Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 01:05:27 +03:00
Code Issues Wiki Activity

Merge pull request #3241 from betaflight/rc_smoothing_level_modes

Browse source 
Disable setpointweight on other modes than acro // Remove forced rc s…
This commit is contained in:
Martin Budden 2017-06-11 13:19:01 +01:00 • committed by GitHub
commit 30c1f22990
2 changed files with 4 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/fc/fc_rc.c
View file

@ -189,7 +189,7 @@ void processRcCommand(void)
}
}
if (rxConfig()->rcInterpolation || flightModeFlags) {
if (rxConfig()->rcInterpolation) {
// Set RC refresh rate for sampling and channels to filter
switch(rxConfig()->rcInterpolation) {
case(RC_SMOOTHING_AUTO):

6
src/main/flight/pid.c
View file

@ -436,9 +436,9 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
float gyroRateFiltered = dtermNotchFilterApplyFn(dtermFilterNotch[axis], gyroRate);
gyroRateFiltered = dtermLpfApplyFn(dtermFilterLpf[axis], gyroRateFiltered);
float dynC = dtermSetpointWeight;
if (pidProfile->setpointRelaxRatio < 100) {
dynC *= MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
float dynC = 0;
if ( (pidProfile->setpointRelaxRatio < 100) && (!flightModeFlags) ) {
dynC = dtermSetpointWeight * MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
}
const float rD = dynC * currentPidSetpoint - gyroRateFiltered; // cr - y
// Divide rate change by dT to get differential (ie dr/dt)