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Replace CALC_OFFSET with ABS

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borisbstyle 2015-12-11 00:44:11 +01:00
parent 0e37cb3278
commit 39c455a3eb
2 changed files with 5 additions and 7 deletions
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10
src/main/flight/pid.c
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@ -51,8 +51,6 @@ extern float dT;
extern float totalErrorRatioLimit;
extern bool allowITermShrinkOnly;
#define CALC_OFFSET(x) ( (x > 0) ? x : -x )
int16_t axisPID[3];
#ifdef BLACKBOX
@ -178,10 +176,10 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
if (allowITermShrinkOnly || totalErrorRatioLimit < 0.98f) {
if (CALC_OFFSET(errorGyroIf[axis]) < CALC_OFFSET(previousErrorGyroIf[axis])) {
if (ABS(errorGyroIf[axis]) < ABS(previousErrorGyroIf[axis])) {
previousErrorGyroIf[axis] = errorGyroIf[axis];
} else {
errorGyroIf[axis] = constrain(errorGyroIf[axis], -CALC_OFFSET(previousErrorGyroIf[axis]), CALC_OFFSET(previousErrorGyroIf[axis]));
errorGyroIf[axis] = constrain(errorGyroIf[axis], -ABS(previousErrorGyroIf[axis]), ABS(previousErrorGyroIf[axis]));
}
} else {
previousErrorGyroIf[axis] = errorGyroIf[axis];
@ -329,10 +327,10 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
ITerm = errorGyroI[axis] >> 13;
if (allowITermShrinkOnly || totalErrorRatioLimit < 0.98f) {
if (CALC_OFFSET(errorGyroI[axis]) < CALC_OFFSET(previousErrorGyroI[axis])) {
if (ABS(errorGyroI[axis]) < ABS(previousErrorGyroI[axis])) {
previousErrorGyroI[axis] = errorGyroI[axis];
} else {
errorGyroI[axis] = constrain(errorGyroI[axis], -CALC_OFFSET(previousErrorGyroI[axis]), CALC_OFFSET(previousErrorGyroI[axis]));
errorGyroI[axis] = constrain(errorGyroI[axis], -ABS(previousErrorGyroI[axis]), ABS(previousErrorGyroI[axis]));
}
} else {
previousErrorGyroI[axis] = errorGyroI[axis];