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Add sticks restriction to continuous trim

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This commit is contained in:
Alexander van Saase 2021-06-05 11:31:16 +02:00
parent cf7d62a350
commit 81fdf6d5ae
9 changed files with 36 additions and 23 deletions
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7
src/main/fc/rc_controls.c
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@ -71,12 +71,13 @@ 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, 2);
PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 3);
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,
@ -97,9 +98,9 @@ bool areSticksInApModePosition(uint16_t ap_mode)
return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
}
bool areSticksDeflectedMoreThanPosHoldDeadband(void)
bool areSticksDeflected(void)
{
return (ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband);
return ABS(rcCommand[ROLL]) > rcControlsConfig()->control_deadband || ABS(rcCommand[PITCH]) > rcControlsConfig()->control_deadband || ABS(rcCommand[YAW]) > rcControlsConfig()->control_deadband;
}
throttleStatus_e FAST_CODE NOINLINE calculateThrottleStatus(throttleStatusType_e type)