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Code Issues Wiki Activity

Warning fixes

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This commit is contained in:
blckmn 2016-06-23 20:25:31 +10:00
parent cd9a97006f
commit 86459a77ed
4 changed files with 27 additions and 21 deletions
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15
src/main/flight/pid.c
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@ -72,11 +72,13 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
pidControllerFuncPtr pid_controller = pidInteger; // which pid controller are we using
void setTargetPidLooptime(uint8_t pidProcessDenom) {
targetPidLooptime = targetLooptime * pidProcessDenom;
void setTargetPidLooptime(uint8_t pidProcessDenom)
{
targetPidLooptime = targetLooptime * pidProcessDenom;
}
uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile, int32_t angleRate) {
uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile, int32_t angleRate)
{
uint16_t dynamicKi;
uint16_t resetRate;
@ -101,7 +103,8 @@ void pidResetErrorGyroState(void)
}
}
float getdT (void) {
float getdT (void)
{
static float dT;
if (!dT) dT = (float)targetPidLooptime * 0.000001f;
@ -117,7 +120,7 @@ static filterStatePt1_t yawFilterState;
static void pidFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
{
float RateError, gyroRate, RateErrorSmooth;
float RateError = 0, gyroRate = 0, RateErrorSmooth = 0;
float ITerm,PTerm,DTerm;
static float lastRateError[2];
float delta;
@ -257,7 +260,7 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
int axis;
int32_t PTerm, ITerm, DTerm, delta;
static int32_t lastRateError[3];
int32_t AngleRateTmp, AngleRateTmpSmooth, RateError, gyroRate, RateErrorSmooth;
int32_t AngleRateTmp = 0, AngleRateTmpSmooth = 0, RateError = 0, gyroRate = 0, RateErrorSmooth = 0;
int8_t horizonLevelStrength = 100;