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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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6
src/main/flight/pid.c
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@ -635,11 +635,13 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
DEBUG_SET(DEBUG_ITERM_RELAX, 1, gyroTargetLow);
const float gmax = MAX(gyroTargetHigh, gyroTargetLow);
const float gmin = MIN(gyroTargetHigh, gyroTargetLow);
if (gyroRate >= gmin && gyroRate <= gmax)
if (gyroRate >= gmin && gyroRate <= gmax) {
itermErrorRate = 0.0f;
else
}
else {
itermErrorRate = (gyroRate > gmax ? gmax : gmin ) - gyroRate;
}
}
else itermErrorRate = errorRate;
const float ITerm = pidData[axis].I;