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Exclude MPU6000 gyro from yaw overflow handling

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This commit is contained in:
Martin Budden 2017-08-25 10:53:03 +01:00
parent dc58e526d4
commit 7fd3b143ca
1 changed files with 4 additions and 1 deletions
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5
src/main/flight/pid.c
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@ -415,6 +415,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
} }
if (axis == FD_YAW) { if (axis == FD_YAW) {
// on yaw axis, prevent "yaw spin to the moon" after crash by constraining errorRate // on yaw axis, prevent "yaw spin to the moon" after crash by constraining errorRate
#if !(defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_ICM20649))
#define GYRO_POTENTIAL_OVERFLOW_RATE 1990.0f #define GYRO_POTENTIAL_OVERFLOW_RATE 1990.0f
if (gyroRate > GYRO_POTENTIAL_OVERFLOW_RATE || gyroRate < -GYRO_POTENTIAL_OVERFLOW_RATE) { if (gyroRate > GYRO_POTENTIAL_OVERFLOW_RATE || gyroRate < -GYRO_POTENTIAL_OVERFLOW_RATE) {
// ICM gyros are specified to +/- 2000 deg/sec, in a crash they can go out of spec. // ICM gyros are specified to +/- 2000 deg/sec, in a crash they can go out of spec.
@ -423,7 +424,9 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
// If there is a sign reversal we will actually increase crash-induced yaw spin // If there is a sign reversal we will actually increase crash-induced yaw spin
// so best thing to do is set error to zero. // so best thing to do is set error to zero.
errorRate = 0.0f; errorRate = 0.0f;
} else { } else
#endif
{
errorRate = constrainf(errorRate, -crashLimitYaw, crashLimitYaw); errorRate = constrainf(errorRate, -crashLimitYaw, crashLimitYaw);
} }
} else { } else {