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PID1 TPA Implementation

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borisbstyle 2015-05-08 15:20:53 +02:00
parent 69292fc966
commit 7f69537f86
2 changed files with 10 additions and 5 deletions
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7
src/main/mw.c
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@ -100,7 +100,7 @@ int16_t headFreeModeHold;
int16_t telemTemperature1; // gyro sensor temperature
static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
extern uint8_t dynP8[3], dynI8[3], dynD8[3];
extern uint8_t dynP8[3], dynI8[3], dynD8[3], redP8[3], redI8[3], redD8[3];
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
@ -218,6 +218,11 @@ void annexCode(void)
dynI8[axis] = (uint16_t)currentProfile->pidProfile.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)currentProfile->pidProfile.D8[axis] * prop1 / 100;
// non coupled PID reduction used in PID controller 1
redP8[axis] = (uint16_t)currentProfile->pidProfile.P8[axis] * prop2 / 100;
redI8[axis] = (uint16_t)currentProfile->pidProfile.I8[axis] * prop2 / 100;
redD8[axis] = (uint16_t)currentProfile->pidProfile.D8[axis] * prop2 / 100;
if (rcData[axis] < masterConfig.rxConfig.midrc)
rcCommand[axis] = -rcCommand[axis];
}