mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
OP-984 txpid can now select which bank it operates on, rather than using the flight mode selected bank.
This commit is contained in:
parent
68b8586c6b
commit
63ecf6ad73
@ -57,6 +57,9 @@
|
||||
#include "manualcontrolcommand.h"
|
||||
#include "stabilizationsettings.h"
|
||||
#include "stabilizationbank.h"
|
||||
#include "stabilizationsettingsbank1.h"
|
||||
#include "stabilizationsettingsbank2.h"
|
||||
#include "stabilizationsettingsbank3.h"
|
||||
#include "flightstatus.h"
|
||||
#include "hwsettings.h"
|
||||
|
||||
@ -165,7 +168,23 @@ static void updatePIDs(UAVObjEvent *ev)
|
||||
}
|
||||
|
||||
StabilizationBankData bank;
|
||||
StabilizationBankGet(&bank);
|
||||
switch(inst.UpdateMode)
|
||||
{
|
||||
case 0:
|
||||
StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *) &bank);
|
||||
break;
|
||||
|
||||
case 1:
|
||||
StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *) &bank);
|
||||
break;
|
||||
|
||||
case 2:
|
||||
StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *) &bank);
|
||||
break;
|
||||
|
||||
default:
|
||||
return;
|
||||
}
|
||||
StabilizationSettingsData stab;
|
||||
StabilizationSettingsGet(&stab);
|
||||
AccessoryDesiredData accessory;
|
||||
@ -298,7 +317,23 @@ static void updatePIDs(UAVObjEvent *ev)
|
||||
StabilizationSettingsSet(&stab);
|
||||
}
|
||||
if (needsUpdateBank) {
|
||||
StabilizationBankSet(&bank);
|
||||
switch(inst.UpdateMode)
|
||||
{
|
||||
case 0:
|
||||
StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *) &bank);
|
||||
break;
|
||||
|
||||
case 1:
|
||||
StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *) &bank);
|
||||
break;
|
||||
|
||||
case 2:
|
||||
StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *) &bank);
|
||||
break;
|
||||
|
||||
default:
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -2,6 +2,7 @@
|
||||
<object name="TxPIDSettings" singleinstance="true" settings="true" category="Control">
|
||||
<description>Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter</description>
|
||||
<field name="UpdateMode" units="option" type="enum" elements="1" options="Never,When Armed,Always" defaultvalue="When Armed"/>
|
||||
<field name="BankNumber" units="" type="uint8" elements="1" defaultvalue="0" limits="%BE:0:3"/>
|
||||
<field name="Inputs" units="channel" type="enum"
|
||||
elementnames="Instance1,Instance2,Instance3"
|
||||
options="Throttle,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5"
|
||||
@ -10,7 +11,7 @@
|
||||
<field name="PIDs" units="option" type="enum"
|
||||
elementnames="Instance1,Instance2,Instance3"
|
||||
options="Disabled,
|
||||
Roll Rate.Kp, Pitch Rate.Kp, Roll+Pitch Rate.Kp, Yaw Rate.Kp,
|
||||
Roll Rate.Kp, Pitch Rate.Kp, Roll+Pitch Rate.Kp, Yaw Rate.Kp,
|
||||
Roll Rate.Ki, Pitch Rate.Ki, Roll+Pitch Rate.Ki, Yaw Rate.Ki,
|
||||
Roll Rate.Kd, Pitch Rate.Kd, Roll+Pitch Rate.Kd, Yaw Rate.Kd,
|
||||
Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit,
|
||||
|
Loading…
Reference in New Issue
Block a user