From f4796c3676cc8f152bb06b0a538318a1ccb74b90 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Wed, 24 Aug 2016 01:07:04 +0200
Subject: [PATCH] Drop Betaflight PIDc support for OPBL

---
 src/main/config/config.c      | 4 ++++
 src/main/io/serial_cli.c      | 2 ++
 src/main/io/serial_msp.c      | 2 ++
 src/main/target/CC3D/target.h | 1 +
 4 files changed, 9 insertions(+)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index f74bf867f..996dd1f20 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -199,7 +199,11 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
 
 static void resetPidProfile(pidProfile_t *pidProfile)
 {
+#if defined(SKIP_PID_FLOAT)
+    pidProfile->pidController = PID_CONTROLLER_LEGACY;
+#else
     pidProfile->pidController = PID_CONTROLLER_BETAFLIGHT;
+#endif
 
     pidProfile->P8[ROLL] = 45;
     pidProfile->I8[ROLL] = 40;
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index ff524656e..d26a31047 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -862,7 +862,9 @@ const clivalue_t valueTable[] = {
     { "yaw_lowpass",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
     { "pid_process_denom",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.pid_process_denom, .config.minmax = { 1,  8 } },
 
+#ifndef SKIP_PID_FLOAT
     { "pid_controller",             VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },
+#endif
 
     { "p_pitch",                    VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0,  200 } },
     { "i_pitch",                    VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0,  200 } },
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 3844595c3..52de0e4ed 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -1353,8 +1353,10 @@ static bool processInCommand(void)
         read16();
         break;
     case MSP_SET_PID_CONTROLLER:
+#ifndef SKIP_PID_FLOAT
         currentProfile->pidProfile.pidController = constrain(read8(), 0, 1);
         pidSetController(currentProfile->pidProfile.pidController);
+#endif
         break;
     case MSP_SET_PID:
         for (i = 0; i < PID_ITEM_COUNT; i++) {
diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h
index 4cf679e1e..cdf8ceab1 100644
--- a/src/main/target/CC3D/target.h
+++ b/src/main/target/CC3D/target.h
@@ -118,6 +118,7 @@
 #undef SONAR
 #undef USE_SOFTSERIAL1
 #undef LED_STRIP
+#define SKIP_PID_FLOAT
 #endif
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
-- 
2.11.4.GIT