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Code Issues Wiki Activity

correct stickInput

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This commit is contained in:
Thorsten Laux 2018-05-28 17:03:12 +02:00
parent f1ea15029f
commit 8fe07af613
1 changed files with 3 additions and 12 deletions
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15
src/main/flight/pid.c
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@ -203,13 +203,8 @@ static FAST_RAM_ZERO_INIT filterApplyFnPtr dtermLowpass2ApplyFn;
static FAST_RAM_ZERO_INIT pt1Filter_t dtermLowpass2[2];
static FAST_RAM_ZERO_INIT filterApplyFnPtr ptermYawLowpassApplyFn;
static FAST_RAM_ZERO_INIT pt1Filter_t ptermYawLowpass;
<<<<<<< HEAD
static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[3][2];
static FAST_RAM_ZERO_INIT itermRelax_e itermRelax;
=======
static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[XYZ_AXIS_COUNT][2];
static FAST_RAM_ZERO_INIT uint8_t itermRelax;
>>>>>>> address style issues and set off by default
static FAST_RAM_ZERO_INIT uint8_t itermRelaxCutoffLow;
static FAST_RAM_ZERO_INIT uint8_t itermRelaxCutoffHigh;
@ -776,14 +771,10 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
// -----calculate I component
float itermErrorRate;
<<<<<<< HEAD
if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY )) {
=======
float acErrorRate;
if (itermRelax && (axis < FD_YAW || itermRelax == 2 )) {
>>>>>>> address style issues and set off by default
const float gyroTargetLow = pt1FilterApply(&windupLpf[axis][0], currentPidSetpoint);
const float gyroTargetHigh = pt1FilterApply(&windupLpf[axis][1], currentPidSetpoint);
if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY )) {
const float gyroTargetLow = pt1FilterApply(&windupLpf[axis][0], stickSetpoint) + acCorrection;
const float gyroTargetHigh = pt1FilterApply(&windupLpf[axis][1], stickSetpoint) + acCorrection;
if (axis < FD_YAW) {
int itemOffset = (axis << 1);
DEBUG_SET(DEBUG_ITERM_RELAX, itemOffset++, gyroTargetHigh);