Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 04:15:44 +03:00
Code Issues Wiki Activity

Merge remote-tracking branch 'multiwii/master'

Browse source 
Conflicts:
	obj/baseflight.hex
	src/config.c
	src/main.c
	src/mw.c
	src/mw.h
	src/serial_cli.c
This commit is contained in:
Dominic Clifton 2014-04-23 02:38:39 +01:00
commit e4c9fb585c
6 changed files with 13 additions and 12 deletions
Download patch file Download diff file Expand all files Collapse all files

5
src/config.c
View file

@ -313,7 +313,7 @@ static void resetConf(void)
masterConfig.serialConfig.reboot_character = 'R';
masterConfig.looptime = 3500;
masterConfig.emfAvoidance = 0;
masterConfig.emf_avoidance = 0;
masterConfig.rssi_aux_channel = 0;
currentProfile.pidController = 0;
@ -324,9 +324,10 @@ static void resetConf(void)
currentProfile.controlRateConfig.rollPitchRate = 0;
currentProfile.controlRateConfig.yawRate = 0;
currentProfile.dynThrPID = 0;
currentProfile.tpaBreakPoint = 1500;
currentProfile.tpa_breakpoint = 1500;
currentProfile.controlRateConfig.thrMid8 = 50;
currentProfile.controlRateConfig.thrExpo8 = 0;
// for (i = 0; i < CHECKBOXITEMS; i++)
// cfg.activate[i] = 0;

2
src/config_master.h
View file

@ -9,7 +9,7 @@ typedef struct master_t {
uint8_t mixerConfiguration;
uint32_t enabledFeatures;
uint16_t looptime; // imu loop time in us
uint8_t emfAvoidance; // change pll settings to avoid noise in the uhf band
uint8_t emf_avoidance; // change pll settings to avoid noise in the uhf band
motorMixer_t customMixer[MAX_SUPPORTED_MOTORS]; // custom mixtable
// motor/esc/servo related stuff

2
src/config_profile.h
View file

@ -8,7 +8,7 @@ typedef struct profile_s {
controlRateConfig_t controlRateConfig;
uint8_t dynThrPID;
uint16_t tpaBreakPoint; // Breakpoint where TPA is activated
uint16_t tpa_breakpoint; // Breakpoint where TPA is activated
int16_t mag_declination; // Get your magnetic decliniation from here : http://magnetic-declination.com/
rollAndPitchTrims_t accelerometerTrims; // accelerometer trim

2
src/main.c
View file

@ -69,7 +69,7 @@ int main(void)
serialPort_t* loopbackPort1 = NULL;
serialPort_t* loopbackPort2 = NULL;
#endif
systemInit(masterConfig.emfAvoidance);
systemInit(masterConfig.emf_avoidance);
initPrintfSupport();
ensureEEPROMContainsValidData();

4
src/mw.c
View file

@ -58,11 +58,11 @@ void annexCode(void)
static uint8_t vbatTimer = 0;
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
if (rcData[THROTTLE] < currentProfile.tpaBreakPoint) {
if (rcData[THROTTLE] < currentProfile.tpa_breakpoint) {
prop2 = 100;
} else {
if (rcData[THROTTLE] < 2000) {
prop2 = 100 - (uint16_t)currentProfile.dynThrPID * (rcData[THROTTLE] - currentProfile.tpaBreakPoint) / (2000 - currentProfile.tpaBreakPoint);
prop2 = 100 - (uint16_t)currentProfile.dynThrPID * (rcData[THROTTLE] - currentProfile.tpa_breakpoint) / (2000 - currentProfile.tpa_breakpoint);
} else {
prop2 = 100 - currentProfile.dynThrPID;
}

10
src/serial_cli.c
View file

@ -123,7 +123,7 @@ typedef struct {
const clivalue_t valueTable[] = {
{ "looptime", VAR_UINT16, &masterConfig.looptime, 0, 9000 },
{ "emf_avoidance", VAR_UINT8, &masterConfig.emfAvoidance, 0, 1 },
{ "emf_avoidance", VAR_UINT8, &masterConfig.emf_avoidance, 0, 1 },
{ "midrc", VAR_UINT16, &masterConfig.rxConfig.midrc, 1200, 1700 },
{ "minthrottle", VAR_UINT16, &masterConfig.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "maxthrottle", VAR_UINT16, &masterConfig.maxthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
@ -179,9 +179,9 @@ const clivalue_t valueTable[] = {
{ "thr_mid", VAR_UINT8, &currentProfile.controlRateConfig.thrMid8, 0, 100 },
{ "thr_expo", VAR_UINT8, &currentProfile.controlRateConfig.thrExpo8, 0, 100 },
{ "roll_pitch_rate", VAR_UINT8, &currentProfile.controlRateConfig.rollPitchRate, 0, 100 },
{ "yawrate", VAR_UINT8, &currentProfile.controlRateConfig.yawRate, 0, 100 },
{ "tparate", VAR_UINT8, &currentProfile.dynThrPID, 0, 100},
{ "tpa_breakpoint", VAR_UINT16, &currentProfile.tpaBreakPoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
{ "yaw_rate", VAR_UINT8, &currentProfile.controlRateConfig.yawRate, 0, 100 },
{ "tpa_rate", VAR_UINT8, &currentProfile.dynThrPID, 0, 100},
{ "tpa_breakpoint", VAR_UINT16, &currentProfile.tpa_breakpoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
{ "failsafe_delay", VAR_UINT8, &currentProfile.failsafeConfig.failsafe_delay, 0, 200 },
{ "failsafe_off_delay", VAR_UINT8, &currentProfile.failsafeConfig.failsafe_off_delay, 0, 200 },
{ "failsafe_throttle", VAR_UINT16, &currentProfile.failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
@ -232,7 +232,7 @@ const clivalue_t valueTable[] = {
{ "d_level", VAR_UINT8, &currentProfile.pidProfile.D8[PIDLEVEL], 0, 200 },
{ "p_vel", VAR_UINT8, &currentProfile.pidProfile.P8[PIDVEL], 0, 200 },
{ "i_vel", VAR_UINT8, &currentProfile.pidProfile.I8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8, &currentProfile.pidProfile.D8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8, &currentProfile.pidProfile.D8[PIDVEL], 0, 200 },
};
#define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))