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address style requests

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This commit is contained in:
Thorsten Laux 2018-05-25 07:16:23 +02:00
parent e1ff2566c6
commit 0086932946
1 changed files with 5 additions and 3 deletions
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8
src/main/flight/pid.c
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@ -607,7 +607,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
currentPidSetpoint = 0.0f; currentPidSetpoint = 0.0f;
} }
#endif // USE_YAW_SPIN_RECOVERY #endif // USE_YAW_SPIN_RECOVERY
// -----calculate error rate // -----calculate error rate
const float gyroRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec const float gyroRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
float errorRate = currentPidSetpoint - gyroRate; // r - y float errorRate = currentPidSetpoint - gyroRate; // r - y
@ -635,10 +635,12 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
DEBUG_SET(DEBUG_ITERM_RELAX, 1, gyroTargetLow); DEBUG_SET(DEBUG_ITERM_RELAX, 1, gyroTargetLow);
const float gmax = MAX(gyroTargetHigh, gyroTargetLow); const float gmax = MAX(gyroTargetHigh, gyroTargetLow);
const float gmin = MIN(gyroTargetHigh, gyroTargetLow); const float gmin = MIN(gyroTargetHigh, gyroTargetLow);
if (gyroRate >= gmin && gyroRate <= gmax) if (gyroRate >= gmin && gyroRate <= gmax) {
itermErrorRate = 0.0f; itermErrorRate = 0.0f;
else }
else {
itermErrorRate = (gyroRate > gmax ? gmax : gmin ) - gyroRate; itermErrorRate = (gyroRate > gmax ? gmax : gmin ) - gyroRate;
}
} }
else itermErrorRate = errorRate; else itermErrorRate = errorRate;