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Improved ITerm windup handling for tricopter

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This commit is contained in:
Martin Budden 2017-03-11 07:44:24 +00:00
parent d0475a6987
commit 37c9d3c47e
3 changed files with 20 additions and 3 deletions
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9
src/main/flight/pid.c
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@ -335,9 +335,12 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
}
// -----calculate I component
if (motorMixRange < 1.0f) {
// Only increase ITerm if motor output is not saturated
axisPID_I[axis] += Ki[axis] * errorRate * dT * dynKi * itermAccelerator;
const float ITerm = axisPID_I[axis];
const float ITermNew = ITerm + Ki[axis] * errorRate * dT * dynKi * itermAccelerator;
const bool outputSaturated = mixerIsOutputSaturated(axis, errorRate);
if (outputSaturated == false || ABS(ITermNew) < ABS(ITerm)) {
// Only increase ITerm if output is not saturated
axisPID_I[axis] = ITermNew;
}
// -----calculate D component