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Moved PID logging counter into define

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This commit is contained in:
Jason Short 2012-06-02 08:25:16 -07:00
parent 1ebfb8fe25
commit 5ce93faf51
1 changed files with 6 additions and 6 deletions
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12
ArduCopter/Attitude.pde
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@ -59,7 +59,6 @@ get_stabilize_pitch(int32_t target_angle)
static int16_t
get_stabilize_yaw(int32_t target_angle)
{
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
int32_t target_rate,i_term;
int32_t angle_error;
int32_t output;
@ -90,6 +89,7 @@ get_stabilize_yaw(int32_t target_angle)
#endif
#if LOGGING_ENABLED == ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
// log output if PID logging is on and we are tuning the yaw
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) {
log_counter++;
@ -128,7 +128,6 @@ get_acro_yaw(int32_t target_rate)
static int16_t
get_rate_roll(int32_t target_rate)
{
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
static int32_t last_rate = 0; // previous iterations rate
int32_t p,i,d; // used to capture pid values for logging
int32_t current_rate; // this iteration's rate
@ -162,6 +161,7 @@ get_rate_roll(int32_t target_rate)
output = constrain(output, -2500, 2500);
#if LOGGING_ENABLED == ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
// log output if PID logging is on and we are tuning the rate P, I or D gains
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) {
log_counter++;
@ -179,7 +179,6 @@ get_rate_roll(int32_t target_rate)
static int16_t
get_rate_pitch(int32_t target_rate)
{
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
static int32_t last_rate = 0; // previous iterations rate
int32_t p,i,d; // used to capture pid values for logging
int32_t current_rate; // this iteration's rate
@ -213,6 +212,7 @@ get_rate_pitch(int32_t target_rate)
output = constrain(output, -2500, 2500);
#if LOGGING_ENABLED == ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
// log output if PID logging is on and we are tuning the rate P, I or D gains
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) {
log_counter++;
@ -230,7 +230,6 @@ get_rate_pitch(int32_t target_rate)
static int16_t
get_rate_yaw(int32_t target_rate)
{
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
int32_t p,i,d; // used to capture pid values for logging
int32_t rate_error;
int32_t output;
@ -252,6 +251,7 @@ get_rate_yaw(int32_t target_rate)
output = constrain(output, -yaw_limit, yaw_limit);
#if LOGGING_ENABLED == ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
// log output if PID loggins is on and we are tuning the yaw
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) {
log_counter++;
@ -573,7 +573,6 @@ static int32_t
get_of_roll(int32_t control_roll)
{
#ifdef OPTFLOW_ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
static float tot_x_cm = 0; // total distance from target
static uint32_t last_of_roll_update = 0;
int32_t new_roll = 0;
@ -603,6 +602,7 @@ get_of_roll(int32_t control_roll)
of_roll = constrain(new_roll, (of_roll-20), (of_roll+20));
#if LOGGING_ENABLED == ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
// log output if PID logging is on and we are tuning the rate P, I or D gains
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
log_counter++;
@ -627,7 +627,6 @@ static int32_t
get_of_pitch(int32_t control_pitch)
{
#ifdef OPTFLOW_ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
static float tot_y_cm = 0; // total distance from target
static uint32_t last_of_pitch_update = 0;
int32_t new_pitch = 0;
@ -658,6 +657,7 @@ get_of_pitch(int32_t control_pitch)
of_pitch = constrain(new_pitch, (of_pitch-20), (of_pitch+20));
#if LOGGING_ENABLED == ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
// log output if PID logging is on and we are tuning the rate P, I or D gains
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
log_counter++;