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Preparation for conversion to parameter groups

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Martin Budden 2017-01-24 19:42:29 +00:00
parent 6f872ba899
commit 79d4b2146d
90 changed files with 1150 additions and 507 deletions
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4
src/main/flight/pid.h
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@ -19,6 +19,8 @@
#include <stdbool.h>
#include "config/parameter_group.h"
#define PID_CONTROLLER_BETAFLIGHT 1
#define PID_MIXER_SCALING 1000.0f
#define PID_SERVO_MIXER_SCALING 0.7f
@ -85,6 +87,8 @@ typedef struct pidProfile_s {
float rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
} pidProfile_t;
PG_DECLARE_PROFILE(pidProfile_t, pidProfile);
typedef struct pidConfig_s {
uint8_t pid_process_denom; // Processing denominator for PID controller vs gyro sampling rate
} pidConfig_t;