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Merge pull request #1606 from martinbudden/bf_gyro_isr

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Gyro initialisation refactoring
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Martin Budden 2016-12-01 18:43:43 +01:00 • committed by GitHub
commit fd5710051e
28 changed files with 136 additions and 124 deletions
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src/main/flight/pid.c
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@ -234,7 +234,7 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
}
}
const float PVRate = gyroADCf[axis] / 16.4f; // Process variable from gyro output in deg/sec
const float PVRate = gyroADCf[axis]; // Process variable from gyro output in deg/sec
// --------low-level gyro-based PID based on 2DOF PID controller. ----------
// ---------- 2-DOF PID controller with optional filter on derivative term. b = 1 and only c can be tuned (amount derivative on measurement or error). ----------