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Code Issues Wiki Activity

Correct setpoint behaviour

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This commit is contained in:
borisbstyle 2017-09-08 14:58:47 +02:00
parent a2b24692da
commit 00414b29b6
2 changed files with 3 additions and 3 deletions
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4
src/main/flight/pid.c
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@ -99,7 +99,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55,
.setpointRelaxRatio = 100,
.dtermSetpointWeight = 60,
.dtermSetpointWeight = 0,
.yawRateAccelLimit = 100,
.rateAccelLimit = 0,
.itermThrottleThreshold = 350,
@ -488,7 +488,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
gyroRateFiltered = dtermLpfApplyFn(dtermFilterLpf[axis], gyroRateFiltered);
float dynC = 0;
if ( (pidProfile->setpointRelaxRatio < 100) && (!flightModeFlags) ) {
if ( (pidProfile->dtermSetpointWeight > 0) && (!flightModeFlags) ) {
dynC = dtermSetpointWeight * MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
}
const float rD = dynC * currentPidSetpoint - gyroRateFiltered; // cr - y