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3D Airmode enhancements // Iterm Shrinking replaced to limiting

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borisbstyle 2016-01-25 12:05:30 +01:00
parent b86f304dec
commit 55cf3913a0
3 changed files with 15 additions and 21 deletions
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16
src/main/flight/pid.c
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@ -50,7 +50,7 @@
extern float dT;
extern bool motorLimitReached;
extern bool allowITermShrinkOnly;
extern bool preventItermWindup;
int16_t axisPID[3];
@ -197,11 +197,9 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
errorGyroIf[axis] *= airModePlusAxisState[axis].iTermScaler;
}
if (allowITermShrinkOnly || motorLimitReached) {
if (ABS(errorGyroIf[axis]) < ABS(previousErrorGyroIf[axis])) {
previousErrorGyroIf[axis] = errorGyroIf[axis];
} else {
errorGyroIf[axis] = constrain(errorGyroIf[axis], -ABS(previousErrorGyroIf[axis]), ABS(previousErrorGyroIf[axis]));
if (preventItermWindup || motorLimitReached) {
if (ABS(errorGyroIf[axis]) > ABS(previousErrorGyroIf[axis])) {
errorGyroIf[axis] = constrainf(errorGyroIf[axis], -ABS(previousErrorGyroIf[axis]), ABS(previousErrorGyroIf[axis]));
}
} else {
previousErrorGyroIf[axis] = errorGyroIf[axis];
@ -338,10 +336,8 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
errorGyroI[axis] *= airModePlusAxisState[axis].iTermScaler;
}
if (allowITermShrinkOnly || motorLimitReached) {
if (ABS(errorGyroI[axis]) < ABS(previousErrorGyroI[axis])) {
previousErrorGyroI[axis] = errorGyroI[axis];
} else {
if (preventItermWindup || motorLimitReached) {
if (ABS(errorGyroI[axis]) > ABS(previousErrorGyroI[axis])) {
errorGyroI[axis] = constrain(errorGyroI[axis], -ABS(previousErrorGyroI[axis]), ABS(previousErrorGyroI[axis]));
}
} else {