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Added PG config definitions 4

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This commit is contained in:
Martin Budden 2017-02-25 17:35:00 +00:00
parent fd1d8d532e
commit c92679f454
10 changed files with 110 additions and 13 deletions
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13
src/main/flight/pid.c
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@ -58,6 +58,19 @@ static float previousGyroIf[3];
static float dT;
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 0);
#ifdef STM32F10X
#define PID_PROCESS_DENOM_DEFAULT 1
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
#define PID_PROCESS_DENOM_DEFAULT 4
#else
#define PID_PROCESS_DENOM_DEFAULT 2
#endif
PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT
);
void pidSetTargetLooptime(uint32_t pidLooptime)
{
targetPidLooptime = pidLooptime;