mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 00:05:33 +03:00
Rework maxing out motors
This commit is contained in:
parent
fdd984bc32
commit
83e932d3a3
2 changed files with 10 additions and 19 deletions
|
@ -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 {
|
||||
|
|
Loading…
Add table
Add a link
Reference in a new issue