Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 08:45:36 +03:00
Code Issues Wiki Activity

Delete autotune.

Browse source
This commit is contained in:
Dominic Clifton 2015-10-06 19:38:02 +01:00
parent 6e59eb235d
commit d36da111b2
30 changed files with 8 additions and 743 deletions
Download patch file Download diff file Expand all files Collapse all files

47
src/main/mw.c
View file

@ -70,7 +70,6 @@
#include "flight/imu.h"
#include "flight/altitudehold.h"
#include "flight/failsafe.h"
#include "flight/autotune.h"
#include "flight/navigation.h"
#include "flight/filter.h"
@ -122,44 +121,6 @@ void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsD
saveConfigAndNotify();
}
#ifdef AUTOTUNE
void updateAutotuneState(void)
{
static bool landedAfterAutoTuning = false;
static bool autoTuneWasUsed = false;
if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE)) {
if (!FLIGHT_MODE(AUTOTUNE_MODE)) {
if (ARMING_FLAG(ARMED)) {
if (isAutotuneIdle() || landedAfterAutoTuning) {
autotuneReset();
landedAfterAutoTuning = false;
}
autotuneBeginNextPhase(&currentProfile->pidProfile);
ENABLE_FLIGHT_MODE(AUTOTUNE_MODE);
autoTuneWasUsed = true;
} else {
if (havePidsBeenUpdatedByAutotune()) {
saveConfigAndNotify();
autotuneReset();
}
}
}
return;
}
if (FLIGHT_MODE(AUTOTUNE_MODE)) {
autotuneEndPhase();
DISABLE_FLIGHT_MODE(AUTOTUNE_MODE);
}
if (!ARMING_FLAG(ARMED) && autoTuneWasUsed) {
landedAfterAutoTuning = true;
}
}
#endif
bool isCalibrating()
{
#ifdef BARO
@ -278,10 +239,6 @@ void annexCode(void)
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE)) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (isCalibrating()) {
warningLedFlash();
DISABLE_ARMING_FLAG(OK_TO_ARM);
@ -796,10 +753,6 @@ void loop(void)
haveProcessedAnnexCodeOnce = true;
#endif
#ifdef AUTOTUNE
updateAutotuneState();
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
updateMagHold();