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Configurable Yaw Pterm Filter

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Fix compile error
This commit is contained in:
borisbstyle 2015-11-13 14:51:41 +01:00
parent b4130ee726
commit 6d5dcb5495
5 changed files with 9 additions and 6 deletions
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8
src/main/flight/pid.c
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@ -173,8 +173,8 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate P component
PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
if (axis == YAW && pidProfile->yaw_pterm_cut_hz) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, pidProfile->yaw_pterm_cut_hz, dT);
}
// -----calculate I component.
@ -289,8 +289,8 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// -----calculate P component
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
if (axis == YAW && pidProfile->yaw_pterm_cut_hz) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, pidProfile->yaw_pterm_cut_hz, dT);
}
// -----calculate I component