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better camels and order

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This commit is contained in:
Thorsten Laux 2019-08-08 09:52:25 +02:00
parent 91ad2498ff
commit 25c6919051
3 changed files with 7 additions and 7 deletions
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6
src/main/flight/interpolated_setpoint.c
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@ -18,10 +18,10 @@
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
#include "platform.h"
#ifdef USE_INTERPOLATED_SP
#include <math.h>
#include "build/debug.h"
#include "common/maths.h"
@ -113,7 +113,7 @@ FAST_CODE_NOINLINE float interpolatedSpApply(int axis, float pidFrequency, bool
return pidSetpointDelta;
}
FAST_CODE_NOINLINE float applyFFLimit(int axis, float value, float Kp, float currentPidSetpoint) {
FAST_CODE_NOINLINE float applyFfLimit(int axis, float value, float Kp, float currentPidSetpoint) {
if (axis == FD_ROLL) {
DEBUG_SET(DEBUG_FF_LIMIT, 0, value);
}
@ -142,7 +142,7 @@ FAST_CODE_NOINLINE float applyFFLimit(int axis, float value, float Kp, float cur
return value;
}
bool shouldApplyFFLimits(int axis)
bool shouldApplyFfLimits(int axis)
{
return ffLookaheadLimit != 0.0f || ffMaxRateLimit[axis] != 0.0f;
}

4
src/main/flight/interpolated_setpoint.h
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@ -27,5 +27,5 @@
void interpolatedSpInit(const pidProfile_t *pidProfile);
float interpolatedSpApply(int axis, float pidFrequency, bool newRcFrame);
float applyFFLimit(int axis, float value, float Kp, float currentPidSetpoint);
bool shouldApplyFFLimits(int axis);
float applyFfLimit(int axis, float value, float Kp, float currentPidSetpoint);
bool shouldApplyFfLimits(int axis);

4
src/main/flight/pid.c
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@ -1478,8 +1478,8 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
float feedForward = feedforwardGain * transition * pidSetpointDelta * pidFrequency;
#ifdef USE_INTERPOLATED_SP
pidData[axis].F = shouldApplyFFLimits(axis) ?
applyFFLimit(axis, feedForward, pidCoefficient[axis].Kp, currentPidSetpoint) : feedForward;
pidData[axis].F = shouldApplyFfLimits(axis) ?
applyFfLimit(axis, feedForward, pidCoefficient[axis].Kp, currentPidSetpoint) : feedForward;
#else
pidData[axis].F = feedForward;
#endif