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Merge pull request #2748 from toastedcornflakes/in-flight-strength-horizon

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Adjustement for horizon strength
This commit is contained in:
Michael Keller 2017-03-28 14:41:04 +13:00 • committed by GitHub
commit d42e07d837
2 changed files with 32 additions and 12 deletions
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43
src/main/fc/rc_adjustments.c
View file

@ -211,6 +211,12 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.adjustmentFunction = ADJUSTMENT_D_SETPOINT_TRANSITION, .adjustmentFunction = ADJUSTMENT_D_SETPOINT_TRANSITION,
.mode = ADJUSTMENT_MODE_STEP, .mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }} .data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_HORIZON_STRENGTH,
.mode = ADJUSTMENT_MODE_SELECT,
.data = { .selectConfig = { .switchPositions = 255 }}
} }
}; };
@ -247,18 +253,18 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in cli.c newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in cli.c
controlRateConfig->rcRate8 = newValue; controlRateConfig->rcRate8 = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE, newValue);
break; break;
case ADJUSTMENT_RC_EXPO: case ADJUSTMENT_RC_EXPO:
newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
controlRateConfig->rcExpo8 = newValue; controlRateConfig->rcExpo8 = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_EXPO, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_EXPO, newValue);
break; break;
case ADJUSTMENT_THROTTLE_EXPO: case ADJUSTMENT_THROTTLE_EXPO:
newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
controlRateConfig->thrExpo8 = newValue; controlRateConfig->thrExpo8 = newValue;
generateThrottleCurve(); generateThrottleCurve();
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
break; break;
case ADJUSTMENT_PITCH_ROLL_RATE: case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE: case ADJUSTMENT_PITCH_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX); newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
@ -360,21 +366,34 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position) static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
{ {
bool applied = false; uint8_t beeps = 0;
switch(adjustmentFunction) { switch(adjustmentFunction) {
case ADJUSTMENT_RATE_PROFILE: case ADJUSTMENT_RATE_PROFILE:
if (getCurrentControlRateProfileIndex() != position) { {
changeControlRateProfile(position); if (getCurrentControlRateProfileIndex() != position) {
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position); changeControlRateProfile(position);
applied = true; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position);
beeps = position + 1;
}
break;
}
case ADJUSTMENT_HORIZON_STRENGTH:
{
uint8_t newValue = constrain(position, 0, 200); // FIXME magic numbers repeated in serial_cli.c
if(pidProfile->D8[PIDLEVEL] != newValue) {
beeps = ((newValue - pidProfile->D8[PIDLEVEL]) / 8) + 1;
pidProfile->D8[PIDLEVEL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_HORIZON_STRENGTH, position);
}
break;
} }
break;
} }
if (applied) { if (beeps) {
beeperConfirmationBeeps(position + 1); beeperConfirmationBeeps(beeps);
} }
} }
#define RESET_FREQUENCY_2HZ (1000 / 2) #define RESET_FREQUENCY_2HZ (1000 / 2)

1
src/main/fc/rc_adjustments.h
View file

@ -46,6 +46,7 @@ typedef enum {
ADJUSTMENT_RC_RATE_YAW, ADJUSTMENT_RC_RATE_YAW,
ADJUSTMENT_D_SETPOINT, ADJUSTMENT_D_SETPOINT,
ADJUSTMENT_D_SETPOINT_TRANSITION, ADJUSTMENT_D_SETPOINT_TRANSITION,
ADJUSTMENT_HORIZON_STRENGTH,
ADJUSTMENT_FUNCTION_COUNT ADJUSTMENT_FUNCTION_COUNT
} adjustmentFunction_e; } adjustmentFunction_e;