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Get rid of unneeded constrain

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borisbstyle 2017-01-30 16:09:58 +01:00
parent 3bcf96e6eb
commit 7bfd2b5d1c
1 changed files with 0 additions and 2 deletions
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src/main/flight/pid.c
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@ -254,8 +254,6 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
dynKi *= itermAccelerator; dynKi *= itermAccelerator;
float ITermDelta = Ki[axis] * errorRate * dT * dynKi; float ITermDelta = Ki[axis] * errorRate * dT * dynKi;
ITerm += ITermDelta; ITerm += ITermDelta;
// also limit maximum integrator value to prevent windup
ITerm = constrainf(ITerm, -250.0f, 250.0f);
previousGyroIf[axis] = ITerm; previousGyroIf[axis] = ITerm;
} }