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Fixes from review.

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This commit is contained in:
mikeller 2018-10-22 12:38:05 +13:00
parent 817bb2ed86
commit feaa082ac3
4 changed files with 9 additions and 8 deletions
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11
src/main/flight/mixer.c
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@ -712,7 +712,6 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS])
} else { } else {
motorOutput = constrain(motorOutput, motorRangeMin, motorRangeMax); motorOutput = constrain(motorOutput, motorRangeMin, motorRangeMax);
} }
motor[i] = motorOutput; motor[i] = motorOutput;
} }
@ -786,10 +785,12 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
throttle = applyThrottleLimit(throttle); throttle = applyThrottleLimit(throttle);
} }
const bool airmodeEnabled = airmodeIsEnabled();
#ifdef USE_YAW_SPIN_RECOVERY #ifdef USE_YAW_SPIN_RECOVERY
// 50% throttle provides the maximum authority for yaw recovery when airmode is not active. // 50% throttle provides the maximum authority for yaw recovery when airmode is not active.
// When airmode is active the throttle setting doesn't impact recovery authority. // When airmode is active the throttle setting doesn't impact recovery authority.
if (yawSpinDetected && !airmodeIsEnabled()) { if (yawSpinDetected && !airmodeEnabled) {
throttle = 0.5f; // throttle = 0.5f; //
} }
#endif // USE_YAW_SPIN_RECOVERY #endif // USE_YAW_SPIN_RECOVERY
@ -836,11 +837,11 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
motorMix[i] /= motorMixRange; motorMix[i] /= motorMixRange;
} }
// Get the maximum correction by setting offset to center when airmode enabled // Get the maximum correction by setting offset to center when airmode enabled
if (airmodeIsEnabled()) { if (airmodeEnabled) {
throttle = 0.5f; throttle = 0.5f;
} }
} else { } else {
if (airmodeIsEnabled() || throttle > 0.5f) { // Only automatically adjust throttle when airmode enabled. Airmode logic is always active on high throttle if (airmodeEnabled || throttle > 0.5f) { // Only automatically adjust throttle when airmode enabled. Airmode logic is always active on high throttle
const float throttleLimitOffset = motorMixRange / 2.0f; const float throttleLimitOffset = motorMixRange / 2.0f;
throttle = constrainf(throttle, 0.0f + throttleLimitOffset, 1.0f - throttleLimitOffset); throttle = constrainf(throttle, 0.0f + throttleLimitOffset, 1.0f - throttleLimitOffset);
} }
@ -849,7 +850,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
if (featureIsEnabled(FEATURE_MOTOR_STOP) if (featureIsEnabled(FEATURE_MOTOR_STOP)
&& ARMING_FLAG(ARMED) && ARMING_FLAG(ARMED)
&& !featureIsEnabled(FEATURE_3D) && !featureIsEnabled(FEATURE_3D)
&& !isAirmodeActive() && !airmodeEnabled
&& (rcData[THROTTLE] < rxConfig()->mincheck)) { && (rcData[THROTTLE] < rxConfig()->mincheck)) {
// motor_stop handling // motor_stop handling
applyMotorStop(); applyMotorStop();

2
src/test/unit/osd_unittest.cc
View file

@ -972,7 +972,7 @@ extern "C" {
return false; return false;
} }
bool isAirmodeActive() { bool airmodeIsEnabled() {
return false; return false;
} }

2
src/test/unit/telemetry_crsf_msp_unittest.cc
View file

@ -278,7 +278,7 @@ extern "C" {
bool featureIsEnabled(uint32_t) {return false;} bool featureIsEnabled(uint32_t) {return false;}
bool isAirmodeActive(void) {return true;} bool airmodeIsEnabled(void) {return true;}
mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostProcessFnPtr *mspPostProcessFn) { mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostProcessFnPtr *mspPostProcessFn) {

2
src/test/unit/telemetry_crsf_unittest.cc
View file

@ -312,7 +312,7 @@ bool telemetryCheckRxPortShared(const serialPortConfig_t *) {return true;}
portSharing_e determinePortSharing(const serialPortConfig_t *, serialPortFunction_e) {return PORTSHARING_NOT_SHARED;} portSharing_e determinePortSharing(const serialPortConfig_t *, serialPortFunction_e) {return PORTSHARING_NOT_SHARED;}
bool isAirmodeActive(void) {return airMode;} bool airmodeIsEnabled(void) {return airMode;}
int32_t getAmperage(void) { int32_t getAmperage(void) {
return testAmperage; return testAmperage;