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Separate fc_core.c from RC processing

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borisbstyle 2017-01-30 20:58:58 +01:00
parent 98f8a4d59e
commit a112c1d7d0
7 changed files with 332 additions and 245 deletions
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7
src/main/flight/pid.c
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@ -29,6 +29,8 @@
#include "common/filter.h"
#include "fc/fc_core.h"
#include "fc/fc_rc.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
@ -211,11 +213,12 @@ static float accelerationLimit(int axis, float currentPidSetpoint) {
// Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.
// Based on 2DOF reference design (matlab)
void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float tpaFactor)
void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim)
{
static float previousRateError[2];
const float tpaFactor = getThrottlePIDAttenuation();
const float motorMixRange = getMotorMixRange();
// Dynamic ki component to gradually scale back integration when above windup point
float dynKi = MIN((1.0f - motorMixRange) * ITermWindupPointInv, 1.0f);