Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

reload GPS pids on each eeprom read

Browse source 
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@389 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-08-27 07:22:48 +00:00
parent f9b48925fa
commit fa7eecac18
3 changed files with 5 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

1
src/config.c
View file

@ -85,6 +85,7 @@ void readEEPROM(void)
cfg.tri_yaw_middle = constrain(cfg.tri_yaw_middle, cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
setPIDController(cfg.pidController);
GPS_set_pids();
}
void writeEEPROM(uint8_t b, uint8_t updateProfile)

3
src/gps.c
View file

@ -8,7 +8,6 @@
const uint32_t init_speed[5] = { 9600, 19200, 38400, 57600, 115200 };
static void GPS_NewData(uint16_t c);
static void GPS_set_pids(void);
static void gpsPrint(const char *str);
static const char * const gpsInitStrings[] = {
@ -407,7 +406,7 @@ void GPS_reset_nav(void)
}
// Get the relevant P I D values and set the PID controllers
static void GPS_set_pids(void)
void GPS_set_pids(void)
{
posholdPID_PARAM.kP = (float)cfg.P8[PIDPOS] / 100.0f;
posholdPID_PARAM.kI = (float)cfg.I8[PIDPOS] / 100.0f;

1
src/mw.h
View file

@ -457,6 +457,7 @@ void cliProcess(void);
void gpsInit(uint32_t baudrate);
void GPS_reset_home_position(void);
void GPS_reset_nav(void);
void GPS_set_pids(void);
void GPS_set_next_wp(int32_t* lat, int32_t* lon);
int32_t wrap_18000(int32_t error);