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Add USE_ prefix to AUTOTUNE_FIXED_WING

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This commit is contained in:
Michel Pastor 2018-07-25 17:03:23 +02:00
parent 972f74bf60
commit e1e14748b3
6 changed files with 7 additions and 7 deletions
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2
src/main/fc/fc_core.c
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@ -607,7 +607,7 @@ void processRx(timeUs_t currentTimeUs)
DISABLE_FLIGHT_MODE(HEADFREE_MODE); DISABLE_FLIGHT_MODE(HEADFREE_MODE);
} }
#if defined(AUTOTUNE_FIXED_WING) || defined(AUTOTUNE_MULTIROTOR) #if defined(USE_AUTOTUNE_FIXED_WING) || defined(USE_AUTOTUNE_MULTIROTOR)
autotuneUpdateState(); autotuneUpdateState();
#endif #endif

2
src/main/fc/fc_msp_box.c
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@ -210,7 +210,7 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXNAVLAUNCH; activeBoxIds[activeBoxIdCount++] = BOXNAVLAUNCH;
} }
activeBoxIds[activeBoxIdCount++] = BOXAUTOTRIM; activeBoxIds[activeBoxIdCount++] = BOXAUTOTRIM;
#if defined(AUTOTUNE_FIXED_WING) #if defined(USE_AUTOTUNE_FIXED_WING)
activeBoxIds[activeBoxIdCount++] = BOXAUTOTUNE; activeBoxIds[activeBoxIdCount++] = BOXAUTOTUNE;
#endif #endif
} }

2
src/main/fc/settings.yaml
View file

@ -1092,7 +1092,7 @@ groups:
- name: PG_PID_AUTOTUNE_CONFIG - name: PG_PID_AUTOTUNE_CONFIG
type: pidAutotuneConfig_t type: pidAutotuneConfig_t
condition: USE_NAV condition: USE_NAV && USE_AUTOTUNE_FIXED_WING
members: members:
- name: fw_autotune_overshoot_time - name: fw_autotune_overshoot_time
field: fw_overshoot_time field: fw_overshoot_time

2
src/main/flight/pid.c
View file

@ -483,7 +483,7 @@ static void pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamic
pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -pidProfile()->fixedWingItermThrowLimit, pidProfile()->fixedWingItermThrowLimit); pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -pidProfile()->fixedWingItermThrowLimit, pidProfile()->fixedWingItermThrowLimit);
} }
#ifdef AUTOTUNE_FIXED_WING #ifdef USE_AUTOTUNE_FIXED_WING
if (FLIGHT_MODE(AUTO_TUNE) && !FLIGHT_MODE(MANUAL_MODE)) { if (FLIGHT_MODE(AUTO_TUNE) && !FLIGHT_MODE(MANUAL_MODE)) {
autotuneFixedWingUpdate(axis, pidState->rateTarget, pidState->gyroRate, newPTerm + newFFTerm); autotuneFixedWingUpdate(axis, pidState->rateTarget, pidState->gyroRate, newPTerm + newFFTerm);
} }

4
src/main/flight/pid_autotune.c
View file

@ -79,7 +79,7 @@ typedef struct {
#define AUTOTUNE_SAVE_PERIOD 5000 // Save interval is 5 seconds - when we turn off autotune we'll restore values from previous update at most 5 sec ago #define AUTOTUNE_SAVE_PERIOD 5000 // Save interval is 5 seconds - when we turn off autotune we'll restore values from previous update at most 5 sec ago
#if defined(AUTOTUNE_FIXED_WING) || defined(AUTOTUNE_MULTIROTOR) #if defined(USE_AUTOTUNE_FIXED_WING) || defined(USE_AUTOTUNE_MULTIROTOR)
static pidAutotuneData_t tuneCurrent[XYZ_AXIS_COUNT]; static pidAutotuneData_t tuneCurrent[XYZ_AXIS_COUNT];
static pidAutotuneData_t tuneSaved[XYZ_AXIS_COUNT]; static pidAutotuneData_t tuneSaved[XYZ_AXIS_COUNT];
@ -159,7 +159,7 @@ static void blackboxLogAutotuneEvent(adjustmentFunction_e adjustmentFunction, in
#endif #endif
} }
#if defined(AUTOTUNE_FIXED_WING) #if defined(USE_AUTOTUNE_FIXED_WING)
void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRateDps, float reachedRateDps, float pidOutput) void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRateDps, float reachedRateDps, float pidOutput)
{ {

2
src/main/target/common.h
View file

@ -65,7 +65,7 @@
#if (FLASH_SIZE > 128) #if (FLASH_SIZE > 128)
#define NAV_FIXED_WING_LANDING #define NAV_FIXED_WING_LANDING
#define AUTOTUNE_FIXED_WING #define USE_AUTOTUNE_FIXED_WING
#define USE_ASYNC_GYRO_PROCESSING #define USE_ASYNC_GYRO_PROCESSING
#define USE_DEBUG_TRACE #define USE_DEBUG_TRACE
#define USE_BOOTLOG #define USE_BOOTLOG