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changes for conflict resolution

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This commit is contained in:
Darren Lines 2021-10-28 18:26:51 +01:00
parent efa9b8c404
commit bd4c4da4ca
3 changed files with 4 additions and 3 deletions
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2
docs/Programming Framework.md
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@ -74,7 +74,7 @@ IPF can be edited using INAV Configurator user interface, of via CLI
| 38 | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` | | 38 | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` |
| 39 | SET_HEADING_TARGET | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. | | 39 | SET_HEADING_TARGET | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
| 40 | MOD | Divide `Operand A` by `Operand B` and returns the remainder | | 40 | MOD | Divide `Operand A` by `Operand B` and returns the remainder |
| 41 | SET_PROFILE | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change | | 42 | SET_PROFILE | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
### Operands ### Operands

1
src/main/programming/logic_condition.c
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@ -341,6 +341,7 @@ static int logicConditionCompute(
if (setConfigProfile(operandA)) { if (setConfigProfile(operandA)) {
pidInit(); pidInit();
pidInitFilters(); pidInitFilters();
schedulePidGainsUpdate();
profileChanged = true; profileChanged = true;
} }
return profileChanged; return profileChanged;

4
src/main/programming/logic_condition.h
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@ -70,8 +70,8 @@ typedef enum {
LOGIC_CONDITION_RC_CHANNEL_OVERRIDE = 38, LOGIC_CONDITION_RC_CHANNEL_OVERRIDE = 38,
LOGIC_CONDITION_SET_HEADING_TARGET = 39, LOGIC_CONDITION_SET_HEADING_TARGET = 39,
LOGIC_CONDITION_MODULUS = 40, LOGIC_CONDITION_MODULUS = 40,
LOGIC_CONDITION_SET_PROFILE = 41, LOGIC_CONDITION_SET_PROFILE = 42,
LOGIC_CONDITION_LAST = 42, LOGIC_CONDITION_LAST = 43,
} logicOperation_e; } logicOperation_e;
typedef enum logicOperandType_s { typedef enum logicOperandType_s {