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Code Issues Releases Activity

OP-1848 altvario merge fixes with ratetrainer

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This commit is contained in:
abeck70 2015-05-05 21:48:04 +10:00
parent 5bffc73b17
commit 43d193cceb
2 changed files with 53 additions and 71 deletions
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20
flight/modules/Stabilization/outerloop.c
View File

@ -117,6 +117,7 @@ static void stabilizationOuterloopTask()
break;
#endif /* REVOLUTION */
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
case STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS:
default:
rateDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = stabilizationDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST];
break;
@ -259,10 +260,6 @@ static void stabilizationOuterloopTask()
rateDesiredAxis[t] = rate_input + weak_leveling;
}
break;
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
default:
rateDesiredAxis[t] = stabilizationDesiredAxis[t];
break;
case STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS:
rateDesiredAxis[t] = stabilizationDesiredAxis[t]; // default for all axes
// now test limits for pitch and/or roll
@ -297,21 +294,6 @@ static void stabilizationOuterloopTask()
}
break;
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
default:
rateDesiredAxis[t] = stabilizationDesiredAxis[t];
break;
}
} else {
switch (StabilizationStatusOuterLoopToArray(enabled)[t]) {
#ifdef REVOLUTION
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE:
rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEHOLD, reinit);
break;
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO:
rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEVARIO, reinit);
break;
#endif /* REVOLUTION */
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
default:
rateDesiredAxis[t] = stabilizationDesiredAxis[t];

104
flight/modules/TxPID/txpid.c
View File

@ -230,140 +230,140 @@ static void updatePIDs(UAVObjEvent *ev)
switch (TxPIDSettingsPIDsToArray(inst.PIDs)[i]) {
case TXPIDSETTINGS_PIDS_ROLLRATEKP:
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKI:
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKD:
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATERESP:
needsUpdateBank |= update(&bank.ManualRate.Roll, value);
needsUpdateBank |= update(&bank.ManualRate.Roll, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
needsUpdateBank |= update(&bank.RollPI.Kp, value);
needsUpdateBank |= update(&bank.RollPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
needsUpdateBank |= update(&bank.RollPI.Ki, value);
needsUpdateBank |= update(&bank.RollPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDERESP:
needsUpdateBank |= updateUint8(&bank.RollMax, value);
needsUpdateBank |= updateUint8(&bank.RollMax, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKP:
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKI:
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKD:
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATERESP:
needsUpdateBank |= update(&bank.ManualRate.Pitch, value);
needsUpdateBank |= update(&bank.ManualRate.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDERESP:
needsUpdateBank |= updateUint8(&bank.PitchMax, value);
needsUpdateBank |= updateUint8(&bank.PitchMax, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI:
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD:
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATERESP:
needsUpdateBank |= update(&bank.ManualRate.Roll, value);
needsUpdateBank |= update(&bank.ManualRate.Pitch, value);
needsUpdateBank |= update(&bank.ManualRate.Roll, value);
needsUpdateBank |= update(&bank.ManualRate.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
needsUpdateBank |= update(&bank.RollPI.Kp, value);
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
needsUpdateBank |= update(&bank.RollPI.Kp, value);
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI:
needsUpdateBank |= update(&bank.RollPI.Ki, value);
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
needsUpdateBank |= update(&bank.RollPI.Ki, value);
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDERESP:
needsUpdateBank |= updateUint8(&bank.RollMax, value);
needsUpdateBank |= updateUint8(&bank.PitchMax, value);
needsUpdateBank |= updateUint8(&bank.RollMax, value);
needsUpdateBank |= updateUint8(&bank.PitchMax, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKP:
needsUpdateBank |= update(&bank.YawRatePID.Kp, value);
needsUpdateBank |= update(&bank.YawRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKI:
needsUpdateBank |= update(&bank.YawRatePID.Ki, value);
needsUpdateBank |= update(&bank.YawRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKD:
needsUpdateBank |= update(&bank.YawRatePID.Kd, value);
needsUpdateBank |= update(&bank.YawRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
needsUpdateBank |= update(&bank.YawRatePID.ILimit, value);
needsUpdateBank |= update(&bank.YawRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATERESP:
needsUpdateBank |= update(&bank.ManualRate.Yaw, value);
needsUpdateBank |= update(&bank.ManualRate.Yaw, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
needsUpdateBank |= update(&bank.YawPI.Kp, value);
needsUpdateBank |= update(&bank.YawPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
needsUpdateBank |= update(&bank.YawPI.Ki, value);
needsUpdateBank |= update(&bank.YawPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
needsUpdateBank |= update(&bank.YawPI.ILimit, value);
needsUpdateBank |= update(&bank.YawPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDERESP:
needsUpdateBank |= updateUint8(&bank.YawMax, value);
needsUpdateBank |= updateUint8(&bank.YawMax, value);
break;
case TXPIDSETTINGS_PIDS_ROLLEXPO:
needsUpdateBank |= updateInt8(&bank.StickExpo.Roll, value);
needsUpdateBank |= updateInt8(&bank.StickExpo.Roll, value);
break;
case TXPIDSETTINGS_PIDS_PITCHEXPO:
needsUpdateBank |= updateInt8(&bank.StickExpo.Pitch, value);
needsUpdateBank |= updateInt8(&bank.StickExpo.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHEXPO:
needsUpdateBank |= updateInt8(&bank.StickExpo.Roll, value);
needsUpdateBank |= updateInt8(&bank.StickExpo.Pitch, value);
needsUpdateBank |= updateInt8(&bank.StickExpo.Roll, value);
needsUpdateBank |= updateInt8(&bank.StickExpo.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_YAWEXPO:
needsUpdateBank |= updateInt8(&bank.StickExpo.Yaw, value);
needsUpdateBank |= updateInt8(&bank.StickExpo.Yaw, value);
break;
case TXPIDSETTINGS_PIDS_GYROTAU:
needsUpdateStab |= update(&stab.GyroTau, value);
needsUpdateStab |= update(&stab.GyroTau, value);
break;
case TXPIDSETTINGS_PIDS_ACROPLUSFACTOR:
needsUpdateBank |= update(&bank.AcroInsanityFactor, value);
needsUpdateBank |= update(&bank.AcroInsanityFactor, value);
break;
#ifdef REVOLUTION
case TXPIDSETTINGS_PIDS_ALTITUDEPOSKP: