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exclude yaw from AG driven P boost

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This commit is contained in:
ctzsnooze 2020-12-09 17:03:43 +11:00
parent b19434c9cb
commit 5b40fcc326
1 changed files with 3 additions and 6 deletions
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9
src/main/flight/pid.c
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@ -1159,12 +1159,9 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
float agBoostAttenuator = fabsf(currentPidSetpoint) / 50.0f;
agBoostAttenuator = MAX(agBoostAttenuator, 1.0f);
const float agBoost = 1.0f + (pidRuntime.antiGravityPBoost / agBoostAttenuator);
pidData[axis].P *= agBoost;
if (axis == FD_ROLL) {
DEBUG_SET(DEBUG_ANTI_GRAVITY, 2, lrintf(agBoost * 1000));
}
if (axis == FD_PITCH) {
DEBUG_SET(DEBUG_ANTI_GRAVITY, 3, lrintf(agBoost * 1000));
if (axis != FD_YAW) {
pidData[axis].P *= agBoost;
DEBUG_SET(DEBUG_ANTI_GRAVITY, axis + 2, lrintf(agBoost * 1000));
}
const float pidSum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F;