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debug log only roll and pitch, but separately

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This commit is contained in:
Thorsten Laux 2018-05-27 09:33:20 +02:00
parent 5a1d84cdae
commit 2c02c14a1d
1 changed files with 5 additions and 2 deletions
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7
src/main/flight/pid.c
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@ -631,8 +631,11 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
if (itermRelax) {
const float gyroTargetLow = pt1FilterApply(&windupLpf[axis][0], currentPidSetpoint);
const float gyroTargetHigh = pt1FilterApply(&windupLpf[axis][1], currentPidSetpoint);
DEBUG_SET(DEBUG_ITERM_RELAX, 0, gyroTargetHigh);
DEBUG_SET(DEBUG_ITERM_RELAX, 1, gyroTargetLow);
if (axis < FD_YAW) {
int itemOffset = (axis << 1);
DEBUG_SET(DEBUG_ITERM_RELAX, itemOffset++, gyroTargetHigh);
DEBUG_SET(DEBUG_ITERM_RELAX, itemOffset, gyroTargetLow);
}
const float gmax = MAX(gyroTargetHigh, gyroTargetLow);
const float gmin = MIN(gyroTargetHigh, gyroTargetLow);
if (gyroRate >= gmin && gyroRate <= gmax) {