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Code Issues Wiki Activity

Remove Legacy Pid Controller

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borisbstyle 2016-10-18 16:36:17 +02:00
parent 8cf52c80c2
commit 5e3c974d64
12 changed files with 196 additions and 552 deletions
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2
src/main/blackbox/blackbox.c
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@ -1201,7 +1201,6 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("rates:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[ROLL],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[PITCH],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[YAW]);
BLACKBOX_PRINT_HEADER_LINE("pidController:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidController);
BLACKBOX_PRINT_HEADER_LINE("rollPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[ROLL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[ROLL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[ROLL]);
@ -1235,7 +1234,6 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_cutoff);
BLACKBOX_PRINT_HEADER_LINE("deltaMethod:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.deltaMethod);
BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);