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Merge pull request #9805 from iNavFlight/dzikuvx-drop-control-deadband

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Drop control_deadband setting
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Paweł Spychalski 2024-03-22 19:51:00 +01:00 • committed by GitHub
commit 1efdfabeeb
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5 changed files with 4 additions and 21 deletions
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10
docs/Settings.md
View file

@ -552,16 +552,6 @@ Blackbox logging rate numerator. Use num/denom settings to decide if a frame sho
---
### control_deadband
Stick deadband in [r/c points], applied after r/c deadband and expo. Used to check if sticks are centered.
| Default | Min | Max |
| --- | --- | --- |
| 10 | 2 | 250 |
---
### controlrate_profile
Control rate profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control rate profile

2
src/main/fc/fc_core.c
View file

@ -237,7 +237,7 @@ static void updateArmingStatus(void)
/* CHECK: pitch / roll sticks centered when NAV_LAUNCH_MODE enabled */
if (isNavLaunchEnabled()) {
if (isRollPitchStickDeflected(rcControlsConfig()->control_deadband)) {
if (isRollPitchStickDeflected(CONTROL_DEADBAND)) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED);
} else {
DISABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED);

5
src/main/fc/rc_controls.c
View file

@ -75,13 +75,12 @@ stickPositions_e rcStickPositions;
FASTRAM int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 3);
PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 4);
PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
.deadband = SETTING_DEADBAND_DEFAULT,
.yaw_deadband = SETTING_YAW_DEADBAND_DEFAULT,
.pos_hold_deadband = SETTING_POS_HOLD_DEADBAND_DEFAULT,
.control_deadband = SETTING_CONTROL_DEADBAND_DEFAULT,
.alt_hold_deadband = SETTING_ALT_HOLD_DEADBAND_DEFAULT,
.mid_throttle_deadband = SETTING_3D_DEADBAND_THROTTLE_DEFAULT,
.airmodeHandlingType = SETTING_AIRMODE_TYPE_DEFAULT,
@ -104,7 +103,7 @@ bool areSticksInApModePosition(uint16_t ap_mode)
bool areSticksDeflected(void)
{
return (ABS(rcCommand[ROLL]) > rcControlsConfig()->control_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->control_deadband) || (ABS(rcCommand[YAW]) > rcControlsConfig()->control_deadband);
return (ABS(rcCommand[ROLL]) > CONTROL_DEADBAND) || (ABS(rcCommand[PITCH]) > CONTROL_DEADBAND) || (ABS(rcCommand[YAW]) > CONTROL_DEADBAND);
}
bool isRollPitchStickDeflected(uint8_t deadband)

3
src/main/fc/rc_controls.h
View file

@ -19,7 +19,7 @@
#include "config/parameter_group.h"
#define AIRMODE_THROTTLE_THRESHOLD 1300
#define CONTROL_DEADBAND 10 // Used to check if sticks are centered
typedef enum rc_alias {
ROLL = 0,
@ -85,7 +85,6 @@ typedef struct rcControlsConfig_s {
uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
uint8_t yaw_deadband; // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
uint8_t pos_hold_deadband; // Deadband for position hold
uint8_t control_deadband; // General deadband to check if sticks are deflected, us PWM.
uint8_t alt_hold_deadband; // Defines the neutral zone of throttle stick during altitude hold
uint16_t mid_throttle_deadband; // default throttle deadband from MIDRC
uint8_t airmodeHandlingType; // Defaults to ANTI_WINDUP triggered at sticks centered

5
src/main/fc/settings.yaml
View file

@ -1703,11 +1703,6 @@ groups:
default_value: 10
min: 2
max: 250
- name: control_deadband
description: "Stick deadband in [r/c points], applied after r/c deadband and expo. Used to check if sticks are centered."
default_value: 10
min: 2
max: 250
- name: alt_hold_deadband
description: "Defines the deadband of throttle during alt_hold [r/c points]"
default_value: 50