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Disable setpointweight on other modes than acro // Remove forced rc smoothing for level modes

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U-DESKTOP-12PPI61\boris.bozic 2017-06-09 14:28:51 +02:00
parent 617d36a6a9
commit 45c578c8b6
2 changed files with 4 additions and 4 deletions
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6
src/main/flight/pid.c
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@ -436,9 +436,9 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
float gyroRateFiltered = dtermNotchFilterApplyFn(dtermFilterNotch[axis], gyroRate);
gyroRateFiltered = dtermLpfApplyFn(dtermFilterLpf[axis], gyroRateFiltered);
float dynC = dtermSetpointWeight;
if (pidProfile->setpointRelaxRatio < 100) {
dynC *= MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
float dynC = 0;
if ( (pidProfile->setpointRelaxRatio < 100) && (!flightModeFlags) ) {
dynC = dtermSetpointWeight * MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
}
const float rD = dynC * currentPidSetpoint - gyroRateFiltered; // cr - y
// Divide rate change by dT to get differential (ie dr/dt)