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Finally rename flight.c/.h to pid.c/.h. Cleanup some dependencies.

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Relocate more code.
This commit is contained in:
Dominic Clifton 2015-02-01 00:39:38 +01:00
parent 8cc9e8ca37
commit 55cac2bdeb
32 changed files with 101 additions and 93 deletions
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62
src/main/flight/pid.h Normal file
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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
typedef enum {
PIDROLL,
PIDPITCH,
PIDYAW,
PIDALT,
PIDPOS,
PIDPOSR,
PIDNAVR,
PIDLEVEL,
PIDMAG,
PIDVEL,
PID_ITEM_COUNT
} pidIndex_e;
#define IS_PID_CONTROLLER_FP_BASED(pidController) (pidController == 2)
typedef struct pidProfile_s {
uint8_t pidController; // 0 = multiwii original, 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671, 1, 2 = Luggi09s new baseflight pid
uint8_t P8[PID_ITEM_COUNT];
uint8_t I8[PID_ITEM_COUNT];
uint8_t D8[PID_ITEM_COUNT];
float P_f[3]; // float p i and d factors for lux float pid controller
float I_f[3];
float D_f[3];
float A_level;
float H_level;
uint8_t H_sensitivity;
} pidProfile_t;
#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
#define DECIDEGREES_TO_DEGREES(angle) (angle / 10.0f)
extern int16_t axisPID[XYZ_AXIS_COUNT];
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
void setPIDController(int type);
void resetErrorAngle(void);
void resetErrorGyro(void);