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Merge pull request #402 from martinbudden/bf_pid_declaration 

Moved declaration of pidControllerFuncPtr into pid.h
This commit is contained in:
borisbstyle 2016-05-23 22:50:21 +02:00
parent 004b4ca79c 03ef7f9ba9
commit 8149508352
4 changed files with 15 additions and 17 deletions
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21
src/main/flight/pid.c
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@ -68,11 +68,8 @@ static float errorGyroIf[3], errorGyroIfLimit[3];
static bool lowThrottlePidReduction; static bool lowThrottlePidReduction;
static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig);
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
pidControllerFuncPtr pid_controller = pidMultiWiiRewrite; // which pid controller are we using, defaultMultiWii pidControllerFuncPtr pid_controller = pidMultiWiiRewrite; // which pid controller are we using, defaultMultiWii
@ -80,7 +77,7 @@ void setTargetPidLooptime(uint8_t pidProcessDenom) {
targetPidLooptime = targetLooptime * pidProcessDenom; targetPidLooptime = targetLooptime * pidProcessDenom;
} }
float calculateExpoPlus(int axis, rxConfig_t *rxConfig) { float calculateExpoPlus(int axis, const rxConfig_t *rxConfig) {
float propFactor; float propFactor;
float superExpoFactor; float superExpoFactor;
@ -94,7 +91,7 @@ float calculateExpoPlus(int axis, rxConfig_t *rxConfig) {
return propFactor; return propFactor;
} }
uint16_t getDynamicKp(int axis, pidProfile_t *pidProfile) { uint16_t getDynamicKp(int axis, const pidProfile_t *pidProfile) {
uint16_t dynamicKp; uint16_t dynamicKp;
uint32_t dynamicFactor = constrain(ABS(rcCommand[axis] << 8) / DYNAMIC_PTERM_STICK_THRESHOLD, 0, 1 << 7); uint32_t dynamicFactor = constrain(ABS(rcCommand[axis] << 8) / DYNAMIC_PTERM_STICK_THRESHOLD, 0, 1 << 7);
@ -136,8 +133,8 @@ static filterStatePt1_t deltaFilterState[3];
static filterStatePt1_t yawFilterState; static filterStatePt1_t yawFilterState;
#ifndef SKIP_PID_LUXFLOAT #ifndef SKIP_PID_LUXFLOAT
static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig) uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
{ {
float RateError, AngleRate, gyroRate; float RateError, AngleRate, gyroRate;
float ITerm,PTerm,DTerm; float ITerm,PTerm,DTerm;
@ -277,11 +274,9 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
} }
#endif #endif
static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig) const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
{ {
UNUSED(rxConfig);
int axis; int axis;
int32_t PTerm, ITerm, DTerm, delta; int32_t PTerm, ITerm, DTerm, delta;
static int32_t lastRate[3]; static int32_t lastRate[3];

6
src/main/flight/pid.h
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@ -90,6 +90,12 @@ typedef struct pidProfile_s {
#endif #endif
} pidProfile_t; } pidProfile_t;
struct controlRateConfig_s;
union rollAndPitchTrims_u;
struct rxConfig_s;
typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig,
uint16_t max_angle_inclination, const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig); // pid controller function prototype
extern int16_t axisPID[XYZ_AXIS_COUNT]; extern int16_t axisPID[XYZ_AXIS_COUNT];
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3]; extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
bool antiWindupProtection; bool antiWindupProtection;

3
src/main/mw.c
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@ -119,9 +119,6 @@ uint16_t filteredCycleTime;
static bool isRXDataNew; static bool isRXDataNew;
static bool armingCalibrationWasInitialised; static bool armingCalibrationWasInitialised;
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
extern pidControllerFuncPtr pid_controller; extern pidControllerFuncPtr pid_controller;
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta) void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)

2
src/main/sensors/acceleration.h
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@ -45,7 +45,7 @@ typedef struct rollAndPitchTrims_s {
int16_t pitch; int16_t pitch;
} rollAndPitchTrims_t_def; } rollAndPitchTrims_t_def;
typedef union { typedef union rollAndPitchTrims_u {
int16_t raw[2]; int16_t raw[2];
rollAndPitchTrims_t_def values; rollAndPitchTrims_t_def values;
} rollAndPitchTrims_t; } rollAndPitchTrims_t;