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Code Issues Wiki Activity

make itermrelax on yaw optional

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This commit is contained in:
Thorsten Laux 2018-05-28 16:34:25 +02:00
parent 7e12e9da18
commit 6239b8258a
3 changed files with 10 additions and 3 deletions
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2
src/main/flight/pid.c
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@ -628,7 +628,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
// -----calculate I component
float itermErrorRate;
if (itermRelax) {
if (itermRelax && (axis < FD_YAW || itermRelax == 2 )) {
const float gyroTargetLow = pt1FilterApply(&windupLpf[axis][0], currentPidSetpoint);
const float gyroTargetHigh = pt1FilterApply(&windupLpf[axis][1], currentPidSetpoint);
if (axis < FD_YAW) {