Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 21:05:35 +03:00
Code Issues Wiki Activity

Remove magic number usage. Fix limits for FP based pid controller PID

Browse source 
adjustments to match those in serial_cli.c.
This commit is contained in:
Dominic Clifton 2015-01-30 21:27:09 +01:00
parent fa18940087
commit ea386e6da2
3 changed files with 13 additions and 13 deletions
Download patch file Download diff file Expand all files Collapse all files

18
src/main/io/rc_controls.c
View file

@ -396,9 +396,9 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_PITCH_ROLL_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->P_f[PIDPITCH] + delta;
pidProfile->P_f[PIDPITCH] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDPITCH] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = (int)pidProfile->P_f[PIDROLL] + delta;
pidProfile->P_f[PIDROLL] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDROLL] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->P8[PIDPITCH] + delta;
pidProfile->P8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -409,9 +409,9 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_PITCH_ROLL_I:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->I_f[PIDPITCH] + delta;
pidProfile->I_f[PIDPITCH] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I_f[PIDPITCH] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = (int)pidProfile->I_f[PIDROLL] + delta;
pidProfile->I_f[PIDROLL] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I_f[PIDROLL] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->I8[PIDPITCH] + delta;
pidProfile->I8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -422,9 +422,9 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_PITCH_ROLL_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->D_f[PIDPITCH] + delta;
pidProfile->D_f[PIDPITCH] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D_f[PIDPITCH] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = (int)pidProfile->D_f[PIDROLL] + delta;
pidProfile->D_f[PIDROLL] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D_f[PIDROLL] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->D8[PIDPITCH] + delta;
pidProfile->D8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -435,7 +435,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_YAW_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->P_f[PIDYAW] + delta;
pidProfile->P_f[PIDYAW] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDYAW] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->P8[PIDYAW] + delta;
pidProfile->P8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -444,7 +444,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_YAW_I:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->I_f[PIDYAW] + delta;
pidProfile->I_f[PIDYAW] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I_f[PIDYAW] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->I8[PIDYAW] + delta;
pidProfile->I8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -453,7 +453,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_YAW_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->D_f[PIDYAW] + delta;
pidProfile->D_f[PIDYAW] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D_f[PIDYAW] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->D8[PIDYAW] + delta;
pidProfile->D8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c