Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-22 07:45:29 +03:00
Code Issues Wiki Activity

Remove unnecessary lazy initialisation flag checks

Browse source
This commit is contained in:
borisbstyle 2016-11-26 21:30:21 +01:00 • committed by GitHub
parent 3db231dcdc
commit ccd759d93a
1 changed files with 0 additions and 7 deletions
Download patch file Download diff file Expand all files Collapse all files

7
src/main/flight/pid.c
View file

@ -84,17 +84,12 @@ static void *ptermYawFilter;
void pidInitFilters(const pidProfile_t *pidProfile) void pidInitFilters(const pidProfile_t *pidProfile)
{ {
static bool initialized = false; // !!TODO - remove this temporary measure once filter lazy initialization is removed
static biquadFilter_t biquadFilterNotch[2]; static biquadFilter_t biquadFilterNotch[2];
static pt1Filter_t pt1Filter[2]; static pt1Filter_t pt1Filter[2];
static biquadFilter_t biquadFilter[2]; static biquadFilter_t biquadFilter[2];
static firFilterDenoise_t denoisingFilter[2]; static firFilterDenoise_t denoisingFilter[2];
static pt1Filter_t pt1FilterYaw; static pt1Filter_t pt1FilterYaw;
if (initialized) {
return;
}
BUILD_BUG_ON(FD_YAW != 2); // only setting up Dterm filters on roll and pitch axes, so ensure yaw axis is 2 BUILD_BUG_ON(FD_YAW != 2); // only setting up Dterm filters on roll and pitch axes, so ensure yaw axis is 2
const float dT = (float)targetPidLooptime * 0.000001f; const float dT = (float)targetPidLooptime * 0.000001f;
@ -147,8 +142,6 @@ void pidInitFilters(const pidProfile_t *pidProfile)
ptermYawFilter = &pt1FilterYaw; ptermYawFilter = &pt1FilterYaw;
pt1FilterInit(ptermYawFilter, pidProfile->yaw_lpf_hz, dT); pt1FilterInit(ptermYawFilter, pidProfile->yaw_lpf_hz, dT);
} }
initialized = true;
} }
// Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage. // Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.