rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00
Code Issues Releases Activity

LP-123 - EasyTune for yaw should only be enabled if any other (roll/pitch) option is also enabled

Browse Source
This commit is contained in:
Alessio Morale 2015-09-19 12:04:37 +02:00
parent 08e0a580ed
commit b6515a2117
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
flight/modules/TxPID/txpid.c
View File

@ -220,6 +220,8 @@ static void updatePIDs(UAVObjEvent *ev)
TxPIDStatusData txpid_status;
TxPIDStatusGet(&txpid_status);
bool easyTuneEnabled = false;
uint8_t needsUpdateBank = 0;
uint8_t needsUpdateStab = 0;
uint8_t needsUpdateAtt = 0;
@ -255,11 +257,13 @@ static void updatePIDs(UAVObjEvent *ev)
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEPID:
easyTuneEnabled = true;
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.RollRatePID.Ki, value * inst.PitchRollRateFactors.I);
needsUpdateBank |= update(&bank.RollRatePID.Kd, value * inst.PitchRollRateFactors.D);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEPID:
easyTuneEnabled = true;
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value * inst.PitchRollRateFactors.I);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value * inst.PitchRollRateFactors.D);
@ -447,7 +451,7 @@ static void updatePIDs(UAVObjEvent *ev)
AltitudeHoldSettingsSet(&altitude);
}
#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;
needsUpdateBank |= update(&bank.YawRatePID.Kp, newKp);
needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.YawRateFactors.I);