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Code Issues Wiki Activity

Dterm scaling correction // Code cleanup

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borisbstyle 2015-09-19 23:37:41 +02:00
parent f5ad7f6003
commit 0539abc649
13 changed files with 34 additions and 84 deletions
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10
src/main/flight/pid.c
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@ -210,7 +210,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
}
DTerm = constrainf((delta / 3.0f) * pidProfile->D_f[axis] * PIDweight[axis] / 100, -300.0f, 300.0f);
DTerm = constrainf(delta * pidProfile->D_f[axis] * PIDweight[axis] / 100, -300.0f, 300.0f);
// -----calculate total PID output
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
@ -301,7 +301,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
}
DTerm = (delta * dynD8[axis]) / 32;
DTerm = (delta * 3 * dynD8[axis]) / 32;
axisPID[axis] = PTerm + ITerm - DTerm;
#ifdef BLACKBOX
@ -386,7 +386,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
}
DTerm = ((int32_t)delta * dynD8[axis]) >> 5; // 32 bits is needed for calculation
DTerm = ((int32_t)delta * 3 * dynD8[axis]) >> 5; // 32 bits is needed for calculation
axisPID[axis] = PTerm + ITerm - DTerm;
@ -504,7 +504,7 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
}
DTerm = (delta * dynD8[axis]) / 32;
DTerm = (delta * 3 * dynD8[axis]) / 32;
axisPID[axis] = PTerm + ITerm - DTerm;
#ifdef BLACKBOX
@ -775,7 +775,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
}
DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
DTerm = (delta * 3 * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8; // Multiplied by 3 to match old scaling
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;