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Code Issues Wiki Activity

Rename axisP to less-cryptic axisPID_P (same for I and D)

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This commit is contained in:
Nicholas Sherlock 2014-12-19 00:24:51 +13:00
parent cdb3cc0dd3
commit 54ead59791
4 changed files with 19 additions and 19 deletions
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20
src/main/blackbox/blackbox.c
View file

@ -191,7 +191,7 @@ static const char * const blackboxHeaderFields[] = {
PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
PREDICT(AVERAGE_2),
/* RC fields are encoded together as a group, everything else is signed since they're diffs: */
/* PID_I terms and RC fields are encoded together as groups, everything else is signed since they're diffs: */
"H Field P encoding:"
/* loopIteration, time: */
ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","
@ -547,13 +547,13 @@ static void writeIntraframe(void)
writeUnsignedVB(blackboxCurrent->time);
for (x = 0; x < 3; x++)
writeSignedVB(blackboxCurrent->axisP[x]);
writeSignedVB(blackboxCurrent->axisPID_P[x]);
for (x = 0; x < 3; x++)
writeSignedVB(blackboxCurrent->axisI[x]);
writeSignedVB(blackboxCurrent->axisPID_I[x]);
for (x = 0; x < 3; x++)
writeSignedVB(blackboxCurrent->axisD[x]);
writeSignedVB(blackboxCurrent->axisPID_D[x]);
for (x = 0; x < 3; x++)
writeSignedVB(blackboxCurrent->rcCommand[x]);
@ -605,10 +605,10 @@ static void writeInterframe(void)
writeSignedVB((int32_t) (blackboxHistory[0]->time - 2 * blackboxHistory[1]->time + blackboxHistory[2]->time));
for (x = 0; x < 3; x++)
writeSignedVB(blackboxCurrent->axisP[x] - blackboxLast->axisP[x]);
writeSignedVB(blackboxCurrent->axisPID_P[x] - blackboxLast->axisPID_P[x]);
for (x = 0; x < 3; x++)
deltas[x] = blackboxCurrent->axisI[x] - blackboxLast->axisI[x];
deltas[x] = blackboxCurrent->axisPID_I[x] - blackboxLast->axisPID_I[x];
/*
* The PID I field changes very slowly, most of the time +-2, so use an encoding
@ -617,7 +617,7 @@ static void writeInterframe(void)
writeTag2_3S32(deltas);
for (x = 0; x < 3; x++)
writeSignedVB(blackboxCurrent->axisD[x] - blackboxLast->axisD[x]);
writeSignedVB(blackboxCurrent->axisPID_D[x] - blackboxLast->axisPID_D[x]);
for (x = 0; x < 4; x++)
deltas[x] = blackboxCurrent->rcCommand[x] - blackboxLast->rcCommand[x];
@ -772,11 +772,11 @@ static void loadBlackboxState(void)
blackboxCurrent->time = currentTime;
for (i = 0; i < 3; i++)
blackboxCurrent->axisP[i] = axisP[i];
blackboxCurrent->axisPID_P[i] = axisPID_P[i];
for (i = 0; i < 3; i++)
blackboxCurrent->axisI[i] = axisI[i];
blackboxCurrent->axisPID_I[i] = axisPID_I[i];
for (i = 0; i < 3; i++)
blackboxCurrent->axisD[i] = axisD[i];
blackboxCurrent->axisPID_D[i] = axisPID_D[i];
for (i = 0; i < 4; i++)
blackboxCurrent->rcCommand[i] = rcCommand[i];

2
src/main/blackbox/blackbox.h
View file

@ -22,7 +22,7 @@
typedef struct blackboxValues_t {
uint32_t time;
int32_t axisP[3], axisI[3], axisD[3];
int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
int16_t rcCommand[4];
int16_t gyroData[3];

14
src/main/flight/flight.c
View file

@ -44,7 +44,7 @@ int16_t heading, magHold;
int16_t axisPID[3];
#ifdef BLACKBOX
int32_t axisP[3], axisI[3], axisD[3];
int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
#endif
uint8_t dynP8[3], dynI8[3], dynD8[3];
@ -250,9 +250,9 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
axisPID[axis] = PTerm + ITerm - DTerm;
#ifdef BLACKBOX
axisP[axis] = PTerm;
axisI[axis] = ITerm;
axisD[axis] = -DTerm;
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
axisPID_D[axis] = -DTerm;
#endif
}
}
@ -339,9 +339,9 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
axisPID[axis] = PTerm + ITerm + DTerm;
#ifdef BLACKBOX
axisP[axis] = PTerm;
axisI[axis] = ITerm;
axisD[axis] = DTerm;
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
axisPID_D[axis] = DTerm;
#endif
}
}

2
src/main/flight/flight.h
View file

@ -127,7 +127,7 @@ extern int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AX
extern int32_t accSum[XYZ_AXIS_COUNT];
extern int16_t axisPID[XYZ_AXIS_COUNT];
extern int32_t axisP[3], axisI[3], axisD[3];
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
extern int16_t heading, magHold;