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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; mixerMode_e currentMixerMode;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS]; static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
float pidSumLimit;
float pidSumLimitYaw;
static const motorMixer_t mixerQuadX[] = { static const motorMixer_t mixerQuadX[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
@ -391,6 +394,12 @@ void mixerInit(mixerMode_e mixerMode)
initEscEndpoints(); 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 #ifndef USE_QUAD_MIXER_ONLY
void mixerConfigureOutput(void) void mixerConfigureOutput(void)
@ -555,13 +564,13 @@ void mixTable(pidProfile_t *pidProfile)
// Calculate and Limit the PIDsum // Calculate and Limit the PIDsum
scaledAxisPIDf[FD_ROLL] = scaledAxisPIDf[FD_ROLL] =
constrainf((axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL]) / PID_MIXER_SCALING, 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] = scaledAxisPIDf[FD_PITCH] =
constrainf((axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH]) / PID_MIXER_SCALING, 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] = scaledAxisPIDf[FD_YAW] =
constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW]) / PID_MIXER_SCALING, 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 // Calculate voltage compensation
const float vbatCompensationFactor = (pidProfile->vbatPidCompensation) ? calculateVbatPidCompensation() : 1.0f; const float vbatCompensationFactor = (pidProfile->vbatPidCompensation) ? calculateVbatPidCompensation() : 1.0f;

3
src/main/flight/mixer.h
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@ -128,11 +128,12 @@ bool mixerIsOutputSaturated(int axis, float errorRate);
void mixerLoadMix(int index, motorMixer_t *customMixers); void mixerLoadMix(int index, motorMixer_t *customMixers);
void mixerInit(mixerMode_e mixerMode); void mixerInit(mixerMode_e mixerMode);
struct pidProfile_s;
void pidInitMixer(struct pidProfile_s *pidProfile);
void mixerConfigureOutput(void); void mixerConfigureOutput(void);
void mixerResetDisarmedMotors(void); void mixerResetDisarmedMotors(void);
struct pidProfile_s;
void mixTable(struct pidProfile_s *pidProfile); void mixTable(struct pidProfile_s *pidProfile);
void syncMotors(bool enabled); void syncMotors(bool enabled);
void writeMotors(void); void writeMotors(void);

1
src/main/flight/pid.c
View file

@ -277,6 +277,7 @@ void pidInit(const pidProfile_t *pidProfile)
pidSetTargetLooptime(gyro.targetLooptime * pidConfig()->pid_process_denom); // Initialize pid looptime pidSetTargetLooptime(gyro.targetLooptime * pidConfig()->pid_process_denom); // Initialize pid looptime
pidInitFilters(pidProfile); pidInitFilters(pidProfile);
pidInitConfig(pidProfile); pidInitConfig(pidProfile);
pidInitMixer(pidProfile);
} }
// calculates strength of horizon leveling; 0 = none, 1.0 = most leveling // calculates strength of horizon leveling; 0 = none, 1.0 = most leveling