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might work

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improve

remove const
This commit is contained in:
ctzsnooze 2020-03-11 00:34:07 +11:00 • committed by mikeller
parent acdccd5a16
commit 269fdd0a24
1 changed files with 7 additions and 3 deletions
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10
src/main/flight/pid.c
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@ -1454,11 +1454,15 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
// -----calculate I component // -----calculate I component
#ifdef USE_LAUNCH_CONTROL #ifdef USE_LAUNCH_CONTROL
// if launch control is active override the iterm gains // if launch control is active override the iterm gains
const float Ki = launchControlActive ? launchControlKi : pidCoefficient[axis].Ki; float Ki = launchControlActive ? launchControlKi : pidCoefficient[axis].Ki;
#else #else
const float Ki = pidCoefficient[axis].Ki; float Ki = pidCoefficient[axis].Ki;
#endif #endif
pidData[axis].I = constrainf(previousIterm + (Ki * dynCi + agGain) * itermErrorRate, -itermLimit, itermLimit); // iterm_windup on yaw only
if (axis == FD_YAW) {
Ki *= dynCi;
}
pidData[axis].I = constrainf(previousIterm + (Ki + agGain) * itermErrorRate, -itermLimit, itermLimit);
// -----calculate pidSetpointDelta // -----calculate pidSetpointDelta
float pidSetpointDelta = 0; float pidSetpointDelta = 0;