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Code Issues Releases Activity

Merged in alessiomorale/librepilot/amorale/LP-123_easytune_yaw_always_active (pull request #64)

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LP-123 - EasyTune for yaw should only be enabled if any other (roll/pitch) option is also enabled
This commit is contained in:
Alessio Morale 2015-09-21 12:34:24 +02:00
commit 73d073d5d0
1 changed files with 5 additions and 1 deletions
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6
flight/modules/TxPID/txpid.c
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@ -220,6 +220,8 @@ static void updatePIDs(UAVObjEvent *ev)
TxPIDStatusData txpid_status; TxPIDStatusData txpid_status;
TxPIDStatusGet(&txpid_status); TxPIDStatusGet(&txpid_status);
bool easyTuneEnabled = false;
uint8_t needsUpdateBank = 0; uint8_t needsUpdateBank = 0;
uint8_t needsUpdateStab = 0; uint8_t needsUpdateStab = 0;
uint8_t needsUpdateAtt = 0; uint8_t needsUpdateAtt = 0;
@ -255,11 +257,13 @@ static void updatePIDs(UAVObjEvent *ev)
needsUpdateBank |= update(&bank.RollRatePID.Kp, value); needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
break; break;
case TXPIDSETTINGS_PIDS_ROLLRATEPID: case TXPIDSETTINGS_PIDS_ROLLRATEPID:
easyTuneEnabled = true;
needsUpdateBank |= update(&bank.RollRatePID.Kp, value); needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.RollRatePID.Ki, value * inst.PitchRollRateFactors.I); needsUpdateBank |= update(&bank.RollRatePID.Ki, value * inst.PitchRollRateFactors.I);
needsUpdateBank |= update(&bank.RollRatePID.Kd, value * inst.PitchRollRateFactors.D); needsUpdateBank |= update(&bank.RollRatePID.Kd, value * inst.PitchRollRateFactors.D);
break; break;
case TXPIDSETTINGS_PIDS_PITCHRATEPID: case TXPIDSETTINGS_PIDS_PITCHRATEPID:
easyTuneEnabled = true;
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value); needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value * inst.PitchRollRateFactors.I); needsUpdateBank |= update(&bank.PitchRatePID.Ki, value * inst.PitchRollRateFactors.I);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value * inst.PitchRollRateFactors.D); needsUpdateBank |= update(&bank.PitchRatePID.Kd, value * inst.PitchRollRateFactors.D);
@ -447,7 +451,7 @@ static void updatePIDs(UAVObjEvent *ev)
AltitudeHoldSettingsSet(&altitude); AltitudeHoldSettingsSet(&altitude);
} }
#endif #endif
if (inst.RatePIDRecalculateYaw != TXPIDSETTINGS_RATEPIDRECALCULATEYAW_FALSE) { if (easyTuneEnabled && (inst.RatePIDRecalculateYaw != TXPIDSETTINGS_RATEPIDRECALCULATEYAW_FALSE)) {
float newKp = (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.YawRateFactors.P; float newKp = (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.YawRateFactors.P;
needsUpdateBank |= update(&bank.YawRatePID.Kp, newKp); needsUpdateBank |= update(&bank.YawRatePID.Kp, newKp);
needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.YawRateFactors.I); needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.YawRateFactors.I);