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Merge pull request #203 from KiteAnton/remove_gtune

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Remove GTUNE
This commit is contained in:
borisbstyle 2016-02-20 20:45:02 +01:00
commit 1c6cfc980d
29 changed files with 3 additions and 350 deletions
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23
src/main/flight/pid.c
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@ -44,7 +44,7 @@
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/navigation.h"
#include "flight/gtune.h"
#include "config/runtime_config.h"
@ -242,12 +242,6 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate total PID output
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
@ -353,11 +347,6 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
axisPID[axis] = PTerm + ITerm + DTerm;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
@ -388,11 +377,6 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
axisPID[FD_YAW] = PTerm + ITerm;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(FD_YAW);
}
#endif
#ifdef BLACKBOX
axisPID_P[FD_YAW] = PTerm;
@ -522,11 +506,6 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;