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Updates to support parameter groups

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This commit is contained in:
Martin Budden 2017-03-05 06:33:25 +00:00
parent 13ddcdb9cf
commit aa561d542b
23 changed files with 338 additions and 322 deletions
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15
src/main/flight/pid.c
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@ -76,6 +76,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 0);
#ifdef USE_PARAMETER_GROUPS
void resetPidProfile(pidProfile_t *pidProfile)
{
RESET_CONFIG(const pidProfile_t, pidProfile,
@ -128,18 +129,13 @@ void resetPidProfile(pidProfile_t *pidProfile)
.itermAcceleratorGain = 1.0f
);
}
void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)
{
for (int i = 0; i < MAX_PROFILE_COUNT; i++) {
resetPidProfile(&pidProfiles[i]);
}
}
#ifdef USE_PARAMETER_GROUPS
void resetProfile(profile_t *profile)
{
resetPidProfile(&profile->pidProfile);
}
#endif
void pidSetTargetLooptime(uint32_t pidLooptime)
@ -260,6 +256,13 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
ITermWindupPointInv = 1.0f / (1.0f - ITermWindupPoint);
}
void pidInit(void)
{
pidSetTargetLooptime(gyro.targetLooptime * pidConfig()->pid_process_denom); // Initialize pid looptime
pidInitFilters(currentPidProfile);
pidInitConfig(currentPidProfile);
}
static float calcHorizonLevelStrength(void) {
float horizonLevelStrength = 0.0f;
if (horizonTransition > 0.0f) {