Changes according to PR comments

betaflight · Sep 15, 2023 · adc9e9a · adc9e9a
1 parent 7e6badb
commit adc9e9a
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Showing 7 changed files with 17 additions and 18 deletions.
diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
@@ -1004,19 +1004,18 @@ const clivalue_t valueTable[] = {
     { "serial_update_rate_hz",      VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 100, 2000 }, PG_SERIAL_CONFIG, offsetof(serialConfig_t, serial_update_rate_hz) },
 
 // PG_IMU_CONFIG
-    { PARAM_NAME_IMU_DCM_KP,        VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, imu_dcm_kp) },
-    { PARAM_NAME_IMU_DCM_KI,        VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, imu_dcm_ki) },
-    { PARAM_NAME_IMU_SMALL_ANGLE,   VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0,   180 }, PG_IMU_CONFIG, offsetof(imuConfig_t, imu_small_angle) },
-    { PARAM_NAME_IMU_PROCESS_DENOM, VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 1,     4 }, PG_IMU_CONFIG, offsetof(imuConfig_t, imu_process_denom) },
+    { PARAM_NAME_IMU_DCM_KP,          VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, imu_dcm_kp) },
+    { PARAM_NAME_IMU_DCM_KI,          VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, imu_dcm_ki) },
+    { PARAM_NAME_IMU_SMALL_ANGLE,     VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0,   180 }, PG_IMU_CONFIG, offsetof(imuConfig_t, small_angle) },
+    { PARAM_NAME_IMU_PROCESS_DENOM,   VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 1,     4 }, PG_IMU_CONFIG, offsetof(imuConfig_t, imu_process_denom) },
 #ifdef USE_MAG
-    { PARAM_NAME_IMU_MAG_DECLINATION, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0,  3599 }, PG_IMU_CONFIG, offsetof(imuConfig_t, imu_mag_declination) },
+    { PARAM_NAME_IMU_MAG_DECLINATION, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0,  3599 }, PG_IMU_CONFIG, offsetof(imuConfig_t, mag_declination) },
 #endif
 
 // PG_ARMING_CONFIG
     { "auto_disarm_delay",          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 60 }, PG_ARMING_CONFIG, offsetof(armingConfig_t, auto_disarm_delay) },
     { PARAM_NAME_GYRO_CAL_ON_FIRST_ARM, VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ARMING_CONFIG, offsetof(armingConfig_t, gyro_cal_on_first_arm) },
 
-
 // PG_GPS_CONFIG
 #ifdef USE_GPS
     { PARAM_NAME_GPS_PROVIDER,               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_PROVIDER },   PG_GPS_CONFIG, offsetof(gpsConfig_t, provider) },

diff --git a/src/main/fc/parameter_names.h b/src/main/fc/parameter_names.h
@@ -200,8 +200,8 @@
 
 #define PARAM_NAME_IMU_DCM_KP "imu_dcm_kp"
 #define PARAM_NAME_IMU_DCM_KI "imu_dcm_ki"
-#define PARAM_NAME_IMU_SMALL_ANGLE "imu_small_angle"
+#define PARAM_NAME_IMU_SMALL_ANGLE "small_angle"
 #define PARAM_NAME_IMU_PROCESS_DENOM "imu_process_denom"
 #ifdef USE_MAG
-#define PARAM_NAME_IMU_MAG_DECLINATION "imu_mag_declination"
+#define PARAM_NAME_IMU_MAG_DECLINATION "mag_declination"
 #endif
diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
@@ -121,9 +121,9 @@ PG_REGISTER_WITH_RESET_TEMPLATE(imuConfig_t, imuConfig, PG_IMU_CONFIG, 3);
 PG_RESET_TEMPLATE(imuConfig_t, imuConfig,
     .imu_dcm_kp = 2500,      // 1.0 * 10000
     .imu_dcm_ki = 0,         // 0.003 * 10000
-    .imu_small_angle = 25,
+    .small_angle = 25,
     .imu_process_denom = 2,
-    .imu_mag_declination = 0
+    .mag_declination = 0
 );
 
