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Use a positive named setting and variable instead of a negative one to

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simplify the logic and aid understanding.
This commit is contained in:
Dominic Clifton 2015-03-09 22:50:27 +00:00
parent acabbf41db
commit ed434fe47b
5 changed files with 5 additions and 7 deletions
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2
src/main/config/config.c
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@ -378,7 +378,7 @@ static void resetConf(void)
masterConfig.disarm_kill_switch = 1;
masterConfig.auto_disarm_delay = 5;
masterConfig.small_angle = 25;
masterConfig.disable_pid_at_min_throttle = 0;
masterConfig.pid_at_min_throttle = 1;
masterConfig.airplaneConfig.flaps_speed = 0;

2
src/main/config/config_master.h
View file

@ -65,7 +65,7 @@ typedef struct master_t {
uint8_t disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value
uint8_t auto_disarm_delay; // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
uint8_t small_angle;
uint8_t disable_pid_at_min_throttle; // when enabled (nonzero), ignore pids at minimum throttle
uint8_t pid_at_min_throttle; // when enabled pids are used at minimum throttle
airplaneConfig_t airplaneConfig;

4
src/main/flight/mixer.c
View file

@ -714,13 +714,11 @@ void mixTable(void)
} else {
// If we're at minimum throttle and FEATURE_MOTOR_STOP enabled,
// do not spin the motors.
// If we're at minimum throttle and disable_pid_at_min_throttle
// is enabled, spin motors at minimum throttle.
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
if ((rcData[THROTTLE]) < rxConfig->mincheck) {
if (feature(FEATURE_MOTOR_STOP)) {
motor[i] = escAndServoConfig->mincommand;
} else if (masterConfig.disable_pid_at_min_throttle != 0) {
} else if (masterConfig.pid_at_min_throttle == 0) {
motor[i] = escAndServoConfig->minthrottle;
}
}

2
src/main/io/serial_cli.c
View file

@ -274,7 +274,7 @@ const clivalue_t valueTable[] = {
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE, &masterConfig.disarm_kill_switch, 0, 1 },
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.auto_disarm_delay, 0, 60 },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.small_angle, 0, 180 },
{ "disable_pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.disable_pid_at_min_throttle, 0, 1 },
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_at_min_throttle, 0, 1 },
{ "flaps_speed", VAR_UINT8 | MASTER_VALUE, &masterConfig.airplaneConfig.flaps_speed, 0, 100 },