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Code Issues Wiki Activity

Iterm reset only on yaw for now

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borisbstyle 2016-03-31 23:59:19 +02:00
parent 7c83d23ddf
commit 24b97aed01
1 changed files with 8 additions and 4 deletions
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12
src/main/flight/pid.c
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@ -205,10 +205,12 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate I component. // -----calculate I component.
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * getdT() * pidProfile->I8[axis] / 10.0f, -250.0f, 250.0f); errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * getdT() * pidProfile->I8[axis] / 10.0f, -250.0f, 250.0f);
if (IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) {
if (ABS(gyroRate) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = 0;
}
if (axis == YAW) { if (axis == YAW) {
if (ABS(gyroRate) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = 0; if (ABS(gyroRate) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = 0;
} else {
if (ABS(gyroRate) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = 0;
} }
if (antiWindupProtection || motorLimitReached) { if (antiWindupProtection || motorLimitReached) {
@ -490,10 +492,12 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
// I coefficient (I8) moved before integration to make limiting independent from PID settings // I coefficient (I8) moved before integration to make limiting independent from PID settings
errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13); errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
if (IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) {
if (ABS(gyroRate / 4) >= pidProfile->rollPitchItermResetRate) errorGyroI[axis] = 0;
}
if (axis == YAW) { if (axis == YAW) {
if (ABS(gyroRate / 4) >= pidProfile->yawItermResetRate) errorGyroI[axis] = 0; if (ABS(gyroRate / 4) >= pidProfile->yawItermResetRate) errorGyroI[axis] = 0;
} else {
if (ABS(gyroRate / 4) >= pidProfile->rollPitchItermResetRate) errorGyroI[axis] = 0;
} }
if (antiWindupProtection || motorLimitReached) { if (antiWindupProtection || motorLimitReached) {