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Code Issues Wiki Activity

D scaling adjusted to match normal Cleanflight

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borisbstyle 2015-10-08 16:34:11 +02:00
parent 8d8d57a1f4
commit 4cbff888df
2 changed files with 7 additions and 7 deletions
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8
src/main/flight/pid.c
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@ -289,7 +289,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
}
DTerm = (delta * dynD8[axis]) / 32;
DTerm = (delta * 3 * dynD8[axis]) / 32; // Multiplied by 3 to match old scaling
axisPID[axis] = PTerm + ITerm - DTerm;
#ifdef GTUNE
@ -374,7 +374,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
}
DTerm = ((int32_t)delta * dynD8[axis]) >> 5; // 32 bits is needed for calculation
DTerm = ((int32_t)delta * 3 * dynD8[axis]) >> 5; // 32 bits is needed for calculation. Multiplied by 3 to match old scaling
axisPID[axis] = PTerm + ITerm - DTerm;
@ -498,7 +498,7 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
}
DTerm = (delta * dynD8[axis]) / 32;
DTerm = (delta * 3 * dynD8[axis]) / 32; // Multiplied by 3 to match old scaling
axisPID[axis] = PTerm + ITerm - DTerm;
#ifdef GTUNE
@ -785,7 +785,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
}
DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8; // Multiplied by 3 to match old scaling
DTerm = (delta * 3 * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8; // Multiplied by 3 to match old scaling
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;