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AFCS code refactoring

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This commit is contained in:
demvlad 2025-04-11 20:23:10 +03:00
parent 125cb1f4cc
commit 5513c359a6
3 changed files with 15 additions and 19 deletions
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10
src/main/flight/pid.c
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@ -271,14 +271,10 @@ void resetPidProfile(pidProfile_t *pidProfile)
.chirp_frequency_end_deci_hz = 6000,
.chirp_time_seconds = 20,
#ifdef USE_AIRPLANE_FCS
.afcs_pitch_stick_gain = 100,
.afcs_pitch_damping_gain = 20,
.afcs_stick_gain = { 100, 100, 100 },
.afcs_damping_gain = { 20, 25, 500 },
.afcs_pitch_damping_filter_time = 100,
.afcs_pitch_stability_gain = 0,
.afcs_roll_stick_gain = 100,
.afcs_roll_damping_gain = 25,
.afcs_yaw_stick_gain = 100,
.afcs_yaw_damping_gain = 500,
.afcs_yaw_damping_filter_time = 3000,
.afcs_yaw_stability_gain = 0,
#endif
@ -1549,7 +1545,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
}
#ifdef USE_WING
// When PASSTHRU_MODE is active - reset all PIDs to zero so the aircraft won't snap out of control
// When PASSTHRU_MODE is active - reset all PIDs to zero so the aircraft won't snap out of control
// because of accumulated PIDs once PASSTHRU_MODE gets disabled.
bool isFixedWingAndPassthru = isFixedWing() && FLIGHT_MODE(PASSTHRU_MODE);
#endif // USE_WING