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Free up some space (needed for CC3D target)

This commit is contained in:
borisbstyle 2016-01-14 01:07:58 +01:00
parent 927099a105
commit a8916a3ddd
2 changed files with 2 additions and 6 deletions
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2
src/main/flight/pid.c
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@ -59,7 +59,7 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
#endif
// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
uint8_t PIDweight[3];
static int32_t errorGyroI[3] = { 0, 0, 0 };
static float errorGyroIf[3] = { 0.0f, 0.0f, 0.0f };

6
src/main/mw.c
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@ -118,7 +118,7 @@ int16_t telemTemperature1; // gyro sensor temperature
static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
extern uint32_t currentTime;
extern uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
extern uint8_t PIDweight[3];
static bool isRXDataNew;
static filterStatePt1_t filteredCycleTimeState;
@ -257,10 +257,6 @@ void annexCode(void)
rcCommand[axis] = (lookupYawRC[tmp2] + (tmp - tmp2 * 100) * (lookupYawRC[tmp2 + 1] - lookupYawRC[tmp2]) / 100) * -masterConfig.yaw_control_direction;
prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * ABS(tmp) / 500;
}
// FIXME axis indexes into pids. use something like lookupPidIndex(rc_alias_e alias) to reduce coupling.
dynP8[axis] = (uint16_t)currentProfile->pidProfile.P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)currentProfile->pidProfile.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)currentProfile->pidProfile.D8[axis] * prop1 / 100;
// non coupled PID reduction scaler used in PID controller 1 and PID controller 2. YAW TPA disabled. 100 means 100% of the pids
if (axis == YAW) {