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Move PIDweight to a common place. pid_legacy should not depend on pid_betaflight.

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This commit is contained in:
Anders Hoglund 2016-08-04 14:20:39 +02:00 • committed by borisbstyle
parent 2b05cbf916
commit 0cb6968e24
2 changed files with 3 additions and 3 deletions
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3
src/main/flight/pid.h
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@ -128,6 +128,9 @@ extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
bool airmodeWasActivated; bool airmodeWasActivated;
extern uint32_t targetPidLooptime; extern uint32_t targetPidLooptime;
// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
extern uint8_t PIDweight[3];
void pidSetController(pidControllerType_e type); void pidSetController(pidControllerType_e type);
void pidResetErrorGyroState(void); void pidResetErrorGyroState(void);
void pidStabilisationState(pidStabilisationState_e pidControllerState); void pidStabilisationState(pidStabilisationState_e pidControllerState);

3
src/main/flight/pid_betaflight.c
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@ -62,9 +62,6 @@ extern biquadFilter_t dtermFilterNotch[3];
extern bool dtermNotchInitialised; extern bool dtermNotchInitialised;
extern bool dtermBiquadLpfInitialised; extern bool dtermBiquadLpfInitialised;
// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
uint8_t PIDweight[3];
void initFilters(const pidProfile_t *pidProfile); void initFilters(const pidProfile_t *pidProfile);
float getdT(void); float getdT(void);