Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 16:55:36 +03:00
Code Issues Wiki Activity

address feedback

Browse source
This commit is contained in:
Thorsten Laux 2019-07-30 07:31:00 +02:00
parent bca9f8a587
commit 293dc42710
6 changed files with 34 additions and 18 deletions
Download patch file Download diff file Expand all files Collapse all files

16
src/main/flight/pid.c
View file

@ -75,8 +75,8 @@ static FAST_RAM_ZERO_INIT bool pidStabilisationEnabled;
static FAST_RAM_ZERO_INIT bool inCrashRecoveryMode = false;
FAST_RAM_ZERO_INIT float dT;
FAST_RAM_ZERO_INIT float pidFrequency;
static FAST_RAM_ZERO_INIT float dT;
static FAST_RAM_ZERO_INIT float pidFrequency;
static FAST_RAM_ZERO_INIT uint8_t antiGravityMode;
static FAST_RAM_ZERO_INIT float antiGravityThrottleHpf;
@ -129,7 +129,7 @@ static FAST_RAM_ZERO_INIT float airmodeThrottleOffsetLimit;
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 11);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 12);
void resetPidProfile(pidProfile_t *pidProfile)
{
@ -1545,3 +1545,13 @@ float pidGetPreviousSetpoint(int axis)
{
return previousPidSetpoint[axis];
}
float pidGetDT()
{
return dT;
}
float pidGetPidFrequency()
{
return pidFrequency;
}