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Add PIDsum limit

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borisbstyle 2016-10-08 01:14:17 +02:00
parent 29733a2424
commit 8dd8e3969f
4 changed files with 5 additions and 1 deletions
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2
src/main/flight/pid.c
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@ -283,7 +283,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
DTerm = Kd[axis] * delta * tpaFactor;
// -----calculate total PID output
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -800, 800);
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
} else {
if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());