Bug fix

src/Logic/FlightController.cpp

@@ -173,33 +173,24 @@ void FlightController::stopAllRotors() {
 
 void FlightController::setHeightControllerParams(float p, float i, float d) {
     if (_status == DeviceStatus::Idle) {
-        _heightController->Kp = p;
-        _heightController->Ki = i;
-        _heightController->Kd = d;
-        _heightController->save();
+        _heightController->setParams({.p = p, .i = i, .d = d});
     }
 }
 
 void FlightController::setYawControllerParams(float p, float i, float d) {
     if (_status == DeviceStatus::Idle) {
-        _yawController->Kp = p;
-        _yawController->Ki = i;
-        _yawController->Kd = d;
-        _heightController->save();
+        _heightController->setParams({.p = p, .i = i, .d = d});
     }
 }
 
 void FlightController::setPitchControllerParams(float p, float i, float d) {
     if (_status == DeviceStatus::Idle) {
-        _tailRotorController->Kp = p;
-        _tailRotorController->Ki = i;
-        _tailRotorController->Kd = d;
-        _heightController->save();
+        _heightController->setParams({.p = p, .i = i, .d = d});
     }
 }
 
 PidSettings FlightController::pidSettings() const {
-    PidSettings settings;
+    PidSettings settings{};
     settings.flightController = {.p = _heightController->Kp, .i = _heightController->Ki, .d = _heightController->Kd};
     settings.yawController = {.p = _yawController->Kp, .i = _yawController->Ki, .d = _yawController->Kd};
     settings.pitchController = {.p = _tailRotorController->Kp, .i = _tailRotorController->Ki, .d = _tailRotorController->Kd};

src/Logic/SavedPidRegulator.hpp

@@ -26,13 +26,14 @@ public:
         this->Kp = params.p;
         this->Ki = params.i;
         this->Kd = params.d;
+        save();
     }
 
-    std::shared_ptr<PidParams> getParams() {
-        std::shared_ptr params = std::make_unique<PidParams>();
-        params->p = Kp;
-        params->i = Ki;
-        params->d = Kd;
+    PidParams getParams() {
+        PidParams params{};
+        params.p = Kp;
+        params.i = Ki;
+        params.d = Kd;
         return params;
     }