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Code Issues Wiki Activity

Rename some PID controller methods.

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See #461.
This commit is contained in:
Dominic Clifton 2015-03-09 23:26:52 +00:00
parent d8cd9f239c
commit bc8e53a9d8
5 changed files with 12 additions and 13 deletions
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3
src/main/config/config.c
View file

@ -73,7 +73,6 @@
#define BRUSHED_MOTORS_PWM_RATE 16000 #define BRUSHED_MOTORS_PWM_RATE 16000
#define BRUSHLESS_MOTORS_PWM_RATE 400 #define BRUSHLESS_MOTORS_PWM_RATE 400
void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
void mixerUseConfigs( void mixerUseConfigs(
#ifdef USE_SERVOS #ifdef USE_SERVOS
servoParam_t *servoConfToUse, servoParam_t *servoConfToUse,
@ -636,7 +635,7 @@ void activateConfig(void)
useTelemetryConfig(&masterConfig.telemetryConfig); useTelemetryConfig(&masterConfig.telemetryConfig);
#endif #endif
setPIDController(currentProfile->pidProfile.pidController); pidSetController(currentProfile->pidProfile.pidController);
#ifdef GPS #ifdef GPS
gpsUseProfile(&currentProfile->gpsProfile); gpsUseProfile(&currentProfile->gpsProfile);

6
src/main/flight/pid.c
View file

@ -70,7 +70,7 @@ typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig
pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
void resetErrorAngle(void) void pidResetErrorAngle(void)
{ {
errorAngleI[ROLL] = 0; errorAngleI[ROLL] = 0;
errorAngleI[PITCH] = 0; errorAngleI[PITCH] = 0;
@ -79,7 +79,7 @@ void resetErrorAngle(void)
errorAngleIf[PITCH] = 0.0f; errorAngleIf[PITCH] = 0.0f;
} }
void resetErrorGyro(void) void pidResetErrorGyro(void)
{ {
errorGyroI[ROLL] = 0; errorGyroI[ROLL] = 0;
errorGyroI[PITCH] = 0; errorGyroI[PITCH] = 0;
@ -742,7 +742,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
} }
} }
void setPIDController(int type) void pidSetController(int type)
{ {
switch (type) { switch (type) {
case 0: case 0:

6
src/main/flight/pid.h
View file

@ -55,8 +55,8 @@ typedef struct pidProfile_s {
extern int16_t axisPID[XYZ_AXIS_COUNT]; extern int16_t axisPID[XYZ_AXIS_COUNT];
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3]; extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
void setPIDController(int type); void pidSetController(int type);
void resetErrorAngle(void); void pidResetErrorAngle(void);
void resetErrorGyro(void); void pidResetErrorGyro(void);

2
src/main/io/serial_msp.c
View file

@ -1257,7 +1257,7 @@ static bool processInCommand(void)
break; break;
case MSP_SET_PID_CONTROLLER: case MSP_SET_PID_CONTROLLER:
currentProfile->pidProfile.pidController = read8(); currentProfile->pidProfile.pidController = read8();
setPIDController(currentProfile->pidProfile.pidController); pidSetController(currentProfile->pidProfile.pidController);
break; break;
case MSP_SET_PID: case MSP_SET_PID:
if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) { if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) {

8
src/main/mw.c
View file

@ -520,8 +520,8 @@ void processRx(void)
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle); throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
if (throttleStatus == THROTTLE_LOW) { if (throttleStatus == THROTTLE_LOW) {
resetErrorAngle(); pidResetErrorAngle();
resetErrorGyro(); pidResetErrorGyro();
} }
// When armed and motors aren't spinning, disarm board after delay so users without buzzer won't lose fingers. // When armed and motors aren't spinning, disarm board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough // mixTable constrains motor commands, so checking throttleStatus is enough
@ -557,7 +557,7 @@ void processRx(void)
canUseHorizonMode = false; canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) { if (!FLIGHT_MODE(ANGLE_MODE)) {
resetErrorAngle(); pidResetErrorAngle();
ENABLE_FLIGHT_MODE(ANGLE_MODE); ENABLE_FLIGHT_MODE(ANGLE_MODE);
} }
} else { } else {
@ -569,7 +569,7 @@ void processRx(void)
DISABLE_FLIGHT_MODE(ANGLE_MODE); DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) { if (!FLIGHT_MODE(HORIZON_MODE)) {
resetErrorAngle(); pidResetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE); ENABLE_FLIGHT_MODE(HORIZON_MODE);
} }
} else { } else {