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Remove unnecessary lazy initialisation flag checks

This commit is contained in:
borisbstyle 2016-11-26 21:30:21 +01:00 committed by GitHub
parent 3db231dcdc
commit ccd759d93a
1 changed files with 0 additions and 7 deletions
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7
src/main/flight/pid.c
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@ -84,17 +84,12 @@ static void *ptermYawFilter;
void pidInitFilters(const pidProfile_t *pidProfile)
{
static bool initialized = false; // !!TODO - remove this temporary measure once filter lazy initialization is removed
static biquadFilter_t biquadFilterNotch[2];
static pt1Filter_t pt1Filter[2];
static biquadFilter_t biquadFilter[2];
static firFilterDenoise_t denoisingFilter[2];
static pt1Filter_t pt1FilterYaw;
if (initialized) {
return;
}
BUILD_BUG_ON(FD_YAW != 2); // only setting up Dterm filters on roll and pitch axes, so ensure yaw axis is 2
const float dT = (float)targetPidLooptime * 0.000001f;
@ -147,8 +142,6 @@ void pidInitFilters(const pidProfile_t *pidProfile)
ptermYawFilter = &pt1FilterYaw;
pt1FilterInit(ptermYawFilter, pidProfile->yaw_lpf_hz, dT);
}
initialized = true;
}
// Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.