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Merge pull request #6409 from mikeller/remove_unused_pid_settings 

Removed unused PID settings.
This commit is contained in:
Michael Keller 2018-07-22 12:43:19 +12:00 committed by GitHub
parent 5e2fefe036 ec06575203
commit de7a18f1c2
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 10 additions and 38 deletions
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15
src/main/blackbox/blackbox.c
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@ -1263,25 +1263,10 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("yawPID", "%d,%d,%d", currentPidProfile->pid[PID_YAW].P,
currentPidProfile->pid[PID_YAW].I,
currentPidProfile->pid[PID_YAW].D);
BLACKBOX_PRINT_HEADER_LINE("altPID", "%d,%d,%d", currentPidProfile->pid[PID_ALT].P,
currentPidProfile->pid[PID_ALT].I,
currentPidProfile->pid[PID_ALT].D);
BLACKBOX_PRINT_HEADER_LINE("posPID", "%d,%d,%d", currentPidProfile->pid[PID_POS].P,
currentPidProfile->pid[PID_POS].I,
currentPidProfile->pid[PID_POS].D);
BLACKBOX_PRINT_HEADER_LINE("posrPID", "%d,%d,%d", currentPidProfile->pid[PID_POSR].P,
currentPidProfile->pid[PID_POSR].I,
currentPidProfile->pid[PID_POSR].D);
BLACKBOX_PRINT_HEADER_LINE("navrPID", "%d,%d,%d", currentPidProfile->pid[PID_NAVR].P,
currentPidProfile->pid[PID_NAVR].I,
currentPidProfile->pid[PID_NAVR].D);
BLACKBOX_PRINT_HEADER_LINE("levelPID", "%d,%d,%d", currentPidProfile->pid[PID_LEVEL].P,
currentPidProfile->pid[PID_LEVEL].I,
currentPidProfile->pid[PID_LEVEL].D);
BLACKBOX_PRINT_HEADER_LINE("magPID", "%d", currentPidProfile->pid[PID_MAG].P);
BLACKBOX_PRINT_HEADER_LINE("velPID", "%d,%d,%d", currentPidProfile->pid[PID_VEL].P,
currentPidProfile->pid[PID_VEL].I,
currentPidProfile->pid[PID_VEL].D);
BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type", "%d", currentPidProfile->dterm_filter_type);
BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass_hz", "%d", currentPidProfile->dterm_lowpass_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz", "%d", currentPidProfile->dterm_lowpass2_hz);

12
src/main/flight/pid.c
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@ -58,6 +58,13 @@
#define ITERM_RELAX_SETPOINT_THRESHOLD 30.0f
const char pidNames[] =
"ROLL;"
"PITCH;"
"YAW;"
"LEVEL;"
"MAG;";
FAST_RAM_ZERO_INIT uint32_t targetPidLooptime;
FAST_RAM_ZERO_INIT pidAxisData_t pidData[XYZ_AXIS_COUNT];
@ -113,13 +120,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
[PID_ROLL] = { 46, 45, 25, 60 },
[PID_PITCH] = { 50, 50, 27, 60 },
[PID_YAW] = { 65, 45, 0 , 60 },
[PID_ALT] = { 50, 0, 0, 0 },
[PID_POS] = { 15, 0, 0, 0 }, // POSHOLD_P * 100, POSHOLD_I * 100,
[PID_POSR] = { 34, 14, 53, 0 }, // POSHOLD_RATE_P * 10, POSHOLD_RATE_I * 100, POSHOLD_RATE_D * 1000,
[PID_NAVR] = { 25, 33, 83, 0 }, // NAV_P * 10, NAV_I * 100, NAV_D * 1000
[PID_LEVEL] = { 50, 50, 75, 0 },
[PID_MAG] = { 40, 0, 0, 0 },
[PID_VEL] = { 55, 55, 75, 0 }
},
.pidSumLimit = PIDSUM_LIMIT,

7
src/main/flight/pid.h
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@ -47,13 +47,8 @@ typedef enum {
PID_ROLL,
PID_PITCH,
PID_YAW,
PID_ALT,
PID_POS,
PID_POSR,
PID_NAVR,
PID_LEVEL,
PID_MAG,
PID_VEL,
PID_ITEM_COUNT
} pidIndex_e;
@ -177,6 +172,8 @@ typedef struct pidAxisData_s {
float Sum;
} pidAxisData_t;
extern const char pidNames[];
extern pidAxisData_t pidData[3];
extern uint32_t targetPidLooptime;

14
src/main/interface/msp.c
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@ -143,18 +143,6 @@ static uint8_t rebootMode;
#ifndef USE_OSD_SLAVE
static const char pidnames[] =
"ROLL;"
"PITCH;"
"YAW;"
"ALT;"
"Pos;"
"PosR;"
"NavR;"
"LEVEL;"
"MAG;"
"VEL;";
typedef enum {
MSP_SDCARD_STATE_NOT_PRESENT = 0,
MSP_SDCARD_STATE_FATAL = 1,
@ -984,7 +972,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
break;
case MSP_PIDNAMES:
for (const char *c = pidnames; *c; c++) {
for (const char *c = pidNames; *c; c++) {
sbufWriteU8(dst, *c);
}
break;