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Rearrange PID array to be array of PIDs
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a50192f71c
commit
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21 changed files with 224 additions and 236 deletions
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@ -406,7 +406,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
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case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
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case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
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case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2:
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return currentPidProfile->D8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0;
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return currentPidProfile->pid[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0].D != 0;
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case FLIGHT_LOG_FIELD_CONDITION_MAG:
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#ifdef MAG
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@ -1235,34 +1235,34 @@ static bool blackboxWriteSysinfo(void)
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BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d", currentControlRateProfile->rates[ROLL],
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currentControlRateProfile->rates[PITCH],
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currentControlRateProfile->rates[YAW]);
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BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d", currentPidProfile->P8[ROLL],
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currentPidProfile->I8[ROLL],
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currentPidProfile->D8[ROLL]);
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BLACKBOX_PRINT_HEADER_LINE("pitchPID", "%d,%d,%d", currentPidProfile->P8[PITCH],
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currentPidProfile->I8[PITCH],
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currentPidProfile->D8[PITCH]);
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BLACKBOX_PRINT_HEADER_LINE("yawPID", "%d,%d,%d", currentPidProfile->P8[YAW],
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currentPidProfile->I8[YAW],
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currentPidProfile->D8[YAW]);
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BLACKBOX_PRINT_HEADER_LINE("altPID", "%d,%d,%d", currentPidProfile->P8[PIDALT],
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currentPidProfile->I8[PIDALT],
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currentPidProfile->D8[PIDALT]);
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BLACKBOX_PRINT_HEADER_LINE("posPID", "%d,%d,%d", currentPidProfile->P8[PIDPOS],
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currentPidProfile->I8[PIDPOS],
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currentPidProfile->D8[PIDPOS]);
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BLACKBOX_PRINT_HEADER_LINE("posrPID", "%d,%d,%d", currentPidProfile->P8[PIDPOSR],
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currentPidProfile->I8[PIDPOSR],
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currentPidProfile->D8[PIDPOSR]);
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BLACKBOX_PRINT_HEADER_LINE("navrPID", "%d,%d,%d", currentPidProfile->P8[PIDNAVR],
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currentPidProfile->I8[PIDNAVR],
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currentPidProfile->D8[PIDNAVR]);
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BLACKBOX_PRINT_HEADER_LINE("levelPID", "%d,%d,%d", currentPidProfile->P8[PIDLEVEL],
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currentPidProfile->I8[PIDLEVEL],
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currentPidProfile->D8[PIDLEVEL]);
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BLACKBOX_PRINT_HEADER_LINE("magPID", "%d", currentPidProfile->P8[PIDMAG]);
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BLACKBOX_PRINT_HEADER_LINE("velPID", "%d,%d,%d", currentPidProfile->P8[PIDVEL],
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currentPidProfile->I8[PIDVEL],
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currentPidProfile->D8[PIDVEL]);
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BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d", currentPidProfile->pid[PID_ROLL].P,
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currentPidProfile->pid[PID_ROLL].I,
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currentPidProfile->pid[PID_ROLL].D);
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BLACKBOX_PRINT_HEADER_LINE("pitchPID", "%d,%d,%d", currentPidProfile->pid[PID_PITCH].P,
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currentPidProfile->pid[PID_PITCH].I,
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currentPidProfile->pid[PID_PITCH].D);
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BLACKBOX_PRINT_HEADER_LINE("yawPID", "%d,%d,%d", currentPidProfile->pid[PID_YAW].P,
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currentPidProfile->pid[PID_YAW].I,
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currentPidProfile->pid[PID_YAW].D);
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BLACKBOX_PRINT_HEADER_LINE("altPID", "%d,%d,%d", currentPidProfile->pid[PID_ALT].P,
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currentPidProfile->pid[PID_ALT].I,
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currentPidProfile->pid[PID_ALT].D);
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BLACKBOX_PRINT_HEADER_LINE("posPID", "%d,%d,%d", currentPidProfile->pid[PID_POS].P,
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currentPidProfile->pid[PID_POS].I,
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currentPidProfile->pid[PID_POS].D);
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BLACKBOX_PRINT_HEADER_LINE("posrPID", "%d,%d,%d", currentPidProfile->pid[PID_POSR].P,
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currentPidProfile->pid[PID_POSR].I,
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currentPidProfile->pid[PID_POSR].D);
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BLACKBOX_PRINT_HEADER_LINE("navrPID", "%d,%d,%d", currentPidProfile->pid[PID_NAVR].P,
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currentPidProfile->pid[PID_NAVR].I,
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currentPidProfile->pid[PID_NAVR].D);
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BLACKBOX_PRINT_HEADER_LINE("levelPID", "%d,%d,%d", currentPidProfile->pid[PID_LEVEL].P,
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currentPidProfile->pid[PID_LEVEL].I,
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currentPidProfile->pid[PID_LEVEL].D);
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BLACKBOX_PRINT_HEADER_LINE("magPID", "%d", currentPidProfile->pid[PID_MAG].P);
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BLACKBOX_PRINT_HEADER_LINE("velPID", "%d,%d,%d", currentPidProfile->pid[PID_VEL].P,
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currentPidProfile->pid[PID_VEL].I,
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currentPidProfile->pid[PID_VEL].D);
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BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type", "%d", currentPidProfile->dterm_filter_type);
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BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz", "%d", currentPidProfile->dterm_lpf_hz);
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BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz", "%d", currentPidProfile->yaw_lpf_hz);
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