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Code Issues Wiki Activity

Cleanup names of pid controllers.

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This commit is contained in:
Dominic Clifton 2015-11-14 00:09:29 +00:00
parent fd62dc53fb
commit bf8daea1b9
3 changed files with 9 additions and 9 deletions
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12
src/main/flight/pid.c
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@ -64,13 +64,13 @@ static float errorGyroIf[3] = { 0.0f, 0.0f, 0.0f };
static int32_t errorAngleI[2] = { 0, 0 }; static int32_t errorAngleI[2] = { 0, 0 };
static float errorAngleIf[2] = { 0.0f, 0.0f }; static float errorAngleIf[2] = { 0.0f, 0.0f };
static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
pidControllerFuncPtr pid_controller = pidRewrite; // which pid controller are we using, defaultMultiWii pidControllerFuncPtr pid_controller = pidMultiWiiRewrite; // which pid controller are we using
void pidResetErrorAngle(void) void pidResetErrorAngle(void)
{ {
@ -348,7 +348,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
#endif #endif
} }
static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig) rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{ {
UNUSED(rxConfig); UNUSED(rxConfig);
@ -479,13 +479,13 @@ void pidSetController(pidControllerType_e type)
{ {
switch (type) { switch (type) {
default: default:
case PID_CONTROLLER_REWRITE: case PID_CONTROLLER_MWREWRITE:
pid_controller = pidRewrite; pid_controller = pidMultiWiiRewrite;
break; break;
case PID_CONTROLLER_LUX_FLOAT: case PID_CONTROLLER_LUX_FLOAT:
pid_controller = pidLuxFloat; pid_controller = pidLuxFloat;
break; break;
case PID_CONTROLLER_MULTIWII23: case PID_CONTROLLER_MW23:
pid_controller = pidMultiWii23; pid_controller = pidMultiWii23;
} }
} }

4
src/main/flight/pid.h
View file

@ -36,8 +36,8 @@ typedef enum {
} pidIndex_e; } pidIndex_e;
typedef enum { typedef enum {
PID_CONTROLLER_MULTIWII23 = 0, PID_CONTROLLER_MW23 = 0,
PID_CONTROLLER_REWRITE, PID_CONTROLLER_MWREWRITE,
PID_CONTROLLER_LUX_FLOAT, PID_CONTROLLER_LUX_FLOAT,
PID_COUNT PID_COUNT
} pidControllerType_e; } pidControllerType_e;

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

@ -337,7 +337,7 @@ static const char * const lookupTableGimbalMode[] = {
}; };
static const char * const lookupTablePidController[] = { static const char * const lookupTablePidController[] = {
"MULTIWII", "REWRITE", "LUX" "MW23", "MWREWRITE", "LUX"
}; };
static const char * const lookupTableSerialRX[] = { static const char * const lookupTableSerialRX[] = {