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Rework maxing out motors

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borisbstyle 2015-12-16 17:27:36 +01:00
parent fdd984bc32
commit 83e932d3a3
2 changed files with 10 additions and 19 deletions
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14
src/main/flight/pid.c
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@ -48,7 +48,7 @@
#include "config/runtime_config.h"
extern float dT;
extern float totalErrorRatioLimit;
extern bool motorLimitReached;
extern bool allowITermShrinkOnly;
int16_t axisPID[3];
@ -161,10 +161,6 @@ 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 * totalErrorRatioLimit;
}
// -----calculate P component
PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
@ -175,7 +171,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate I component.
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
if (allowITermShrinkOnly || totalErrorRatioLimit < 0.98f) {
if (allowITermShrinkOnly || motorLimitReached) {
if (ABS(errorGyroIf[axis]) < ABS(previousErrorGyroIf[axis])) {
previousErrorGyroIf[axis] = errorGyroIf[axis];
} else {
@ -302,10 +298,6 @@ 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 * totalErrorRatioLimit;
}
// -----calculate P component
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
@ -326,7 +318,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
ITerm = errorGyroI[axis] >> 13;
if (allowITermShrinkOnly || totalErrorRatioLimit < 0.98f) {
if (allowITermShrinkOnly || motorLimitReached) {
if (ABS(errorGyroI[axis]) < ABS(previousErrorGyroI[axis])) {
previousErrorGyroI[axis] = errorGyroI[axis];
} else {