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Add option to fully disable PID controller on zero throttle

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This commit is contained in:
borisbstyle 2016-07-18 02:18:04 +02:00
parent 37fd2e5adc
commit 0ae5d9734e
6 changed files with 26 additions and 6 deletions
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15
src/main/flight/pid.c
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@ -49,9 +49,10 @@
extern uint8_t motorCount;
uint32_t targetPidLooptime;
extern float errorLimiter;
extern float angleRate[3], angleRateSmooth[3];
static bool pidStabilisationEnabled;
int16_t axisPID[3];
#ifdef BLACKBOX
@ -76,14 +77,17 @@ void setTargetPidLooptime(uint8_t pidProcessDenom)
void pidResetErrorGyroState(void)
{
int axis;
for (axis = 0; axis < 3; axis++) {
for (int axis = 0; axis < 3; axis++) {
errorGyroI[axis] = 0;
errorGyroIf[axis] = 0.0f;
}
}
void pidStabilisationState(pidStabilisationState_e pidControllerState)
{
pidStabilisationEnabled = (pidControllerState == PID_STABILISATION_ON) ? true : false;
}
float getdT (void)
{
static float dT;
@ -269,6 +273,8 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
}
if (!pidStabilisationEnabled) axisPID[axis] = 0;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
@ -409,6 +415,7 @@ static void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclina
axisPID[axis] = PTerm + ITerm + DTerm;
}
if (!pidStabilisationEnabled) axisPID[axis] = 0;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {