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Optimized the PID loop a little bit (#5661)

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* * Put PID variables into the structure
* Precalculate DTerm gyro filter outside the axis loop
* Removed unused variables PIDweight[3], airmodeWasActivated
* If zero throttle or gyro overflow, we can just set values and exit, this saves checks and jumps in axis loop
* Compute PIDSUM after the axis loop, this saves branching inside the loop because of Yaw has no D term

* * Incorporated review changes from DieHertz and fujin

* * Incorporated another review requests from DieHertz
  - PidSum renamed to Sum
  - pidData[3] redone to pidData[XYZ_AXIS_COUNT]
This commit is contained in:
Miroslav Drbal [ApoC] 2018-04-10 22:22:51 +02:00 • committed by Michael Keller
parent 696478d04c
commit 045557561d
7 changed files with 100 additions and 80 deletions
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6
src/main/blackbox/blackbox.c
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@ -984,9 +984,9 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->time = currentTimeUs;
for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->axisPID_P[i] = axisPID_P[i];
blackboxCurrent->axisPID_I[i] = axisPID_I[i];
blackboxCurrent->axisPID_D[i] = axisPID_D[i];
blackboxCurrent->axisPID_P[i] = pidData[i].P;
blackboxCurrent->axisPID_I[i] = pidData[i].I;
blackboxCurrent->axisPID_D[i] = pidData[i].D;
blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i]);
blackboxCurrent->accADC[i] = lrintf(acc.accADC[i]);
#ifdef USE_MAG