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Code Issues Releases Activity

LP-115 Fix TPS and Acroplus settings setup

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Both TPS and Acroplus had settings initialized in SettingsUpdatedCb.
These values comes from stabSettings.stabBank, which isn't initialzed
when SettingsUpdatedCb is first called.

The patch moves the setup of the affected settings values to
BankUpdatedCb, where other bank specific settings are updated.
This commit is contained in:
Stefan Karlsson 2015-09-09 01:27:20 +02:00
parent bc89c79b7d
commit a7c592b294
1 changed files with 8 additions and 7 deletions
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15
flight/modules/Stabilization/stabilization.c
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@ -341,6 +341,14 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
&& tps_for_pid[pid];
}
}
for (int i = 0; i < STABILIZATIONSETTINGSBANK1_THRUSTPIDSCALECURVE_NUMELEM; i++) {
stabSettings.floatThrustPIDScaleCurve[i] = (float)(stabSettings.stabBank.ThrustPIDScaleCurve[i]) * 0.01f;
}
stabSettings.acroInsanityFactors[0] = (float)(stabSettings.stabBank.AcroInsanityFactor.Roll) * 0.01f;
stabSettings.acroInsanityFactors[1] = (float)(stabSettings.stabBank.AcroInsanityFactor.Pitch) * 0.01f;
stabSettings.acroInsanityFactors[2] = (float)(stabSettings.stabBank.AcroInsanityFactor.Yaw) * 0.01f;
}
@ -381,13 +389,6 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
stabSettings.cruiseControl.power_trim = stabSettings.settings.CruiseControlPowerTrim / 100.0f;
stabSettings.cruiseControl.half_power_delay = stabSettings.settings.CruiseControlPowerDelayComp / 2.0f;
stabSettings.cruiseControl.max_power_factor_angle = RAD2DEG(acosf(1.0f / stabSettings.settings.CruiseControlMaxPowerFactor));
for (int i = 0; i < STABILIZATIONSETTINGSBANK1_THRUSTPIDSCALECURVE_NUMELEM; i++) {
stabSettings.floatThrustPIDScaleCurve[i] = (float)(stabSettings.stabBank.ThrustPIDScaleCurve[i]) * 0.01f;
}
stabSettings.acroInsanityFactors[0] = (float)(stabSettings.stabBank.AcroInsanityFactor.Roll) * 0.01f;
stabSettings.acroInsanityFactors[1] = (float)(stabSettings.stabBank.AcroInsanityFactor.Pitch) * 0.01f;
stabSettings.acroInsanityFactors[2] = (float)(stabSettings.stabBank.AcroInsanityFactor.Yaw) * 0.01f;
}
/**