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Code Issues Wiki Activity

PID sum limits applied before scaling

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This commit is contained in:
Martin Budden 2017-08-13 20:03:06 +01:00
parent 21eedd80a7
commit 533734a58d
1 changed files with 4 additions and 4 deletions
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8
src/main/flight/mixer.c
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@ -591,17 +591,17 @@ void mixTable(uint8_t vbatPidCompensation)
// Calculate and Limit the PIDsum
float scaledAxisPidRoll =
constrainf((axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL]) / PID_MIXER_SCALING, -pidSumLimit, pidSumLimit);
constrainf(axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL], -pidSumLimit, pidSumLimit) / PID_MIXER_SCALING;
float scaledAxisPidPitch =
constrainf((axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH]) / PID_MIXER_SCALING, -pidSumLimit, pidSumLimit);
constrainf(axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH], -pidSumLimit, pidSumLimit) / PID_MIXER_SCALING;
float scaledAxisPidYaw =
-constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW]) / PID_MIXER_SCALING, -pidSumLimitYaw, pidSumLimitYaw);
constrainf(axisPID_P[FD_YAW] + axisPID_I[FD_YAW], -pidSumLimitYaw, pidSumLimitYaw) / PID_MIXER_SCALING;
if (isMotorsReversed()) {
scaledAxisPidRoll = -scaledAxisPidRoll;
scaledAxisPidPitch = -scaledAxisPidPitch;
scaledAxisPidYaw = -scaledAxisPidYaw;
}
if (mixerConfig()->yaw_motors_reversed) {
if (!mixerConfig()->yaw_motors_reversed) {
scaledAxisPidYaw = -scaledAxisPidYaw;
}