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AIR MODE implementation

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borisbstyle 2015-12-06 02:19:35 +01:00
parent b3f0bd1402
commit 83d186057f
5 changed files with 88 additions and 30 deletions
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9
src/main/flight/pid.c
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@ -50,6 +50,7 @@
extern uint16_t cycleTime;
extern uint8_t motorCount;
extern float dT;
extern float rpy_limiting;
int16_t axisPID[3];
@ -170,6 +171,10 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// multiplication of rcCommand corresponds to changing the sticks scaling here
RateError = AngleRate - gyroRate;
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
RateError = RateError * rpy_limiting;
}
// -----calculate P component
PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
@ -286,6 +291,10 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// multiplication of rcCommand corresponds to changing the sticks scaling here
RateError = AngleRateTmp - (gyroADC[axis] / 4);
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
RateError = RateError * rpy_limiting;
}
// -----calculate P component
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;