Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 14:25:20 +03:00
Code Issues Wiki Activity

Minor cleanup

Browse source 
Fix for integer PIDC
This commit is contained in:
borisbstyle 2016-07-17 21:12:46 +02:00
parent 221f617799
commit 2d6e0da773
2 changed files with 1 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/flight/mixer.c
View file

@ -836,10 +836,6 @@ void mixTable(void)
throttleMax = throttleMax - (rollPitchYawMixRange / 2); throttleMax = throttleMax - (rollPitchYawMixRange / 2);
} }
// adjust feedback to scale PID error inputs to our limitations.
errorLimiter = constrainf(((float)throttleRange / rollPitchYawMixRange), 0.1f, 1.0f);
if (debugMode == DEBUG_AIRMODE) debug[1] = errorLimiter * 100;
// Now add in the desired throttle, but keep in a range that doesn't clip adjusted // Now add in the desired throttle, but keep in a range that doesn't clip adjusted
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips. // roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (i = 0; i < motorCount; i++) { for (i = 0; i < motorCount; i++) {

2
src/main/flight/pid.c
View file

@ -323,7 +323,7 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
uint16_t dynamicFactor = (1 << 8) - constrain(((ABS(AngleRateTmp) << 6) / resetRate), 0, 1 << 8); uint16_t dynamicFactor = (1 << 8) - constrain(((ABS(AngleRateTmp) << 6) / resetRate), 0, 1 << 8);
uint16_t dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8; uint16_t dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8;
errorGyroI[axis] = errorGyroI[axis] + ((uint16_t)targetPidLooptime >> 11) * dynamicKi; errorGyroI[axis] = errorGyroI[axis] + ((RateError * (uint16_t)targetPidLooptime) >> 11) * dynamicKi;
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated. // limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
// 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