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Preparation for using instruction cache on F7

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This commit is contained in:
Martin Budden 2017-12-15 10:07:19 +00:00
parent a0f6d10b72
commit 12640972a9
13 changed files with 59 additions and 31 deletions
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src/main/flight/pid.c
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@ -405,7 +405,7 @@ static float accelerationLimit(int axis, float currentPidSetpoint)
// Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.
// Based on 2DOF reference design (matlab)
void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs)
FAST_CODE void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs)
{
static float previousRateError[2];
const float tpaFactor = getThrottlePIDAttenuation();