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Code Issues Wiki Activity

Fix floating point tpa bug

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This commit is contained in:
borisbstyle 2016-03-31 00:26:32 +02:00
parent ad0acf3f5f
commit 2689208408
3 changed files with 3 additions and 4 deletions
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3
src/main/flight/pid.c
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@ -60,7 +60,6 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
float tpaFactor;
static int32_t errorGyroI[3], errorGyroILimit[3];
static float errorGyroIf[3], errorGyroIfLimit[3];
@ -137,6 +136,8 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
int axis;
float horizonLevelStrength = 1;
float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
if (FLIGHT_MODE(HORIZON_MODE)) {
// Figure out the raw stick positions
const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));