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Made float parameter calculation static.

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This commit is contained in:
Michael Keller 2017-04-21 13:18:23 +12:00
parent df4b09e874
commit 40a2bee492
3 changed files with 15 additions and 4 deletions
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15
src/main/flight/mixer.c
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@ -128,6 +128,9 @@ int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
mixerMode_e currentMixerMode;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
float pidSumLimit;
float pidSumLimitYaw;
static const motorMixer_t mixerQuadX[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
@ -391,6 +394,12 @@ void mixerInit(mixerMode_e mixerMode)
initEscEndpoints();
}
void pidInitMixer(struct pidProfile_s *pidProfile)
{
pidSumLimit = CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit);
pidSumLimitYaw = CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimitYaw);
}
#ifndef USE_QUAD_MIXER_ONLY
void mixerConfigureOutput(void)
@ -555,13 +564,13 @@ void mixTable(pidProfile_t *pidProfile)
// Calculate and Limit the PIDsum
scaledAxisPIDf[FD_ROLL] =
constrainf((axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL]) / PID_MIXER_SCALING,
-CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit), CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit));
-pidSumLimit, pidSumLimit);
scaledAxisPIDf[FD_PITCH] =
constrainf((axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH]) / PID_MIXER_SCALING,
-CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit), CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit));
-pidSumLimit, pidSumLimit);
scaledAxisPIDf[FD_YAW] =
constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW]) / PID_MIXER_SCALING,
-CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit), CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimitYaw));
-pidSumLimitYaw, pidSumLimitYaw);
// Calculate voltage compensation
const float vbatCompensationFactor = (pidProfile->vbatPidCompensation) ? calculateVbatPidCompensation() : 1.0f;