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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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10
src/main/fc/fc_msp.c
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@ -848,7 +848,7 @@ static bool processOutCommand(uint8_t cmdMSP, mspPostProcessFnPtr *mspPostProces
break;
case MSP_PID_CONTROLLER:
headSerialReply(1);
serialize8(currentProfile->pidProfile.pidController);
serialize8(PID_CONTROLLER_BETAFLIGHT); // Needs Cleanup in the future
break;
case MSP_MODE_RANGES:
headSerialReply(4 * MAX_MODE_ACTIVATION_CONDITION_COUNT);
@ -1286,7 +1286,7 @@ static bool processOutCommand(uint8_t cmdMSP, mspPostProcessFnPtr *mspPostProces
serialize16(currentProfile->pidProfile.rollPitchItermIgnoreRate);
serialize16(currentProfile->pidProfile.yawItermIgnoreRate);
serialize16(currentProfile->pidProfile.yaw_p_limit);
serialize8(currentProfile->pidProfile.deltaMethod);
serialize8(0); // reserved
serialize8(currentProfile->pidProfile.vbatPidCompensation);
serialize8(currentProfile->pidProfile.setpointRelaxRatio);
serialize8(currentProfile->pidProfile.dtermSetpointWeight);
@ -1395,10 +1395,6 @@ static bool processInCommand(uint8_t cmdMSP)
read16();
break;
case MSP_SET_PID_CONTROLLER:
#ifndef SKIP_PID_FLOAT
currentProfile->pidProfile.pidController = constrain(read8(), 0, 1);
pidSetController(currentProfile->pidProfile.pidController);
#endif
break;
case MSP_SET_PID:
for (i = 0; i < PID_ITEM_COUNT; i++) {
@ -1892,7 +1888,7 @@ static bool processInCommand(uint8_t cmdMSP)
currentProfile->pidProfile.rollPitchItermIgnoreRate = read16();
currentProfile->pidProfile.yawItermIgnoreRate = read16();
currentProfile->pidProfile.yaw_p_limit = read16();
currentProfile->pidProfile.deltaMethod = read8();
read8(); // reserved
currentProfile->pidProfile.vbatPidCompensation = read8();
currentProfile->pidProfile.setpointRelaxRatio = read8();
currentProfile->pidProfile.dtermSetpointWeight = read8();