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Add rate profiles and inflight switching between them. See Profiles and

Browse source 
Inflight Adjustment documentation for details.
This commit is contained in:
Dominic Clifton 2014-10-29 23:31:43 +00:00
parent cac814923c
commit 28f9fa629c
12 changed files with 346 additions and 66 deletions
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18
src/main/mw.c
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@ -165,13 +165,13 @@ void annexCode(void)
static int32_t vbatCycleTime = 0;
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
if (rcData[THROTTLE] < currentProfile->tpa_breakpoint) {
if (rcData[THROTTLE] < currentControlRateProfile->tpa_breakpoint) {
prop2 = 100;
} else {
if (rcData[THROTTLE] < 2000) {
prop2 = 100 - (uint16_t)currentProfile->dynThrPID * (rcData[THROTTLE] - currentProfile->tpa_breakpoint) / (2000 - currentProfile->tpa_breakpoint);
prop2 = 100 - (uint16_t)currentControlRateProfile->dynThrPID * (rcData[THROTTLE] - currentControlRateProfile->tpa_breakpoint) / (2000 - currentControlRateProfile->tpa_breakpoint);
} else {
prop2 = 100 - currentProfile->dynThrPID;
prop2 = 100 - currentControlRateProfile->dynThrPID;
}
}
@ -188,7 +188,7 @@ void annexCode(void)
tmp2 = tmp / 100;
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
prop1 = 100 - (uint16_t)currentProfile->controlRateConfig.rollPitchRate * tmp / 500;
prop1 = 100 - (uint16_t)currentControlRateProfile->rollPitchRate * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
} else if (axis == YAW) {
if (currentProfile->yaw_deadband) {
@ -199,7 +199,7 @@ void annexCode(void)
}
}
rcCommand[axis] = tmp * -masterConfig.yaw_control_direction;
prop1 = 100 - (uint16_t)currentProfile->controlRateConfig.yawRate * abs(tmp) / 500;
prop1 = 100 - (uint16_t)currentControlRateProfile->yawRate * abs(tmp) / 500;
}
// FIXME axis indexes into pids. use something like lookupPidIndex(rc_alias_e alias) to reduce coupling.
dynP8[axis] = (uint16_t)currentProfile->pidProfile.P8[axis] * prop1 / 100;
@ -495,8 +495,10 @@ void processRx(void)
updateActivatedModes(currentProfile->modeActivationConditions);
updateAdjustmentStates(currentProfile->adjustmentRanges);
processRcAdjustments(&currentProfile->controlRateConfig, &masterConfig.rxConfig);
if (!cliMode) {
updateAdjustmentStates(currentProfile->adjustmentRanges);
processRcAdjustments(currentControlRateProfile, &masterConfig.rxConfig);
}
bool canUseHorizonMode = true;
@ -654,7 +656,7 @@ void loop(void)
// PID - note this is function pointer set by setPIDController()
pid_controller(
&currentProfile->pidProfile,
&currentProfile->controlRateConfig,
currentControlRateProfile,
masterConfig.max_angle_inclination,
&currentProfile->accelerometerTrims
);