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Rate limiter

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borisbstyle 2016-06-02 11:06:03 +02:00
parent 09f5c85817
commit 6c8a8614fc
1 changed files with 2 additions and 2 deletions
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4
src/main/flight/pid.c
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@ -80,14 +80,14 @@ float calculateRate(int axis, const controlRateConfig_t *controlRateConfig) {
if (isSuperExpoActive()) { if (isSuperExpoActive()) {
float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / 500.0f) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f))); float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / 500.0f) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f)));
rcFactor = 1.0f / (1.0f - (rcFactor * (controlRateConfig->rates[axis] / 100.0f))); rcFactor = constrainf(1.0f / (1.0f - (rcFactor * (controlRateConfig->rates[axis] / 100.0f))), 0.01f, 1.00f);
angleRate = rcFactor * ((27 * rcCommand[axis]) / 16.0f); angleRate = rcFactor * ((27 * rcCommand[axis]) / 16.0f);
} else { } else {
angleRate = (float)((controlRateConfig->rates[axis] + 27) * rcCommand[axis]) / 16.0f; angleRate = (float)((controlRateConfig->rates[axis] + 27) * rcCommand[axis]) / 16.0f;
} }
return angleRate; return constrainf(angleRate, -8190, 8290); // Rate limit protection
} }
uint16_t getDynamicKp(int axis, const pidProfile_t *pidProfile) { uint16_t getDynamicKp(int axis, const pidProfile_t *pidProfile) {