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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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17
src/main/io/serial_cli.c
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@ -413,10 +413,6 @@ static const char * const lookupTableBlackboxDevice[] = {
};
#endif
static const char * const lookupTablePidController[] = {
"LEGACY", "BETAFLIGHT"
};
#ifdef SERIAL_RX
static const char * const lookupTableSerialRX[] = {
"SPEK1024",
@ -523,10 +519,6 @@ static const char * const lookupTablePwmProtocol[] = {
"OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED"
};
static const char * const lookupTableDeltaMethod[] = {
"ERROR", "MEASUREMENT"
};
static const char * const lookupTableRcInterpolation[] = {
"OFF", "PRESET", "AUTO", "MANUAL"
};
@ -559,7 +551,6 @@ typedef enum {
#ifdef USE_SERVOS
TABLE_GIMBAL_MODE,
#endif
TABLE_PID_CONTROLLER,
#ifdef SERIAL_RX
TABLE_SERIAL_RX,
#endif
@ -577,7 +568,6 @@ typedef enum {
TABLE_DEBUG,
TABLE_SUPEREXPO_YAW,
TABLE_MOTOR_PWM_PROTOCOL,
TABLE_DELTA_METHOD,
TABLE_RC_INTERPOLATION,
TABLE_LOWPASS_TYPE,
TABLE_FAILSAFE,
@ -601,7 +591,6 @@ static const lookupTableEntry_t lookupTables[] = {
#ifdef USE_SERVOS
{ lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
#endif
{ lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
#ifdef SERIAL_RX
{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
#endif
@ -619,7 +608,6 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) },
{ lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
{ lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
{ lookupTableDeltaMethod, sizeof(lookupTableDeltaMethod) / sizeof(char *) },
{ lookupTableRcInterpolation, sizeof(lookupTableRcInterpolation) / sizeof(char *) },
{ lookupTableLowpassType, sizeof(lookupTableLowpassType) / sizeof(char *) },
{ lookupTableFailsafe, sizeof(lookupTableFailsafe) / sizeof(char *) },
@ -795,7 +783,6 @@ const clivalue_t valueTable[] = {
{ "align_board_yaw", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.yawDegrees, .config.minmax = { -180, 360 } },
{ "max_angle_inclination", VAR_UINT16 | MASTER_VALUE, &masterConfig.max_angle_inclination, .config.minmax = { 100, 900 } },
{ "pid_delta_method", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaMethod, .config.lookup = { TABLE_DELTA_METHOD } },
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_sync_denom, .config.minmax = { 1, 8 } },
{ "gyro_lowpass_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_soft_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
@ -890,10 +877,6 @@ const clivalue_t valueTable[] = {
{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_process_denom, .config.minmax = { 1, 8 } },
#ifndef SKIP_PID_FLOAT
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },
#endif
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0, 200 } },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0, 200 } },
{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PITCH], .config.minmax = { 0, 200 } },