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Merge pull request #8926 from ctzsnooze/exclude-yaw-from-ff_max_rate_limit_PR

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exclude yaw from ff_max_rate_limit
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Michael Keller 2019-09-23 19:38:56 +12:00 • committed by GitHub
commit 564db329b0
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1 changed files with 13 additions and 12 deletions
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25
src/main/flight/interpolated_setpoint.c
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@ -98,31 +98,32 @@ FAST_CODE_NOINLINE float interpolatedSpApply(int axis, bool newRcFrame, ffInterp
} }
FAST_CODE_NOINLINE float applyFfLimit(int axis, float value, float Kp, float currentPidSetpoint) { FAST_CODE_NOINLINE float applyFfLimit(int axis, float value, float Kp, float currentPidSetpoint) {
if (axis == FD_ROLL) { switch (axis) {
case FD_ROLL:
DEBUG_SET(DEBUG_FF_LIMIT, 0, value); DEBUG_SET(DEBUG_FF_LIMIT, 0, value);
}
if (axis == FD_ROLL) { break;
case FD_PITCH:
DEBUG_SET(DEBUG_FF_LIMIT, 1, value); DEBUG_SET(DEBUG_FF_LIMIT, 1, value);
break;
} }
if (ffMaxRateLimit[axis]) { if (fabsf(currentPidSetpoint) <= ffMaxRateLimit[axis]) {
if (fabsf(currentPidSetpoint) <= ffMaxRateLimit[axis]) { value = constrainf(value, (-ffMaxRateLimit[axis] - currentPidSetpoint) * Kp, (ffMaxRateLimit[axis] - currentPidSetpoint) * Kp);
value = constrainf(value, (-ffMaxRateLimit[axis] - currentPidSetpoint) * Kp, (ffMaxRateLimit[axis] - currentPidSetpoint) * Kp); } else {
} else { value = 0;
value = 0;
}
} }
if (axis == FD_ROLL) { if (axis == FD_ROLL) {
DEBUG_SET(DEBUG_FF_LIMIT, 2, value); DEBUG_SET(DEBUG_FF_LIMIT, 2, value);
} }
return value; return value;
} }
bool shouldApplyFfLimits(int axis) bool shouldApplyFfLimits(int axis)
{ {
return ffMaxRateLimit[axis] != 0.0f; return ffMaxRateLimit[axis] != 0.0f && axis < FD_YAW;
} }
#endif #endif