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Code Issues Wiki Activity

Added pidProfile parameter group

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This commit is contained in:
Martin Budden 2017-01-12 10:43:20 +00:00
parent 1e3f5ef06d
commit bf46c4809f
13 changed files with 221 additions and 233 deletions
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42
src/main/fc/rc_controls.c
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@ -59,8 +59,6 @@
#define AIRMODE_DEADBAND 25
static pidProfile_t *pidProfile;
// true if arming is done via the sticks (as opposed to a switch)
static bool isUsingSticksToArm = true;
@ -564,8 +562,8 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
break;
case ADJUSTMENT_PITCH_ROLL_P:
case ADJUSTMENT_PITCH_P:
newValue = constrain((int)pidProfile->P8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P8[PIDPITCH] = newValue;
newValue = constrain((int)pidProfile()->P8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfileMutable()->P8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
schedulePidGainsUpdate();
@ -573,15 +571,15 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_P
case ADJUSTMENT_ROLL_P:
newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P8[PIDROLL] = newValue;
newValue = constrain((int)pidProfile()->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfileMutable()->P8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_I:
case ADJUSTMENT_PITCH_I:
newValue = constrain((int)pidProfile->I8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I8[PIDPITCH] = newValue;
newValue = constrain((int)pidProfile()->I8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfileMutable()->I8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
schedulePidGainsUpdate();
@ -589,15 +587,15 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_I
case ADJUSTMENT_ROLL_I:
newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I8[PIDROLL] = newValue;
newValue = constrain((int)pidProfile()->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfileMutable()->I8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D:
newValue = constrain((int)pidProfile->D8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D8[PIDPITCH] = newValue;
newValue = constrain((int)pidProfile()->D8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfileMutable()->D8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
schedulePidGainsUpdate();
@ -605,26 +603,26 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_D
case ADJUSTMENT_ROLL_D:
newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D8[PIDROLL] = newValue;
newValue = constrain((int)pidProfile()->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfileMutable()->D8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
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;
newValue = constrain((int)pidProfile()->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfileMutable()->P8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
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;
newValue = constrain((int)pidProfile()->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfileMutable()->I8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
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;
newValue = constrain((int)pidProfile()->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfileMutable()->D8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
schedulePidGainsUpdate();
break;
@ -737,10 +735,8 @@ int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
return MIN(ABS(rcData[axis] - midrc), 500);
}
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, pidProfile_t *pidProfileToUse)
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions)
{
pidProfile = pidProfileToUse;
isUsingSticksToArm = !isModeActivationConditionPresent(modeActivationConditions, BOXARM);
#ifdef NAV