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Minor cleanup

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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
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4
src/main/flight/mixer.c
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@ -836,10 +836,6 @@ void mixTable(void)
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
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (i = 0; i < motorCount; i++) {

2
src/main/flight/pid.c
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@ -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 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.
// I coefficient (I8) moved before integration to make limiting independent from PID settings