Delete unnecessary code to reduce code size and improve maintainability by moving errorAngle initialisation to the conditional block where it is used.
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@ -117,7 +117,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
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rollAndPitchTrims_t *angleTrim)
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{
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int32_t errorAngle = 0;
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int32_t errorAngle;
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int axis;
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int32_t delta, deltaSum;
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static int32_t delta1[3], delta2[3];
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@ -128,14 +128,13 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
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// ----------PID controller----------
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for (axis = 0; axis < 3; axis++) {
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// -----Get the desired angle rate depending on flight mode
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if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_PITCH || axis == FD_ROLL)) { // MODE relying on ACC
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// calculate error and limit the angle to max configured inclination
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errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis]; // 16 bits is ok here
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}
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if (axis == FD_YAW) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
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AngleRateTmp = (((int32_t)(controlRateConfig->yawRate + 27) * rcCommand[2]) >> 5);
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} else {
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// calculate error and limit the angle to max configured inclination
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errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis]; // 16 bits is ok here
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if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
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AngleRateTmp = ((int32_t)(controlRateConfig->rollPitchRate + 27) * rcCommand[axis]) >> 4;
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if (f.HORIZON_MODE) {
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