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Merge pull request #4581 from martinbudden/bf_acro_rateprofiles

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When in ACRO mode use trim sticks to adjust RATE profile
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Martin Budden 2017-11-19 04:44:01 +00:00 • committed by GitHub
commit f308e7ac38
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3 changed files with 45 additions and 25 deletions
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28
src/main/fc/rc_controls.c
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@ -242,13 +242,13 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
return;
}
// Multiple configuration profiles
// Change PID profile
int newPidProfile = 0;
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) { // ROLL left -> Profile 1
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) { // ROLL left -> PID profile 1
newPidProfile = 1;
} else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) { // PITCH up -> Profile 2
} else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) { // PITCH up -> PID profile 2
newPidProfile = 2;
} else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) { // ROLL right -> Profile 3
} else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) { // ROLL right -> PID profile 3
newPidProfile = 3;
}
if (newPidProfile) {
@ -274,7 +274,8 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
}
// Accelerometer Trim
if (FLIGHT_MODE(ANGLE_MODE|HORIZON_MODE)) {
// in ANGLE or HORIZON mode, so use sticks to apply accelerometer trims
rollAndPitchTrims_t accelerometerTrimsDelta;
memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta));
@ -297,6 +298,23 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
repeatAfter(STICK_AUTOREPEAT_MS);
return;
}
} else {
// in ACRO mode, so use sticks to change RATE profile
switch (rcSticks) {
case THR_HI + YAW_CE + PIT_HI + ROL_CE:
changeControlRateProfile(0);
return;
case THR_HI + YAW_CE + PIT_LO + ROL_CE:
changeControlRateProfile(1);
return;
case THR_HI + YAW_CE + PIT_CE + ROL_HI:
changeControlRateProfile(2);
return;
case THR_HI + YAW_CE + PIT_CE + ROL_LO:
changeControlRateProfile(3);
return;
}
}
#ifdef USE_DASHBOARD
if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_LO) {

1
src/test/unit/arming_prevention_unittest.cc
View file

@ -662,6 +662,7 @@ extern "C" {
void accSetCalibrationCycles(uint16_t) {}
void baroSetCalibrationCycles(uint16_t) {}
void changePidProfile(uint8_t) {}
void changeControlRateProfile(uint8_t) {}
void dashboardEnablePageCycling(void) {}
void dashboardDisablePageCycling(void) {}
bool imuQuaternionHeadfreeOffsetSet(void) { return true; }

1
src/test/unit/rc_controls_unittest.cc
View file

@ -699,6 +699,7 @@ void blackboxLogEvent(FlightLogEvent, flightLogEventData_t *) {}
bool cmsInMenu = false;
uint8_t armingFlags = 0;
uint16_t flightModeFlags = 0;
int16_t heading;
uint8_t stateFlags = 0;
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];