if defined(USE_BARO) || defined(USE_SONAR)
#if defined(USE_ALT_HOLD)
static void taskCalculateAltitude(timeUs_t currentTimeUs)
{
if (false
@ -196,7 +198,7 @@ static void taskCalculateAltitude(timeUs_t currentTimeUs)
) {
calculateEstimatedAltitude(currentTimeUs);
}}
#endif
#endif // USE_ALT_HOLD
#ifdef USE_TELEMETRY
static void taskTelemetry(timeUs_t currentTimeUs)
@ -295,7 +297,7 @@ void fcTasksInit(void)
#ifdef USE_SONAR
setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
#endif
#if defined(USE_BARO) || defined(USE_SONAR)
#ifdef USE_ALT_HOLD
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
#endif
#ifdef USE_DASHBOARD
@ -501,7 +503,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#if defined(USE_BARO) || defined(USE_SONAR)
#if defined(USE_ALT_HOLD)
[TASK_ALTITUDE] = {
.taskName = "ALTITUDE",
.taskFunc = taskCalculateAltitude,

4
src/main/flight/altitude.c
View file

@ -52,7 +52,7 @@ static int32_t estimatedVario = 0; // variometer in cm/s
static int32_t estimatedAltitude = 0; // in cm
#if defined(USE_BARO) || defined(USE_SONAR)
#if defined(USE_ALT_HOLD)
enum {
DEBUG_ALTITUDE_ACC,
@ -294,7 +294,7 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
altHoldThrottleAdjustment = calculateAltHoldThrottleAdjustment(vel_tmp, accZ_tmp, accZ_old);
accZ_old = accZ_tmp;
}
#endif // defined(USE_BARO) || defined(USE_SONAR)
#endif // USE_ALT_HOLD
int32_t getEstimatedAltitude(void)
{

9
src/main/interface/settings.c
View file

@ -616,18 +616,19 @@ const clivalue_t valueTable[] = {
{ "i_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_YAW].I) },
{ "d_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_YAW].D) },
#ifdef USE_ALT_HOLD
{ "p_alt", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ALT].P) },
{ "i_alt", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ALT].I) },
{ "d_alt", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ALT].D) },
{ "p_vel", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].P) },
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].I) },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].D) },
#endif
{ "p_level", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_LEVEL].P) },
{ "i_level", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_LEVEL].I) },
{ "d_level", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_LEVEL].D) },
{ "p_vel", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].P) },
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].I) },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].D) },
{ "level_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 10, 90 }, PG_PID_PROFILE, offsetof(pidProfile_t, levelAngleLimit) },
{ "horizon_tilt_effect", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_tilt_effect) },

5
src/main/target/common_fc_post.h
View file

@ -61,6 +61,11 @@
#endif
#endif
// undefine USE_ALT_HOLD if there is no baro or sonar to support it
#if defined(USE_ALT_HOLD) && !defined(USE_BARO) && !defined(USE_SONAR)
#undef USE_ALT_HOLD
#endif
/* If either VTX_CONTROL or VTX_COMMON is undefined then remove common code and device drivers */
#if !defined(VTX_COMMON) || !defined(VTX_CONTROL)
#undef VTX_COMMON

1
src/main/target/common_fc_pre.h
View file

@ -148,6 +148,7 @@
#define USE_GPS_UBLOX
#define USE_GPS_NMEA
#define USE_NAV
#define USE_ALT_HOLD
#define USE_UNCOMMON_MIXERS
#define USE_OSD_ADJUSTMENTS
#endif