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Cleanup delta method code code and refactor

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This commit is contained in:
borisbstyle 2016-02-06 14:00:45 +01:00
parent 71392f846d
commit 035b34bbc4
4 changed files with 28 additions and 18 deletions
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7
src/main/flight/pid.h
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@ -42,6 +42,11 @@ typedef enum {
PID_COUNT
} pidControllerType_e;
typedef enum {
DELTA_FROM_ERROR = 0,
DELTA_FROM_MEASUREMENT
} pidDeltaType_e;
#define IS_PID_CONTROLLER_FP_BASED(pidController) (pidController == 2)
typedef struct pidProfile_s {
@ -60,7 +65,7 @@ typedef struct pidProfile_s {
uint16_t airModeInsaneAcrobilityFactor; // Air mode acrobility factor
float dterm_lpf_hz; // Delta Filter in hz
uint8_t deltaFromGyro; // Alternative delta Calculation
uint8_t deltaMethod; // Alternative delta Calculation
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune