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Refactoring of IMU and ACC

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This commit is contained in:
Štěpán Dalecký 2022-01-20 20:37:23 +01:00
parent b6b24ba946
commit f85ebba6a4
24 changed files with 141 additions and 195 deletions
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8
src/main/flight/pid.h
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@ -391,6 +391,10 @@ typedef struct pidRuntime_s {
float feedforwardJitterFactor;
float feedforwardBoostFactor;
#endif
#ifdef USE_ACC
pt3Filter_t attitudeFilter[2]; // Only for ROLL and PITCH
#endif
} pidRuntime_t;
extern pidRuntime_t pidRuntime;
@ -437,8 +441,8 @@ void applyItermRelax(const int axis, const float iterm,
void applyAbsoluteControl(const int axis, const float gyroRate, float *currentPidSetpoint, float *itermErrorRate);
void rotateItermAndAxisError();
float pidLevel(int axis, const pidProfile_t *pidProfile,
const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint);
float calcHorizonLevelStrength(void);
const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint, float horizonLevelStrength);
float calcHorizonLevelStrength();
#endif
void dynLpfDTermUpdate(float throttle);
void pidSetItermReset(bool enabled);