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Code Issues Releases Activity

LP-289 Clean up comments and uncrustify

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This commit is contained in:
paul Jewell 2016-12-11 05:45:47 +01:00
parent 143b5e7ab6
commit ebc4b16d9a
4 changed files with 6 additions and 11 deletions
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2
flight/libraries/math/pid.c
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@ -7,7 +7,7 @@
* *
* @file pid.c * @file pid.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016. * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015. * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Methods to work with PID structure * @brief Methods to work with PID structure
* *
* @see The GNU Public License (GPL) Version 3 * @see The GNU Public License (GPL) Version 3

1
flight/libraries/math/pid.h
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@ -6,7 +6,6 @@
* @{ * @{
* *
* @file pid.h * @file pid.h
*
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016. * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Methods to work with PID structure * @brief Methods to work with PID structure

3
flight/libraries/pid/pidcontroldown.cpp
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@ -117,8 +117,7 @@ void PIDControlDown::UpdateParameters(float kp, float ki, float kd, float beta,
// Define Tf, according to controller type // Define Tf, according to controller type
if (kd < 1e-6f) { if (kd < 1e-6f) {
// PI Controller or P Controller // PI Controller or P Controller
Tf = 0; // Originally this: (Ti / N) - which creates a D term from Tf = 0;
// the integral time constant!
} else { } else {
Tf = Td / N; Tf = Td / N;
} }

5
flight/modules/PathFollower/pidcontrolne.cpp
View File

@ -108,8 +108,7 @@ void PIDControlNE::UpdateParameters(float kp, float ki, float kd, float beta, fl
// Define Tf, according to controller type // Define Tf, according to controller type
if (kd < 1e-6f) { if (kd < 1e-6f) {
// PI Controller or P Controller // PI Controller or P Controller
Tf = 0; // Originally this: (Ti / N) - which creates a D term from Tf = 0;
// the integral time constant!
} else { } else {
Tf = Td / N; Tf = Td / N;
} }
@ -120,8 +119,6 @@ void PIDControlNE::UpdateParameters(float kp, float ki, float kd, float beta, fl
beta = 0.4f; beta = 0.4f;
} }
pid2_configure(&PIDvel[0], kp, ki, kd, Tf, kt, dT, beta, u0, 0.0f, 1.0f); pid2_configure(&PIDvel[0], kp, ki, kd, Tf, kt, dT, beta, u0, 0.0f, 1.0f);
pid2_configure(&PIDvel[1], kp, ki, kd, Tf, kt, dT, beta, u0, 0.0f, 1.0f); pid2_configure(&PIDvel[1], kp, ki, kd, Tf, kt, dT, beta, u0, 0.0f, 1.0f);
deltaTime = dT; deltaTime = dT;