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Code Issues Wiki Activity

Drop Betaflight PIDc support for OPBL

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This commit is contained in:
borisbstyle 2016-08-24 01:07:04 +02:00
parent 5e5b44f593
commit f4796c3676
4 changed files with 9 additions and 0 deletions
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4
src/main/config/config.c
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@ -199,7 +199,11 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
static void resetPidProfile(pidProfile_t *pidProfile)
{
#if defined(SKIP_PID_FLOAT)
pidProfile->pidController = PID_CONTROLLER_LEGACY;
#else
pidProfile->pidController = PID_CONTROLLER_BETAFLIGHT;
#endif
pidProfile->P8[ROLL] = 45;
pidProfile->I8[ROLL] = 40;

2
src/main/io/serial_cli.c
View file

@ -862,7 +862,9 @@ const clivalue_t valueTable[] = {
{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_process_denom, .config.minmax = { 1, 8 } },
#ifndef SKIP_PID_FLOAT
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },
#endif
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0, 200 } },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0, 200 } },

2
src/main/io/serial_msp.c
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@ -1353,8 +1353,10 @@ static bool processInCommand(void)
read16();
break;
case MSP_SET_PID_CONTROLLER:
#ifndef SKIP_PID_FLOAT
currentProfile->pidProfile.pidController = constrain(read8(), 0, 1);
pidSetController(currentProfile->pidProfile.pidController);
#endif
break;
case MSP_SET_PID:
for (i = 0; i < PID_ITEM_COUNT; i++) {

1
src/main/target/CC3D/target.h
View file

@ -118,6 +118,7 @@
#undef SONAR
#undef USE_SOFTSERIAL1
#undef LED_STRIP
#define SKIP_PID_FLOAT
#endif
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM