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Merge pull request #4767 from martinbudden/bfa_enable_instruction_tcm

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Enabled Instruction TCM
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Michael Keller 2017-12-19 01:36:32 +13:00 • committed by GitHub
commit b94533ead1
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12 changed files with 222 additions and 22 deletions
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src/main/flight/pid.c
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@ -405,7 +405,7 @@ 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)
FAST_CODE void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs)
void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs)
{
static float previousRateError[2];
const float tpaFactor = getThrottlePIDAttenuation();