Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-26 01:35:41 +03:00
Code Issues Wiki Activity

PID sum limits applied before scaling

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

8
src/main/flight/mixer.c
View file

@ -591,17 +591,17 @@ void mixTable(uint8_t vbatPidCompensation)
// Calculate and Limit the PIDsum // Calculate and Limit the PIDsum
float scaledAxisPidRoll = 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 = 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 = 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()) { if (isMotorsReversed()) {
scaledAxisPidRoll = -scaledAxisPidRoll; scaledAxisPidRoll = -scaledAxisPidRoll;
scaledAxisPidPitch = -scaledAxisPidPitch; scaledAxisPidPitch = -scaledAxisPidPitch;
scaledAxisPidYaw = -scaledAxisPidYaw; scaledAxisPidYaw = -scaledAxisPidYaw;
} }
if (mixerConfig()->yaw_motors_reversed) { if (!mixerConfig()->yaw_motors_reversed) {
scaledAxisPidYaw = -scaledAxisPidYaw; scaledAxisPidYaw = -scaledAxisPidYaw;
} }