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yaw improvement

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this should stop the copter from carrying on spinning at high yaw rates.

Conflicts:
	src/mw.c
This commit is contained in:
luggi 2014-06-07 15:32:08 +02:00 • committed by Dominic Clifton
parent d6545efa10
commit 432c43bab7
1 changed files with 3 additions and 2 deletions
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5
src/main/flight/flight.c
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@ -194,8 +194,9 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
PTermGYRO = rcCommand[axis];
errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
if (abs(gyroData[axis]) > (640 * 4))
if ((abs(gyroData[axis]) > 640) || (abs(rcCommand[axis]) > 50))
errorGyroI[axis] = 0;
ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;
}
if (f.HORIZON_MODE && (axis == FD_ROLL || axis == FD_PITCH)) {
@ -239,7 +240,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
for (axis = 0; axis < 3; axis++) {
// -----Get the desired angle rate depending on flight mode
if (axis == FD_YAW) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = (((int32_t)(controlRateConfig->yawRate + 27) * rcCommand[2]) >> 5);
AngleRateTmp = (((int32_t)(controlRateConfig->yawRate + 27) * rcCommand[YAW]) >> 5);
} else {
// calculate error and limit the angle to max configured inclination
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int) max_angle_inclination),