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Tidy PID controller

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This commit is contained in:
Martin Budden 2016-11-20 09:20:53 +00:00
parent 1c3838320b
commit 695f47944b
3 changed files with 18 additions and 39 deletions
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7
src/main/flight/pid.h
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@ -90,14 +90,9 @@ typedef struct pidProfile_s {
#endif
} pidProfile_t;
struct controlRateConfig_s;
union rollAndPitchTrims_u;
struct rxConfig_s;
typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig); // pid controller function prototype
void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig);
const union rollAndPitchTrims_u *angleTrim, uint16_t midrc);
extern float axisPIDf[3];
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];