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Code Issues Releases Activity

OP-1397 Round to instead of floor to uint8_t values in txpid.c

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This commit is contained in:
Stefan Karlsson 2014-08-01 14:51:39 +02:00
parent 04d9d3191d
commit 7f344da977
1 changed files with 8 additions and 9 deletions
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17
flight/modules/TxPID/txpid.c
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@ -83,7 +83,7 @@
// Private functions
static void updatePIDs(UAVObjEvent *ev);
static uint8_t update(float *var, float val);
static uint8_t updateResponsiveness(uint8_t *var, float val);
static uint8_t updateUint8(uint8_t *var, float val);
static float scale(float val, float inMin, float inMax, float outMin, float outMax);
/**
@ -240,7 +240,7 @@ static void updatePIDs(UAVObjEvent *ev)
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDERESP:
needsUpdateBank |= updateResponsiveness(&bank.RollMax, value);
needsUpdateBank |= updateUint8(&bank.RollMax, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKP:
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
@ -267,7 +267,7 @@ static void updatePIDs(UAVObjEvent *ev)
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDERESP:
needsUpdateBank |= updateResponsiveness(&bank.PitchMax, value);
needsUpdateBank |= updateUint8(&bank.PitchMax, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
@ -302,8 +302,8 @@ static void updatePIDs(UAVObjEvent *ev)
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDERESP:
needsUpdateBank |= updateResponsiveness(&bank.RollMax, value);
needsUpdateBank |= updateResponsiveness(&bank.PitchMax, value);
needsUpdateBank |= updateUint8(&bank.RollMax, value);
needsUpdateBank |= updateUint8(&bank.PitchMax, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKP:
needsUpdateBank |= update(&bank.YawRatePID.Kp, value);
@ -330,7 +330,7 @@ static void updatePIDs(UAVObjEvent *ev)
needsUpdateBank |= update(&bank.YawPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDERESP:
needsUpdateBank |= updateResponsiveness(&bank.YawMax, value);
needsUpdateBank |= updateUint8(&bank.YawMax, value);
break;
case TXPIDSETTINGS_PIDS_GYROTAU:
needsUpdateStab |= update(&stab.GyroTau, value);
@ -420,10 +420,9 @@ static uint8_t update(float *var, float val)
* Updates var using val if needed.
* \returns 1 if updated, 0 otherwise
*/
static uint8_t updateResponsiveness(uint8_t *var, float val)
static uint8_t updateUint8(uint8_t *var, float val)
{
// Just floor it for now.
uint8_t roundedVal = (uint8_t)val;
uint8_t roundedVal = (uint8_t)roundf(val);
if (*var != roundedVal) {
*var = roundedVal;