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Warning removal where present if pidBetaflight is skipped.

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This commit is contained in:
blckmn 2016-07-31 11:06:29 +10:00
parent 9e0a786dde
commit df11d398aa
1 changed files with 4 additions and 1 deletions
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5
src/main/flight/pid.c
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@ -66,9 +66,10 @@ uint8_t PIDweight[3];
static int32_t errorGyroI[3];
static float errorGyroIf[3];
#ifdef SKIP_PID_FLOAT
static void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig);
#ifdef SKIP_PID_FLOAT
pidControllerFuncPtr pid_controller = pidLegacy; // which pid controller are we using
#else
static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
@ -107,6 +108,7 @@ const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
static pt1Filter_t deltaFilter[3];
static pt1Filter_t yawFilter;
#ifndef SKIP_PID_FLOAT
// 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)
static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
@ -302,6 +304,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
#endif
}
}
#endif
// Legacy pid controller betaflight evolved pid rewrite based on 2.9 releae. Good for fastest cycletimes for those who believe in that. Don't expect much development in the future
static void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,