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Code Issues Wiki Activity

Tidied initialisation, especially PID filters

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This commit is contained in:
Martin Budden 2016-11-23 14:09:08 +00:00
parent 81f6a1886a
commit e9407f3065
11 changed files with 82 additions and 44 deletions
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6
src/main/flight/pid.c
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@ -56,7 +56,7 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
static float errorGyroIf[3];
void setTargetPidLooptime(uint32_t pidLooptime)
void pidSetTargetLooptime(uint32_t pidLooptime)
{
targetPidLooptime = pidLooptime;
}
@ -82,7 +82,7 @@ static void *dtermFilterLpf[2];
static filterApplyFnPtr ptermYawFilterApplyFn;
static void *ptermYawFilter;
static 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];
@ -166,8 +166,6 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
dT = (float)targetPidLooptime * 0.000001f;
}
pidInitFilters(pidProfile);
float horizonLevelStrength = 1;
if (FLIGHT_MODE(HORIZON_MODE)) {
// Figure out the raw stick positions