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Fixes from review.

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This commit is contained in:
Michael Keller 2018-06-05 13:49:34 +12:00
parent 9738a1cdd2
commit d299d8b51d
2 changed files with 11 additions and 9 deletions
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18
src/main/fc/fc_rc.c
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@ -227,7 +227,7 @@ FAST_CODE uint8_t processRcInterpolation(void)
if (isRXDataNew && rxRefreshRate > 0) { if (isRXDataNew && rxRefreshRate > 0) {
rcInterpolationStepCount = rxRefreshRate / targetPidLooptime; rcInterpolationStepCount = rxRefreshRate / targetPidLooptime;
for (int channel = ROLL; channel <= THROTTLE; channel++) { for (int channel = 0; channel < PRIMARY_CHANNEL_COUNT; channel++) {
if ((1 << channel) & interpolationChannels) { if ((1 << channel) & interpolationChannels) {
rcStepSize[channel] = (rcCommand[channel] - rcCommandInterp[channel]) / (float)rcInterpolationStepCount; rcStepSize[channel] = (rcCommand[channel] - rcCommandInterp[channel]) / (float)rcInterpolationStepCount;
} }
@ -241,7 +241,7 @@ FAST_CODE uint8_t processRcInterpolation(void)
// Interpolate steps of rcCommand // Interpolate steps of rcCommand
if (rcInterpolationStepCount > 0) { if (rcInterpolationStepCount > 0) {
for (updatedChannel = ROLL; updatedChannel <= THROTTLE; updatedChannel++) { for (updatedChannel = 0; updatedChannel < PRIMARY_CHANNEL_COUNT; updatedChannel++) {
if ((1 << updatedChannel) & interpolationChannels) { if ((1 << updatedChannel) & interpolationChannels) {
rcCommandInterp[updatedChannel] += rcStepSize[updatedChannel]; rcCommandInterp[updatedChannel] += rcStepSize[updatedChannel];
rcCommand[updatedChannel] = rcCommandInterp[updatedChannel]; rcCommand[updatedChannel] = rcCommandInterp[updatedChannel];
@ -287,7 +287,7 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
} }
if (isRXDataNew) { if (isRXDataNew) {
for (int i = 0; i <= THROTTLE; i++) { for (int i = 0; i < PRIMARY_CHANNEL_COUNT; i++) {
if ((1 << i) & interpolationChannels) { if ((1 << i) & interpolationChannels) {
lastRxData[i] = rcCommand[i]; lastRxData[i] = rcCommand[i];
} }
@ -306,7 +306,7 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
derivativeCutoffFrequency = (derivativeCutoffFrequency == 0) ? defaultDerivativeCutoffFrequency : derivativeCutoffFrequency; derivativeCutoffFrequency = (derivativeCutoffFrequency == 0) ? defaultDerivativeCutoffFrequency : derivativeCutoffFrequency;
const float dT = targetPidLooptime * 1e-6f; const float dT = targetPidLooptime * 1e-6f;
for (int i = 0; i <= THROTTLE; i++) { for (int i = 0; i < PRIMARY_CHANNEL_COUNT; i++) {
if ((1 << i) & interpolationChannels) { if ((1 << i) & interpolationChannels) {
switch (rxConfig()->rc_smoothing_input_type) { switch (rxConfig()->rc_smoothing_input_type) {
case RC_SMOOTHING_INPUT_BIQUAD: case RC_SMOOTHING_INPUT_BIQUAD:
@ -332,7 +332,7 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
DEBUG_SET(DEBUG_RC_SMOOTHING, 0, lrintf(lastRxData[rxConfig()->rc_smoothing_debug_axis])); DEBUG_SET(DEBUG_RC_SMOOTHING, 0, lrintf(lastRxData[rxConfig()->rc_smoothing_debug_axis]));
DEBUG_SET(DEBUG_RC_SMOOTHING, 3, defaultInputCutoffFrequency); DEBUG_SET(DEBUG_RC_SMOOTHING, 3, defaultInputCutoffFrequency);
for (updatedChannel = ROLL; updatedChannel <= THROTTLE; updatedChannel++) { for (updatedChannel = 0; updatedChannel < PRIMARY_CHANNEL_COUNT; updatedChannel++) {
if (filterInitialized && (1 << updatedChannel) & interpolationChannels) { if (filterInitialized && (1 << updatedChannel) & interpolationChannels) {
switch (rxConfig()->rc_smoothing_input_type) { switch (rxConfig()->rc_smoothing_input_type) {
case RC_SMOOTHING_INPUT_BIQUAD: case RC_SMOOTHING_INPUT_BIQUAD:
@ -545,13 +545,13 @@ void initRcProcessing(void)
interpolationChannels |= ROLL_FLAG | PITCH_FLAG; interpolationChannels |= ROLL_FLAG | PITCH_FLAG;
break; break;
case INTERPOLATION_CHANNELS_T:
interpolationChannels |= THROTTLE_FLAG;
FALLTHROUGH;
case INTERPOLATION_CHANNELS_RPT: case INTERPOLATION_CHANNELS_RPT:
interpolationChannels |= ROLL_FLAG | PITCH_FLAG; interpolationChannels |= ROLL_FLAG | PITCH_FLAG;
FALLTHROUGH;
case INTERPOLATION_CHANNELS_T:
interpolationChannels |= THROTTLE_FLAG;
break; break;
} }
} }

2
src/main/fc/rc_controls.h
View file

@ -39,6 +39,8 @@ typedef enum rc_alias {
AUX8 AUX8
} rc_alias_e; } rc_alias_e;
#define PRIMARY_CHANNEL_COUNT (THROTTLE + 1)
typedef enum { typedef enum {
THROTTLE_LOW = 0, THROTTLE_LOW = 0,
THROTTLE_HIGH THROTTLE_HIGH