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apply fast_code_pref correctly

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This commit is contained in:
ctzsnooze 2024-11-27 10:05:06 +11:00
parent f2071d6a53
commit 39cebcb13f
1 changed files with 8 additions and 8 deletions
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16
src/main/flight/pid.c
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@ -317,7 +317,7 @@ void pidResetIterm(void)
} }
#ifdef USE_WING #ifdef USE_WING
static float FAST_CODE_PREF calcWingThrottle(void) static FAST_CODE_PREF float calcWingThrottle(void)
{ {
float batteryThrottleFactor = 1.0f; float batteryThrottleFactor = 1.0f;
if (pidRuntime.tpaSpeed.maxVoltage > 0.0f) { if (pidRuntime.tpaSpeed.maxVoltage > 0.0f) {
@ -328,7 +328,7 @@ static float FAST_CODE_PREF calcWingThrottle(void)
return getMotorOutputRms() * batteryThrottleFactor; return getMotorOutputRms() * batteryThrottleFactor;
} }
static float FAST_CODE_PREF calcWingAcceleration(float throttle, float pitchAngleRadians) static FAST_CODE_PREF float calcWingAcceleration(float throttle, float pitchAngleRadians)
{ {
const tpaSpeedParams_t *tpa = &pidRuntime.tpaSpeed; const tpaSpeedParams_t *tpa = &pidRuntime.tpaSpeed;
@ -339,7 +339,7 @@ static float FAST_CODE_PREF calcWingAcceleration(float throttle, float pitchAngl
return thrust - drag + gravity; return thrust - drag + gravity;
} }
static float FAST_CODE_PREF calcWingTpaArgument(void) static FAST_CODE_PREF float calcWingTpaArgument(void)
{ {
const float t = calcWingThrottle(); const float t = calcWingThrottle();
const float pitchRadians = DECIDEGREES_TO_RADIANS(attitude.values.pitch); const float pitchRadians = DECIDEGREES_TO_RADIANS(attitude.values.pitch);
@ -366,7 +366,7 @@ static float FAST_CODE_PREF calcWingTpaArgument(void)
return tpaArgument; return tpaArgument;
} }
static void FAST_CODE_PREF updateStermTpaFactor(int axis, float tpaFactor) static FAST_CODE_PREF void updateStermTpaFactor(int axis, float tpaFactor)
{ {
float tpaFactorSterm = tpaFactor; float tpaFactorSterm = tpaFactor;
if (pidRuntime.tpaCurveType == TPA_CURVE_HYPERBOLIC) { if (pidRuntime.tpaCurveType == TPA_CURVE_HYPERBOLIC) {
@ -389,7 +389,7 @@ static void FAST_CODE_PREF updateStermTpaFactors(void) {
} }
#endif // USE_WING #endif // USE_WING
static float wingAdjustSetpoint(float currentPidSetpoint, int axis) static FAST_CODE_PREF float wingAdjustSetpoint(float currentPidSetpoint, int axis)
{ {
#ifdef USE_WING #ifdef USE_WING
float adjustedSetpoint = currentPidSetpoint; float adjustedSetpoint = currentPidSetpoint;
@ -1035,7 +1035,7 @@ static float getTpaFactor(const pidProfile_t *pidProfile, int axis, term_e term)
} }
} }
static float getSterm(int axis, const pidProfile_t *pidProfile, float setpoint) static FAST_CODE_PREF float getSterm(int axis, const pidProfile_t *pidProfile, float setpoint)
{ {
#ifdef USE_WING #ifdef USE_WING
float sTerm = setpoint / getMaxRcRate(axis) * 1000.0f * float sTerm = setpoint / getMaxRcRate(axis) * 1000.0f *
@ -1054,7 +1054,7 @@ static float getSterm(int axis, const pidProfile_t *pidProfile, float setpoint)
#endif #endif
} }
NOINLINE static void calculateSpaValues(const pidProfile_t *pidProfile) NOINLINE static FAST_CODE_PREF void calculateSpaValues(const pidProfile_t *pidProfile)
{ {
#ifdef USE_WING #ifdef USE_WING
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
@ -1068,7 +1068,7 @@ NOINLINE static void calculateSpaValues(const pidProfile_t *pidProfile)
#endif // USE_WING #endif // USE_WING
} }
NOINLINE static void applySpa(int axis, const pidProfile_t *pidProfile) NOINLINE static FAST_CODE_PREF void applySpa(int axis, const pidProfile_t *pidProfile)
{ {
#ifdef USE_WING #ifdef USE_WING
spaMode_e mode = pidProfile->spa_mode[axis]; spaMode_e mode = pidProfile->spa_mode[axis];