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Reset d_min to 0 if >= D gain for a given axis (#8167)

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Reset d_min to 0 if >= D gain for a given axis
This commit is contained in:
Michael Keller 2019-05-06 19:03:25 +12:00 • committed by mikeller
parent 0cbb27515f
commit 5bc8bc2fd3
1 changed files with 7 additions and 0 deletions
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7
src/main/fc/config.c
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@ -212,6 +212,13 @@ static void validateAndFixConfig(void)
if (pidProfilesMutable(i)->auto_profile_cell_count > MAX_AUTO_DETECT_CELL_COUNT || pidProfilesMutable(i)->auto_profile_cell_count < AUTO_PROFILE_CELL_COUNT_CHANGE) {
pidProfilesMutable(i)->auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY;
}
// If the d_min value for any axis is >= the D gain then reset d_min to 0 for consistent Configurator behavior
for (unsigned axis = 0; axis <= FD_YAW; axis++) {
if (pidProfilesMutable(i)->d_min[axis] >= pidProfilesMutable(i)->pid[axis].D) {
pidProfilesMutable(i)->d_min[axis] = 0;
}
}
}
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {