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Merge pull request #4013 from martinbudden/bf_anglelimit

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Fix to angle mode limit
This commit is contained in:
Martin Budden 2017-09-03 20:02:55 +01:00 • committed by GitHub
commit 0485d5ece7
4 changed files with 5 additions and 8 deletions
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5
src/main/flight/pid.c
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@ -69,7 +69,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT
);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 1);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 2);
void resetPidProfile(pidProfile_t *pidProfile)
{
@ -98,7 +98,6 @@ void resetPidProfile(pidProfile_t *pidProfile)
.vbatPidCompensation = 0,
.pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55,
.levelSensitivity = 55,
.setpointRelaxRatio = 100,
.dtermSetpointWeight = 60,
.yawRateAccelLimit = 100,
@ -354,7 +353,7 @@ static float calcHorizonLevelStrength(void)
static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
// calculate error angle and limit the angle to the max inclination
// rcDeflection is in range [-1.0, 1.0]
float angle = pidProfile->levelSensitivity * getRcDeflection(axis);
float angle = pidProfile->levelAngleLimit * getRcDeflection(axis);
#ifdef GPS
angle += GPS_angle[axis];
#endif