Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 21:35:44 +03:00
Code Issues Wiki Activity

correct stickInput

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

15
src/main/flight/pid.c
View file

@ -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 pt1Filter_t dtermLowpass2[2];
static FAST_RAM_ZERO_INIT filterApplyFnPtr ptermYawLowpassApplyFn; static FAST_RAM_ZERO_INIT filterApplyFnPtr ptermYawLowpassApplyFn;
static FAST_RAM_ZERO_INIT pt1Filter_t ptermYawLowpass; 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 pt1Filter_t windupLpf[XYZ_AXIS_COUNT][2];
static FAST_RAM_ZERO_INIT uint8_t itermRelax; 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 itermRelaxCutoffLow;
static FAST_RAM_ZERO_INIT uint8_t itermRelaxCutoffHigh; 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 // -----calculate I component
float itermErrorRate; float itermErrorRate;
<<<<<<< HEAD
if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY )) {
=======
float acErrorRate; float acErrorRate;
if (itermRelax && (axis < FD_YAW || itermRelax == 2 )) { if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY )) {
>>>>>>> address style issues and set off by default const float gyroTargetLow = pt1FilterApply(&windupLpf[axis][0], stickSetpoint) + acCorrection;
const float gyroTargetLow = pt1FilterApply(&windupLpf[axis][0], currentPidSetpoint); const float gyroTargetHigh = pt1FilterApply(&windupLpf[axis][1], stickSetpoint) + acCorrection;
const float gyroTargetHigh = pt1FilterApply(&windupLpf[axis][1], currentPidSetpoint);
if (axis < FD_YAW) { if (axis < FD_YAW) {
int itemOffset = (axis << 1); int itemOffset = (axis << 1);
DEBUG_SET(DEBUG_ITERM_RELAX, itemOffset++, gyroTargetHigh); DEBUG_SET(DEBUG_ITERM_RELAX, itemOffset++, gyroTargetHigh);