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Moved sensor global data into sensor_s structs

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Martin Budden 2016-11-19 14:11:03 +00:00
parent fd5710051e
commit b8b9c95f57
69 changed files with 359 additions and 343 deletions
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src/main/flight/pid.c
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@ -234,7 +234,7 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
}
}
const float PVRate = gyroADCf[axis]; // Process variable from gyro output in deg/sec
const float PVRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
// --------low-level gyro-based PID based on 2DOF PID controller. ----------
// ---------- 2-DOF PID controller with optional filter on derivative term. b = 1 and only c can be tuned (amount derivative on measurement or error). ----------