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Merge pull request #7866 from joelucid/fix_abs_control

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fix abs control #7863
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Michael Keller 2019-03-26 21:48:58 +13:00 • committed by GitHub
commit 8984a7195f
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1 changed files with 5 additions and 4 deletions
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9
src/main/flight/pid.c
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@ -1335,12 +1335,13 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
&currentPidSetpoint, &errorRate);
#endif
const float iterm = pidData[axis].I;
const float previousIterm = pidData[axis].I;
float itermErrorRate = errorRate;
#if defined(USE_ITERM_RELAX)
if (!launchControlActive) {
applyItermRelax(axis, iterm, gyroRate, &itermErrorRate, &currentPidSetpoint);
if (!launchControlActive && !inCrashRecoveryMode) {
applyItermRelax(axis, previousIterm, gyroRate, &itermErrorRate, &currentPidSetpoint);
errorRate = currentPidSetpoint - gyroRate;
}
#endif
@ -1361,7 +1362,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
#else
const float Ki = pidCoefficient[axis].Ki;
#endif
pidData[axis].I = constrainf(iterm + Ki * itermErrorRate * dynCi, -itermLimit, itermLimit);
pidData[axis].I = constrainf(previousIterm + Ki * itermErrorRate * dynCi, -itermLimit, itermLimit);
// -----calculate pidSetpointDelta
float pidSetpointDelta = 0;