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Merge pull request #9491 from mikeller/improve_level_mode_code

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Improved code to apply level modes.
This commit is contained in:
Michael Keller 2020-02-19 00:45:52 +13:00 • committed by GitHub
commit dc1bf7e372
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 31 additions and 4 deletions
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35
src/main/flight/pid.c
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@ -62,6 +62,12 @@
#include "pid.h"
typedef enum {
LEVEL_MODE_OFF = 0,
LEVEL_MODE_R,
LEVEL_MODE_RP,
} levelMode_e;
const char pidNames[] =
"ROLL;"
"PITCH;"
@ -1295,13 +1301,21 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
#if defined(USE_ACC)
const bool gpsRescueIsActive = FLIGHT_MODE(GPS_RESCUE_MODE);
const bool levelModeActive = FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || gpsRescueIsActive;
const bool levelRaceModeActive = levelRaceMode && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && !gpsRescueIsActive;
levelMode_e levelMode;
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || gpsRescueIsActive) {
if (levelRaceMode && !gpsRescueIsActive) {
levelMode = LEVEL_MODE_R;
} else {
levelMode = LEVEL_MODE_RP;
}
} else {
levelMode = LEVEL_MODE_OFF;
}
// Keep track of when we entered a self-level mode so that we can
// add a guard time before crash recovery can activate.
// Also reset the guard time whenever GPS Rescue is activated.
if (levelModeActive) {
if (levelMode) {
if ((levelModeStartTimeUs == 0) || (gpsRescueIsActive && !gpsRescuePreviousState)) {
levelModeStartTimeUs = currentTimeUs;
}
@ -1361,7 +1375,20 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
// Yaw control is GYRO based, direct sticks control is applied to rate PID
// When Race Mode is active PITCH control is also GYRO based in level or horizon mode
#if defined(USE_ACC)
if (levelModeActive && (axis != FD_YAW) && !(levelRaceModeActive && (axis == FD_PITCH))) {
switch (levelMode) {
case LEVEL_MODE_OFF:
break;
case LEVEL_MODE_R:
if (axis == FD_PITCH) {
break;
}
FALLTHROUGH;
case LEVEL_MODE_RP:
if (axis == FD_YAW) {
break;
}
currentPidSetpoint = pidLevel(axis, pidProfile, angleTrim, currentPidSetpoint);
}
#endif