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Add anti_gravity_gain // new defaults

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borisbstyle 2017-01-19 00:00:33 +01:00
parent b3c5980683
commit 093115a2a0
8 changed files with 24 additions and 12 deletions
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8
src/main/flight/pid.c
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@ -65,6 +65,12 @@ void pidResetErrorGyroState(void)
}
}
static float itermAccelerator = 1.0f;
void pidSetItermAccelerator(float newItermAccelerator) {
itermAccelerator = newItermAccelerator;
}
void pidStabilisationState(pidStabilisationState_e pidControllerState)
{
pidStabilisationEnabled = (pidControllerState == PID_STABILISATION_ON) ? true : false;
@ -237,7 +243,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
const float setpointRateScaler = constrainf(1.0f - (ABS(currentPidSetpoint) / accumulationThreshold), 0.0f, 1.0f);
float ITerm = previousGyroIf[axis];
ITerm += Ki[axis] * errorRate * dT * setpointRateScaler;
ITerm += Ki[axis] * errorRate * dT * setpointRateScaler * itermAccelerator;
// limit maximum integrator value to prevent WindUp
ITerm = constrainf(ITerm, -250.0f, 250.0f);
previousGyroIf[axis] = ITerm;