diff --git a/flight/modules/Stabilization/innerloop.c b/flight/modules/Stabilization/innerloop.c index 8e0891fbc..4c08d5c8d 100644 --- a/flight/modules/Stabilization/innerloop.c +++ b/flight/modules/Stabilization/innerloop.c @@ -302,7 +302,7 @@ static void stabilizationInnerloopTask() -StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t], StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t] ); - const float acro_factors[] = { + const float acroFactors[] = { stabSettings.stabBank.AcroInsanityFactor.Roll, stabSettings.stabBank.AcroInsanityFactor.Pitch, stabSettings.stabBank.AcroInsanityFactor.Yaw @@ -310,7 +310,7 @@ static void stabilizationInnerloopTask() pid_scaler ascaler = create_pid_scaler(t); ascaler.i *= boundf(1.0f - (1.5f * fabsf(stickinput[t])), 0.0f, 1.0f); // this prevents Integral from getting too high while controlled manually float arate = pid_apply_setpoint(&stabSettings.innerPids[t], &ascaler, rate[t], gyro_filtered[t], dT); - float factor = fabsf(stickinput[t]) * acro_factors[t]; + float factor = fabsf(stickinput[t]) * acroFactors[t]; actuatorDesiredAxis[t] = factor * stickinput[t] + (1.0f - factor) * arate; } break; diff --git a/flight/modules/TxPID/txpid.c b/flight/modules/TxPID/txpid.c index 9d135d2f4..b7c3baaae 100644 --- a/flight/modules/TxPID/txpid.c +++ b/flight/modules/TxPID/txpid.c @@ -383,13 +383,13 @@ static void updatePIDs(UAVObjEvent *ev) case TXPIDSETTINGS_PIDS_GYROTAU: needsUpdateStab |= update(&stab.GyroTau, value); break; - case TXPIDSETTINGS_PIDS_ACROPLUSFACTORROLL: + case TXPIDSETTINGS_PIDS_ACROROLLFACTOR: needsUpdateBank |= update(&bank.AcroInsanityFactor.Roll, value); break; - case TXPIDSETTINGS_PIDS_ACROPLUSFACTORPITCH: + case TXPIDSETTINGS_PIDS_ACROPITCHFACTOR: needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value); break; - case TXPIDSETTINGS_PIDS_ACROPLUSFACTORROLLPITCH: + case TXPIDSETTINGS_PIDS_ACROROLLPITCHFACTOR: needsUpdateBank |= update(&bank.AcroInsanityFactor.Roll, value); needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value); break; diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp index 4a507f7c0..ca02fcea8 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp @@ -2,6 +2,7 @@ ****************************************************************************** * * @file configstabilizationwidget.cpp + * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015. * @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ diff --git a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp index 6b453e09c..d66deb77d 100644 --- a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp @@ -164,9 +164,9 @@ static bool isExpoOption(int pidOption) static bool isAcroPlusFactorOption(int pidOption) { switch (pidOption) { - case TxPIDSettings::PIDS_ACROPLUSFACTORPITCH: - case TxPIDSettings::PIDS_ACROPLUSFACTORROLL: - case TxPIDSettings::PIDS_ACROPLUSFACTORROLLPITCH: + case TxPIDSettings::PIDS_ACROPITCHFACTOR: + case TxPIDSettings::PIDS_ACROROLLFACTOR: + case TxPIDSettings::PIDS_ACROROLLPITCHFACTOR: return true; default: @@ -300,10 +300,10 @@ static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, in case TxPIDSettings::PIDS_YAWEXPO: return bank->getStickExpo_Yaw(); - case TxPIDSettings::PIDS_ACROPLUSFACTORROLL: - case TxPIDSettings::PIDS_ACROPLUSFACTORROLLPITCH: + case TxPIDSettings::PIDS_ACROROLLFACTOR: + case TxPIDSettings::PIDS_ACROROLLPITCHFACTOR: return bank->getAcroInsanityFactor_Roll(); - case TxPIDSettings::PIDS_ACROPLUSFACTORPITCH: + case TxPIDSettings::PIDS_ACROPITCHFACTOR: return bank->getAcroInsanityFactor_Pitch(); case -1: // The PID Option field was uninitialized. return 0.0f; diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index f1ee17b2f..226a6edcc 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -208,7 +208,7 @@ margin-top: -1px; Qt::StrongFocus - <html><head/><body><p>Link roll &amp; pitch sliders to move together, thus giving same value for both roll &amp; pitch when setting up a symetrical vehicle that requires both to be the same</p></body></html> + <html><head/><body><p>Link roll &amp; pitch sliders to move together</p></body></html> diff --git a/shared/uavobjectdefinition/stabilizationbank.xml b/shared/uavobjectdefinition/stabilizationbank.xml index 0dac7e48b..eb8d0443e 100644 --- a/shared/uavobjectdefinition/stabilizationbank.xml +++ b/shared/uavobjectdefinition/stabilizationbank.xml @@ -16,8 +16,8 @@ - - + + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank1.xml b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml index f43e41bee..0de049167 100644 --- a/shared/uavobjectdefinition/stabilizationsettingsbank1.xml +++ b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml @@ -16,7 +16,7 @@ - + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank2.xml b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml index 1dc797059..4617fec8b 100644 --- a/shared/uavobjectdefinition/stabilizationsettingsbank2.xml +++ b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml @@ -16,7 +16,7 @@ - + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank3.xml b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml index 7a0e3703b..04e2c6c50 100644 --- a/shared/uavobjectdefinition/stabilizationsettingsbank3.xml +++ b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml @@ -16,7 +16,7 @@ - + diff --git a/shared/uavobjectdefinition/txpidsettings.xml b/shared/uavobjectdefinition/txpidsettings.xml index a5f0f2865..554598f6b 100644 --- a/shared/uavobjectdefinition/txpidsettings.xml +++ b/shared/uavobjectdefinition/txpidsettings.xml @@ -7,8 +7,8 @@ elementnames="Instance1,Instance2,Instance3" options="Throttle,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle,Accessory0,Accessory1"/> - - +