From ccd759d93a500225ad13d4a7b5dc8590c1fd7a27 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Sat, 26 Nov 2016 21:30:21 +0100 Subject: [PATCH] Remove unnecessary lazy initialisation flag checks --- src/main/flight/pid.c | 7 ------- 1 file changed, 7 deletions(-) diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index cccfad9ab..20839a277 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -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.