Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 00:05:33 +03:00
Code Issues Wiki Activity

incorporate style feedback

Browse source
This commit is contained in:
Thorsten Laux 2018-05-25 11:32:15 +02:00
parent 0086932946
commit 5a1d84cdae
1 changed files with 5 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

10
src/main/flight/pid.c
View file

@ -629,20 +629,20 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
// -----calculate I component // -----calculate I component
float itermErrorRate; float itermErrorRate;
if (itermRelax) { if (itermRelax) {
const float gyroTargetHigh = pt1FilterApply(&windupLpf[axis][0], currentPidSetpoint); const float gyroTargetLow = pt1FilterApply(&windupLpf[axis][0], currentPidSetpoint);
const float gyroTargetLow = pt1FilterApply(&windupLpf[axis][1], currentPidSetpoint); const float gyroTargetHigh = pt1FilterApply(&windupLpf[axis][1], currentPidSetpoint);
DEBUG_SET(DEBUG_ITERM_RELAX, 0, gyroTargetHigh); DEBUG_SET(DEBUG_ITERM_RELAX, 0, gyroTargetHigh);
DEBUG_SET(DEBUG_ITERM_RELAX, 1, gyroTargetLow); DEBUG_SET(DEBUG_ITERM_RELAX, 1, gyroTargetLow);
const float gmax = MAX(gyroTargetHigh, gyroTargetLow); const float gmax = MAX(gyroTargetHigh, gyroTargetLow);
const float gmin = MIN(gyroTargetHigh, gyroTargetLow); const float gmin = MIN(gyroTargetHigh, gyroTargetLow);
if (gyroRate >= gmin && gyroRate <= gmax) { if (gyroRate >= gmin && gyroRate <= gmax) {
itermErrorRate = 0.0f; itermErrorRate = 0.0f;
} } else {
else {
itermErrorRate = (gyroRate > gmax ? gmax : gmin ) - gyroRate; itermErrorRate = (gyroRate > gmax ? gmax : gmin ) - gyroRate;
} }
} else {
itermErrorRate = errorRate;
} }
else itermErrorRate = errorRate;
const float ITerm = pidData[axis].I; const float ITerm = pidData[axis].I;
const float ITermNew = constrainf(ITerm + pidCoefficient[axis].Ki * itermErrorRate * dynCi, -itermLimit, itermLimit); const float ITermNew = constrainf(ITerm + pidCoefficient[axis].Ki * itermErrorRate * dynCi, -itermLimit, itermLimit);