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Code Issues Wiki Activity

Decouple altitudehold.c from config.c. Update flight_imu_unittest and

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altitude_hold_unittest.
This commit is contained in:
Dominic Clifton 2014-11-03 20:03:21 +01:00
parent f8b13d7c62
commit 503e7a0817
15 changed files with 243 additions and 121 deletions
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22
src/main/mw.c
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@ -47,11 +47,14 @@
#include "io/beeper.h"
#include "io/display.h"
#include "io/escservo.h"
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "io/rc_curves.h"
#include "flight/mixer.h"
#include "flight/altitudehold.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/autotune.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "io/gimbal.h"
#include "io/gps.h"
@ -59,9 +62,6 @@
#include "io/serial_cli.h"
#include "io/serial.h"
#include "io/statusindicator.h"
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "io/rc_curves.h"
#include "rx/msp.h"
#include "telemetry/telemetry.h"
@ -178,9 +178,9 @@ void annexCode(void)
for (axis = 0; axis < 3; axis++) {
tmp = min(abs(rcData[axis] - masterConfig.rxConfig.midrc), 500);
if (axis == ROLL || axis == PITCH) {
if (currentProfile->deadband) {
if (tmp > currentProfile->deadband) {
tmp -= currentProfile->deadband;
if (currentProfile->rcControlsConfig.deadband) {
if (tmp > currentProfile->rcControlsConfig.deadband) {
tmp -= currentProfile->rcControlsConfig.deadband;
} else {
tmp = 0;
}
@ -191,9 +191,9 @@ void annexCode(void)
prop1 = 100 - (uint16_t)currentControlRateProfile->rollPitchRate * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
} else if (axis == YAW) {
if (currentProfile->yaw_deadband) {
if (tmp > currentProfile->yaw_deadband) {
tmp -= currentProfile->yaw_deadband;
if (currentProfile->rcControlsConfig.yaw_deadband) {
if (tmp > currentProfile->rcControlsConfig.yaw_deadband) {
tmp -= currentProfile->rcControlsConfig.yaw_deadband;
} else {
tmp = 0;
}
@ -636,7 +636,7 @@ void loop(void)
#if defined(BARO) || defined(SONAR)
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
applyAltHold();
applyAltHold(&masterConfig.airplaneConfig);
}
}
#endif