Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 22:35:23 +03:00
Code Issues Wiki Activity

AIR MODE Safety Enhancements

Browse source
This commit is contained in:
borisbstyle 2015-12-08 00:22:49 +01:00
parent 72e9a4dc17
commit b84e9f4676
5 changed files with 46 additions and 18 deletions
Download patch file Download diff file Expand all files Collapse all files

11
src/main/flight/pid.c
View file

@ -61,8 +61,6 @@ uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
static int32_t errorGyroI[3] = { 0, 0, 0 };
static float errorGyroIf[3] = { 0.0f, 0.0f, 0.0f };
static int32_t errorAngleI[2] = { 0, 0 };
static float errorAngleIf[2] = { 0.0f, 0.0f };
static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);
@ -72,15 +70,6 @@ typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig
pidControllerFuncPtr pid_controller = pidRewrite; // which pid controller are we using, defaultMultiWii
void pidResetErrorAngle(void)
{
errorAngleI[ROLL] = 0;
errorAngleI[PITCH] = 0;
errorAngleIf[ROLL] = 0.0f;
errorAngleIf[PITCH] = 0.0f;
}
void pidResetErrorGyro(void)
{
errorGyroI[ROLL] = 0;