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Merge pull request #5261 from iNavFlight/dzikuvx-fix-pid-bank-selection

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Fix PID bank selection
This commit is contained in:
Paweł Spychalski 2019-12-09 09:18:06 +01:00 • committed by GitHub
commit c89e1e7f2c
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2 changed files with 10 additions and 5 deletions
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9
src/main/flight/pid.c
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@ -1053,7 +1053,7 @@ void pidInit(void)
#endif
if (pidProfile()->pidControllerType == PID_TYPE_AUTO) {
if (STATE(FIXED_WING)) {
if (mixerConfig()->platformType == PLATFORM_AIRPLANE) {
usedPidControllerType = PID_TYPE_PIFF;
} else {
usedPidControllerType = PID_TYPE_PID;
@ -1076,3 +1076,10 @@ void pidInit(void)
pidControllerApplyFn = nullRateController;
}
}
const pidBank_t FAST_CODE NOINLINE * pidBank(void) {
return usedPidControllerType == PID_TYPE_PIFF ? &pidProfile()->bank_fw : &pidProfile()->bank_mc;
}
pidBank_t FAST_CODE NOINLINE * pidBankMutable(void) {
return usedPidControllerType == PID_TYPE_PIFF ? &pidProfileMutable()->bank_fw : &pidProfileMutable()->bank_mc;
}

6
src/main/flight/pid.h
View file

@ -157,10 +157,8 @@ typedef struct pidAutotuneConfig_s {
PG_DECLARE_PROFILE(pidProfile_t, pidProfile);
PG_DECLARE(pidAutotuneConfig_t, pidAutotuneConfig);
static uint8_t usedPidControllerType;
static inline const pidBank_t * pidBank(void) { return usedPidControllerType == PID_TYPE_PIFF ? &pidProfile()->bank_fw : &pidProfile()->bank_mc; }
static inline pidBank_t * pidBankMutable(void) { return usedPidControllerType == PID_TYPE_PIFF ? &pidProfileMutable()->bank_fw : &pidProfileMutable()->bank_mc; }
const pidBank_t * pidBank(void);
pidBank_t * pidBankMutable(void);
extern int16_t axisPID[];
extern int32_t axisPID_P[], axisPID_I[], axisPID_D[], axisPID_Setpoint[];