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Merge pull request #9633 from mikeller/remove_vbat_pid_compensation

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Remove vbat pid compensation
This commit is contained in:
Michael Keller 2020-07-06 13:41:27 +12:00 • committed by GitHub
commit 41fa8754bc
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13 changed files with 7 additions and 27 deletions
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7
src/main/flight/mixer.c
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@ -825,7 +825,7 @@ static void updateDynLpfCutoffs(timeUs_t currentTimeUs, float throttle)
}
#endif
FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
{
// Find min and max throttle based on conditions. Throttle has to be known before mixing
calculateThrottleAndCurrentMotorEndpoints(currentTimeUs);
@ -867,9 +867,6 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
scaledAxisPidYaw = -scaledAxisPidYaw;
}
// Calculate voltage compensation
const float vbatCompensationFactor = vbatPidCompensation ? calculateVbatPidCompensation() : 1.0f;
// Apply the throttle_limit_percent to scale or limit the throttle based on throttle_limit_type
if (currentControlRateProfile->throttle_limit_type != THROTTLE_LIMIT_TYPE_OFF) {
throttle = applyThrottleLimit(throttle);
@ -903,8 +900,6 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
scaledAxisPidPitch * activeMixer[i].pitch +
scaledAxisPidYaw * activeMixer[i].yaw;
mix *= vbatCompensationFactor; // Add voltage compensation
if (mix > motorMixMax) {
motorMixMax = mix;
} else if (mix < motorMixMin) {