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AltHold cleanup.

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* Renamed several methods and variables so they make more sense.
* Move more altitude hold related code out of imu.c/h into
altitudehold.c/h.
* Fixed a unsigned integer being using instead of an signed integer in
the throttle calculation code.
This commit is contained in:
Dominic Clifton 2014-09-29 01:34:15 +01:00
parent 7d4abb8a4a
commit daa823ddba
8 changed files with 222 additions and 199 deletions
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4
src/main/config/config.c
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@ -54,6 +54,7 @@
#include "io/ledstrip.h"
#include "io/gps.h"
#include "flight/failsafe.h"
#include "flight/altitudehold.h"
#include "flight/imu.h"
#include "flight/navigation.h"
@ -453,7 +454,8 @@ void activateConfig(void)
imuRuntimeConfig.acc_unarmedcal = currentProfile->acc_unarmedcal;;
imuRuntimeConfig.small_angle = masterConfig.small_angle;
configureImu(&imuRuntimeConfig, &currentProfile->pidProfile, &currentProfile->barometerConfig, &currentProfile->accDeadband);
configureImu(&imuRuntimeConfig, &currentProfile->pidProfile, &currentProfile->accDeadband);
configureAltitudeHold(&currentProfile->pidProfile, &currentProfile->barometerConfig);
calculateThrottleAngleScale(currentProfile->throttle_correction_angle);
calculateAccZLowPassFilterRCTimeConstant(currentProfile->accz_lpf_cutoff);