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Scaled PID deltaT calculations from us to seconds

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This commit is contained in:
Martin Budden 2017-11-19 04:24:40 +00:00
parent a9105e88c4
commit 34b48badb9
1 changed files with 4 additions and 4 deletions
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8
src/main/flight/pid.c
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@ -410,11 +410,11 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
const float tpaFactor = getThrottlePIDAttenuation(); const float tpaFactor = getThrottlePIDAttenuation();
const float motorMixRange = getMotorMixRange(); const float motorMixRange = getMotorMixRange();
static timeUs_t crashDetectedAtUs; static timeUs_t crashDetectedAtUs;
static timeUs_t previousTime; static timeUs_t previousTimeUs;
// calculate actual deltaT // calculate actual deltaT in seconds
const float deltaT = currentTimeUs - previousTime; const float deltaT = (currentTimeUs - previousTimeUs) * 0.000001f;
previousTime = currentTimeUs; previousTimeUs = currentTimeUs;
// Dynamic ki component to gradually scale back integration when above windup point // Dynamic ki component to gradually scale back integration when above windup point
const float dynKi = MIN((1.0f - motorMixRange) * ITermWindupPointInv, 1.0f); const float dynKi = MIN((1.0f - motorMixRange) * ITermWindupPointInv, 1.0f);