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Enabled Instruction TCM

This commit is contained in:
Martin Budden 2017-12-17 09:57:00 +00:00
parent 7a7f1ceda5
commit de5b0d53ff
12 changed files with 222 additions and 22 deletions

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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();