 static void imuQuaternionComputeProducts(quaternion *quat, quaternionProducts *quatProd)
@@ -172,11 +172,11 @@ void imuConfigure(uint16_t throttle_correction_angle, uint8_t throttle_correctio
     imuRuntimeConfig.imuDcmKp = imuConfig()->imu_dcm_kp / 10000.0f;
     imuRuntimeConfig.imuDcmKi = imuConfig()->imu_dcm_ki / 10000.0f;
     // magnetic declination has negative sign (positive clockwise when seen from top)
-    const float imuMagneticDeclinationRad = DEGREES_TO_RADIANS(imuConfig()->imu_mag_declination / 10.0f);
+    const float imuMagneticDeclinationRad = DEGREES_TO_RADIANS(imuConfig()->mag_declination / 10.0f);
     north_ef.x = cos_approx(imuMagneticDeclinationRad);
     north_ef.y = -sin_approx(imuMagneticDeclinationRad);
 
-    smallAngleCosZ = cos_approx(degreesToRadians(imuConfig()->imu_small_angle));
+    smallAngleCosZ = cos_approx(degreesToRadians(imuConfig()->small_angle));
 
     throttleAngleScale = calculateThrottleAngleScale(throttle_correction_angle);
 

diff --git a/src/main/flight/imu.h b/src/main/flight/imu.h
@@ -55,9 +55,9 @@ extern float rMat[3][3];
 typedef struct imuConfig_s {
     uint16_t imu_dcm_kp;          // DCM filter proportional gain ( x 10000)
     uint16_t imu_dcm_ki;          // DCM filter integral gain ( x 10000)
-    uint8_t imu_small_angle;
+    uint8_t small_angle;
     uint8_t imu_process_denom;
-    uint16_t imu_mag_declination; // Magnetic declination in degrees * 10
+    uint16_t mag_declination;     // Magnetic declination in degrees * 10
 } imuConfig_t;
 
 PG_DECLARE(imuConfig_t, imuConfig);

diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
@@ -1367,7 +1367,7 @@ case MSP_NAME:
     case MSP_ARMING_CONFIG:
         sbufWriteU8(dst, armingConfig()->auto_disarm_delay);
         sbufWriteU8(dst, 0);
-        sbufWriteU8(dst, imuConfig()->imu_small_angle);
+        sbufWriteU8(dst, imuConfig()->small_angle);
         break;
 
     case MSP_RC_TUNING:
@@ -2680,7 +2680,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
         armingConfigMutable()->auto_disarm_delay = sbufReadU8(src);
         sbufReadU8(src); // reserved
         if (sbufBytesRemaining(src)) {
-          imuConfigMutable()->imu_small_angle = sbufReadU8(src);
+          imuConfigMutable()->small_angle = sbufReadU8(src);
         }
         break;
 

diff --git a/src/main/osd/osd_elements.c b/src/main/osd/osd_elements.c
@@ -836,7 +836,7 @@ static void osdElementCrashFlipArrow(osdElementParms_t *element)
         rollAngle = (rollAngle < 0 ? -180 : 180) - rollAngle;
     }
 
-    if ((isFlipOverAfterCrashActive() || (!ARMING_FLAG(ARMED) && !isUpright())) && !((imuConfig()->imu_small_angle < 180 && isUpright()) || (rollAngle == 0 && pitchAngle == 0))) {
+    if ((isFlipOverAfterCrashActive() || (!ARMING_FLAG(ARMED) && !isUpright())) && !((imuConfig()->small_angle < 180 && isUpright()) || (rollAngle == 0 && pitchAngle == 0))) {
         if (abs(pitchAngle) < 2 * abs(rollAngle) && abs(rollAngle) < 2 * abs(pitchAngle)) {
             if (pitchAngle > 0) {
                 if (rollAngle > 0) {

diff --git a/src/test/unit/flight_imu_unittest.cc b/src/test/unit/flight_imu_unittest.cc
@@ -179,7 +179,7 @@ TEST(FlightImuTest, TestSmallAngle)
     const float r2 = 0.438;
 
     // given
-    imuConfigMutable()->imu_small_angle = 25;
+    imuConfigMutable()->small_angle = 25;
     imuConfigure(0, 0);
     attitudeIsEstablished = true;