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Smoother Iterm Ignore transition
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2 changed files with 3 additions and 4 deletions
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@ -106,8 +106,7 @@ uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile) {
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resetRate = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
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uint32_t dynamicFactor = (1 << 8) - constrain((ABS(gyroADC[axis]) << 6) / resetRate, 0, 1 << 8);
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uint32_t dynamicFactor = ((resetRate << 16) / (resetRate + ABS(gyroADC[axis]))) >> 8;
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dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8;
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return dynamicKi;
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