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Allow inflight adjustments for floating-point based PID controllers.

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This commit is contained in:
Dominic Clifton 2015-01-30 20:54:34 +01:00
parent e33fd411c5
commit f77a762b48
12 changed files with 295 additions and 34 deletions
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7
src/main/config/config.c
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@ -110,7 +110,7 @@ profile_t *currentProfile;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 90;
static const uint8_t EEPROM_CONF_VERSION = 91;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -121,6 +121,8 @@ static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
static void resetPidProfile(pidProfile_t *pidProfile)
{
pidProfile->pidController = 0;
pidProfile->P8[ROLL] = 40;
pidProfile->I8[ROLL] = 30;
pidProfile->D8[ROLL] = 23;
@ -386,7 +388,6 @@ static void resetConf(void)
masterConfig.looptime = 3500;
masterConfig.emf_avoidance = 0;
currentProfile->pidController = 0;
resetPidProfile(&currentProfile->pidProfile);
resetControlRateConfig(&masterConfig.controlRateProfiles[0]);
@ -603,7 +604,7 @@ void activateConfig(void)
useTelemetryConfig(&masterConfig.telemetryConfig);
#endif
setPIDController(currentProfile->pidController);
setPIDController(currentProfile->pidProfile.pidController);
#ifdef GPS
gpsUseProfile(&currentProfile->gpsProfile);