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Fix Mercury G4 and fix TODO for PID_PROCESS_DENOM for all targets (#12611)

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* Fix Mercury G4

* Changes after #12632

* Fix TODO for PID_PROCESS_DENOM
This commit is contained in:
Mark Haslinghuis 2023-04-10 20:52:00 +02:00 • committed by GitHub
parent 79d9b05827
commit 567d3dd2e5
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GPG key ID: 4AEE18F83AFDEB23
33 changed files with 73 additions and 178 deletions
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12
src/main/flight/pid.c
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@ -91,22 +91,24 @@ pt1Filter_t throttleLpf;
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 3);
#if defined(STM32F411xE)
#define PID_PROCESS_DENOM_DEFAULT 2
#if !defined(DEFAULT_PID_PROCESS_DENOM)
#if defined(STM32F411xE)
#define DEFAULT_PID_PROCESS_DENOM 2
#else
#define PID_PROCESS_DENOM_DEFAULT 1
#define DEFAULT_PID_PROCESS_DENOM 1
#endif
#endif
#ifdef USE_RUNAWAY_TAKEOFF
PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT,
.pid_process_denom = DEFAULT_PID_PROCESS_DENOM,
.runaway_takeoff_prevention = true,
.runaway_takeoff_deactivate_throttle = 20, // throttle level % needed to accumulate deactivation time
.runaway_takeoff_deactivate_delay = 500, // Accumulated time (in milliseconds) before deactivation in successful takeoff
);
#else
PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT,
.pid_process_denom = DEFAULT_PID_PROCESS_DENOM,
);
#endif