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Removed TPA from Yaw axis and Changed variable name

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PIDscaler changed to PIDweight as it suits better and is more
understandable as it is percentage of the PID's used.
Yaw TPA is removed as I don't find it necessary after more testing
This commit is contained in:
borisbstyle 2015-05-11 09:18:05 +02:00
parent 174cf545b1
commit 4ec28b8cce
2 changed files with 17 additions and 12 deletions
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11
src/main/mw.c
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@ -100,7 +100,7 @@ int16_t headFreeModeHold;
int16_t telemTemperature1; // gyro sensor temperature
static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
extern uint8_t dynP8[3], dynI8[3], dynD8[3], PIDscaler[3];
extern uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
@ -218,8 +218,13 @@ void annexCode(void)
dynI8[axis] = (uint16_t)currentProfile->pidProfile.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)currentProfile->pidProfile.D8[axis] * prop1 / 100;
// non coupled PID reduction used in PID controller 1 and PID controller 2
PIDscaler[axis] = prop2;
// non coupled PID reduction scaler used in PID controller 1 and PID controller 2. YAW TPA disabled. 100 means 100% of the pids
if (axis == YAW) {
PIDweight[axis] = 100;
}
else {
PIDweight[axis] = prop2;
}
if (rcData[axis] < masterConfig.rxConfig.midrc)
rcCommand[axis] = -rcCommand[axis];