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Code Issues Wiki Activity

Remove Legacy Pid Controller

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This commit is contained in:
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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8
src/main/fc/config.c
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@ -134,12 +134,6 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
static void resetPidProfile(pidProfile_t *pidProfile)
{
#if defined(SKIP_PID_FLOAT)
pidProfile->pidController = PID_CONTROLLER_LEGACY;
#else
pidProfile->pidController = PID_CONTROLLER_BETAFLIGHT;
#endif
pidProfile->P8[ROLL] = 43;
pidProfile->I8[ROLL] = 40;
pidProfile->D8[ROLL] = 20;
@ -178,7 +172,6 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->dterm_lpf_hz = 100; // filtering ON by default
pidProfile->dterm_notch_hz = 260;
pidProfile->dterm_notch_cutoff = 160;
pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
pidProfile->vbatPidCompensation = 0;
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
@ -761,7 +754,6 @@ void activateConfig(void)
#ifdef TELEMETRY
telemetryUseConfig(&masterConfig.telemetryConfig);
#endif
pidSetController(currentProfile->pidProfile.pidController);
#ifdef GPS
gpsUseProfile(&masterConfig.gpsProfile);