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Code Issues Wiki Activity

sticks > pos_hold_deadband cleanup

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This commit is contained in:
giacomo892 2018-02-08 11:24:11 +01:00
parent c31acda500
commit fab16951d5
5 changed files with 9 additions and 8 deletions
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2
src/main/fc/fc_core.c
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@ -189,7 +189,7 @@ static void updateArmingStatus(void)
/* CHECK: pitch / roll sticks centered when NAV_LAUNCH_MODE enabled */ /* CHECK: pitch / roll sticks centered when NAV_LAUNCH_MODE enabled */
if (isNavLaunchEnabled()) { if (isNavLaunchEnabled()) {
if ((ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband)) { if (areSticksDeflectedMoreThanPosHoldDeadband()) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED); ENABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED);
} else { } else {
DISABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED); DISABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED);

5
src/main/fc/rc_controls.c
View file

@ -90,6 +90,11 @@ bool areSticksInApModePosition(uint16_t ap_mode)
return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode; return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
} }
bool areSticksDeflectedMoreThanPosHoldDeadband(void)
{
return (ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband);
}
throttleStatus_e calculateThrottleStatus(void) throttleStatus_e calculateThrottleStatus(void)
{ {
const uint16_t deadband3d_throttle = rcControlsConfig()->deadband3d_throttle; const uint16_t deadband3d_throttle = rcControlsConfig()->deadband3d_throttle;

1
src/main/fc/rc_controls.h
View file

@ -86,6 +86,7 @@ stickPositions_e getRcStickPositions(void);
bool checkStickPosition(stickPositions_e stickPos); bool checkStickPosition(stickPositions_e stickPos);
bool areSticksInApModePosition(uint16_t ap_mode); bool areSticksInApModePosition(uint16_t ap_mode);
bool areSticksDeflectedMoreThanPosHoldDeadband(void);
throttleStatus_e calculateThrottleStatus(void); throttleStatus_e calculateThrottleStatus(void);
rollPitchStatus_e calculateRollPitchCenterStatus(void); rollPitchStatus_e calculateRollPitchCenterStatus(void);
void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_switch, bool fixed_wing_auto_arm); void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_switch, bool fixed_wing_auto_arm);

2
src/main/navigation/navigation.c
View file

@ -1235,7 +1235,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationF
//allow to leave NAV_LAUNCH_MODE if it has being enabled as feature by moving sticks with low throttle. //allow to leave NAV_LAUNCH_MODE if it has being enabled as feature by moving sticks with low throttle.
if(feature(FEATURE_FW_LAUNCH)){ if(feature(FEATURE_FW_LAUNCH)){
throttleStatus_e throttleStatus = calculateThrottleStatus(); throttleStatus_e throttleStatus = calculateThrottleStatus();
if ((throttleStatus == THROTTLE_LOW) && ((ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband))){ if ((throttleStatus == THROTTLE_LOW) && (areSticksDeflectedMoreThanPosHoldDeadband())){
return NAV_FSM_EVENT_SWITCH_TO_IDLE; return NAV_FSM_EVENT_SWITCH_TO_IDLE;
} }
} }

7
src/main/navigation/navigation_fw_launch.c
View file

@ -151,14 +151,9 @@ static inline bool isLaunchModeMaxTimeElapsed(float timeSinceLaunchMs)
return timeSinceLaunchMs >= navConfig()->fw.launch_timeout; return timeSinceLaunchMs >= navConfig()->fw.launch_timeout;
} }
static inline bool isLaunchModeFinishedByPilot()
{
return (ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband);
}
static inline bool isFixedWingLaunchCompleted(float timeSinceLaunchMs) static inline bool isFixedWingLaunchCompleted(float timeSinceLaunchMs)
{ {
return (isLaunchModeMaxTimeElapsed(timeSinceLaunchMs)) || ((isLaunchModeMinTimeElapsed(timeSinceLaunchMs)) && (isLaunchModeFinishedByPilot())) || isFixedWingLaunchMaxAltitudeReached(); return (isLaunchModeMaxTimeElapsed(timeSinceLaunchMs)) || ((isLaunchModeMinTimeElapsed(timeSinceLaunchMs)) && (areSticksDeflectedMoreThanPosHoldDeadband())) || isFixedWingLaunchMaxAltitudeReached();
} }
void applyFixedWingLaunchController(timeUs_t currentTimeUs) void applyFixedWingLaunchController(timeUs_t currentTimeUs)