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Rearrange PID array to be array of PIDs

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This commit is contained in:
Martin Budden 2017-05-05 00:27:59 +01:00
parent a50192f71c
commit 71546410de
21 changed files with 224 additions and 236 deletions
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30
src/main/flight/pid.h
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@ -35,16 +35,16 @@
#define DTERM_SCALE 0.000529f
typedef enum {
PIDROLL,
PIDPITCH,
PIDYAW,
PIDALT,
PIDPOS,
PIDPOSR,
PIDNAVR,
PIDLEVEL,
PIDMAG,
PIDVEL,
PID_ROLL,
PID_PITCH,
PID_YAW,
PID_ALT,
PID_POS,
PID_POSR,
PID_NAVR,
PID_LEVEL,
PID_MAG,
PID_VEL,
PID_ITEM_COUNT
} pidIndex_e;
@ -65,10 +65,14 @@ typedef enum {
PID_CRASH_RECOVERY_BEEP
} pidCrashRecovery_e;
typedef struct pid8_s {
uint8_t P;
uint8_t I;
uint8_t D;
} pid8_t;
typedef struct pidProfile_s {
uint8_t P8[PID_ITEM_COUNT];
uint8_t I8[PID_ITEM_COUNT];
uint8_t D8[PID_ITEM_COUNT];
pid8_t pid[PID_ITEM_COUNT];
uint8_t dterm_filter_type; // Filter selection for dterm
uint16_t dterm_lpf_hz; // Delta Filter in hz