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Remnants from merge removed

This commit is contained in:
blckmn 2016-08-27 09:12:53 +10:00
parent 9bdb4a9b25
commit 43b1af438c
1 changed files with 0 additions and 19 deletions
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19
src/main/flight/pid.c
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@ -125,25 +125,6 @@ void initFilters(const pidProfile_t *pidProfile)
} }
} }
} else {
if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
axisPID[axis] = lrintf(PTerm + ITerm);
DTerm = 0.0f; // needed for blackbox
} else {
if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
axisPID[axis] = PTerm + ITerm;
if (motorCount >= 4) {
int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}
DTerm = 0; // needed for blackbox
void pidSetController(pidControllerType_e type) void pidSetController(pidControllerType_e type)
{ {
switch (type) { switch (type) {