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Revert "Remove GTUNE"

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This reverts commit a16ac7fbe7.
This commit is contained in:
borisbstyle 2016-02-21 14:06:10 +01:00
parent a1f30841c0
commit 4eb6456ea1
28 changed files with 350 additions and 3 deletions
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24
src/main/flight/pid.c
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@ -44,7 +44,7 @@
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/navigation.h"
#include "flight/gtune.h"
#include "config/runtime_config.h"
@ -255,6 +255,12 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
if (lowThrottlePidReduction) axisPID[axis] /= 4;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
@ -364,6 +370,11 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
if (lowThrottlePidReduction) axisPID[axis] /= 4;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
@ -396,6 +407,12 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
if (lowThrottlePidReduction) axisPID[FD_YAW] /= 4;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(FD_YAW);
}
#endif
#ifdef BLACKBOX
axisPID_P[FD_YAW] = PTerm;
axisPID_I[FD_YAW] = ITerm;
@ -528,6 +545,11 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
if (lowThrottlePidReduction) axisPID[axis] /= 4;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;