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Improved initialisation order. Stopped calling pidInit before gyro detected (#4218)

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This commit is contained in:
Martin Budden 2017-09-25 05:15:45 +01:00 • committed by GitHub
parent ac1cc31ae5
commit db8698d801
3 changed files with 70 additions and 60 deletions
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8
src/main/flight/pid.c
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@ -170,6 +170,14 @@ void pidInitFilters(const pidProfile_t *pidProfile)
{
BUILD_BUG_ON(FD_YAW != 2); // only setting up Dterm filters on roll and pitch axes, so ensure yaw axis is 2
if (targetPidLooptime == 0) {
// no looptime set, so set all the filters to null
dtermNotchFilterApplyFn = nullFilterApply;
dtermLpfApplyFn = nullFilterApply;
ptermYawFilterApplyFn = nullFilterApply;
return;
}
const uint32_t pidFrequencyNyquist = (1.0f / dT) / 2; // No rounding needed
uint16_t dTermNotchHz;