Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-16 04:45:22 +03:00
Code Issues Wiki Activity

Fix missing PID gains updates

Browse source
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-12-01 10:15:57 +10:00
parent efb65c6f5d
commit 33e79030f4
5 changed files with 28 additions and 21 deletions
Download patch file Download diff file Expand all files Collapse all files

24
src/main/fc/rc_controls.c
View file

@ -531,7 +531,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
controlRateConfig->rates[FD_PITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
signalRequiredPIDCoefficientsUpdate();
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
@ -539,13 +539,13 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
controlRateConfig->rates[FD_ROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
signalRequiredPIDCoefficientsUpdate();
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
controlRateConfig->rates[FD_YAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
signalRequiredPIDCoefficientsUpdate();
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_P:
case ADJUSTMENT_PITCH_P:
@ -553,7 +553,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
pidProfile->P8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
signalRequiredPIDCoefficientsUpdate();
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_P
@ -561,7 +561,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
signalRequiredPIDCoefficientsUpdate();
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_I:
case ADJUSTMENT_PITCH_I:
@ -569,7 +569,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
pidProfile->I8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
signalRequiredPIDCoefficientsUpdate();
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_I
@ -577,7 +577,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
signalRequiredPIDCoefficientsUpdate();
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D:
@ -585,7 +585,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
pidProfile->D8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
signalRequiredPIDCoefficientsUpdate();
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_D
@ -593,25 +593,25 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
signalRequiredPIDCoefficientsUpdate();
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_P:
newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
signalRequiredPIDCoefficientsUpdate();
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_I:
newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
signalRequiredPIDCoefficientsUpdate();
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_D:
newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
signalRequiredPIDCoefficientsUpdate();
schedulePidGainsUpdate();
break;
default:
break;