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Code Issues Releases Activity

OP-984 Updated txpid to handle pid banks

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This commit is contained in:
Les Newell 2013-12-11 11:56:15 +00:00
parent f523ba949d
commit b550e67056
1 changed files with 45 additions and 38 deletions
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83
flight/modules/TxPID/txpid.c
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@ -56,6 +56,7 @@
#include "accessorydesired.h"
#include "manualcontrolcommand.h"
#include "stabilizationsettings.h"
#include "stabilizationbank.h"
#include "flightstatus.h"
#include "hwsettings.h"
@ -163,11 +164,14 @@ static void updatePIDs(UAVObjEvent *ev)
return;
}
StabilizationBankData bank;
StabilizationBankGet(&bank);
StabilizationSettingsData stab;
StabilizationSettingsGet(&stab);
AccessoryDesiredData accessory;
uint8_t needsUpdate = 0;
uint8_t needsUpdateBank = 0;
uint8_t needsUpdateStab = 0;
// Loop through every enabled instance
for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) {
@ -192,107 +196,110 @@ static void updatePIDs(UAVObjEvent *ev)
switch (cast_struct_to_array(inst.PIDs, inst.PIDs.Instance1)[i]) {
case TXPIDSETTINGS_PIDS_ROLLRATEKP:
needsUpdate |= update(&stab.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKI:
needsUpdate |= update(&stab.RollRatePID.Ki, value);
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKD:
needsUpdate |= update(&stab.RollRatePID.Kd, value);
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
needsUpdate |= update(&stab.RollRatePID.ILimit, value);
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
needsUpdate |= update(&stab.RollPI.Kp, value);
needsUpdateBank |= update(&bank.RollPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
needsUpdate |= update(&stab.RollPI.Ki, value);
needsUpdateBank |= update(&bank.RollPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
needsUpdate |= update(&stab.RollPI.ILimit, value);
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKP:
needsUpdate |= update(&stab.PitchRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKI:
needsUpdate |= update(&stab.PitchRatePID.Ki, value);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKD:
needsUpdate |= update(&stab.PitchRatePID.Kd, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
needsUpdate |= update(&stab.PitchRatePID.ILimit, value);
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
needsUpdate |= update(&stab.PitchPI.Kp, value);
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
needsUpdate |= update(&stab.PitchPI.Ki, value);
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
needsUpdate |= update(&stab.PitchPI.ILimit, value);
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
needsUpdate |= update(&stab.RollRatePID.Kp, value);
needsUpdate |= update(&stab.PitchRatePID.Kp, value);
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI:
needsUpdate |= update(&stab.RollRatePID.Ki, value);
needsUpdate |= update(&stab.PitchRatePID.Ki, value);
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD:
needsUpdate |= update(&stab.RollRatePID.Kd, value);
needsUpdate |= update(&stab.PitchRatePID.Kd, value);
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
needsUpdate |= update(&stab.RollRatePID.ILimit, value);
needsUpdate |= update(&stab.PitchRatePID.ILimit, value);
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
needsUpdate |= update(&stab.RollPI.Kp, value);
needsUpdate |= update(&stab.PitchPI.Kp, value);
needsUpdateBank |= update(&bank.RollPI.Kp, value);
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI:
needsUpdate |= update(&stab.RollPI.Ki, value);
needsUpdate |= update(&stab.PitchPI.Ki, value);
needsUpdateBank |= update(&bank.RollPI.Ki, value);
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
needsUpdate |= update(&stab.RollPI.ILimit, value);
needsUpdate |= update(&stab.PitchPI.ILimit, value);
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKP:
needsUpdate |= update(&stab.YawRatePID.Kp, value);
needsUpdateBank |= update(&bank.YawRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKI:
needsUpdate |= update(&stab.YawRatePID.Ki, value);
needsUpdateBank |= update(&bank.YawRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKD:
needsUpdate |= update(&stab.YawRatePID.Kd, value);
needsUpdateBank |= update(&bank.YawRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
needsUpdate |= update(&stab.YawRatePID.ILimit, value);
needsUpdateBank |= update(&bank.YawRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
needsUpdate |= update(&stab.YawPI.Kp, value);
needsUpdateBank |= update(&bank.YawPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
needsUpdate |= update(&stab.YawPI.Ki, value);
needsUpdateBank |= update(&bank.YawPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
needsUpdate |= update(&stab.YawPI.ILimit, value);
needsUpdateBank |= update(&bank.YawPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_GYROTAU:
needsUpdate |= update(&stab.GyroTau, value);
needsUpdateStab |= update(&stab.GyroTau, value);
break;
default:
PIOS_Assert(0);
}
}
}
if (needsUpdate) {
if (needsUpdateStab) {
StabilizationSettingsSet(&stab);
}
if (needsUpdateBank) {
StabilizationBankSet(&bank);
}
}
/**