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Code Issues Wiki Activity

Reset ITerm on motor reversal

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This commit is contained in:
Martin Budden 2017-11-30 14:54:37 +00:00
parent ce345a8446
commit 9060ecb302
5 changed files with 20 additions and 4 deletions
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16
src/main/flight/mixer.c
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@ -545,6 +545,10 @@ void calculateThrottleAndCurrentMotorEndpoints(void)
motorOutputMin = deadbandMotor3dLow;
motorOutputRange = motorOutputLow - deadbandMotor3dLow;
}
if (motorOutputMixSign != -1) {
// reset ITerm on motor reversal
pidResetITerm();
}
motorOutputMixSign = -1;
rcThrottlePrevious = rcCommand[THROTTLE];
throttle = rcCommand3dDeadBandLow - rcCommand[THROTTLE];
@ -555,6 +559,10 @@ void calculateThrottleAndCurrentMotorEndpoints(void)
motorRangeMax = motorOutputHigh;
motorOutputMin = deadbandMotor3dHigh;
motorOutputRange = motorOutputHigh - deadbandMotor3dHigh;
if (motorOutputMixSign != 1) {
// reset ITerm on motor reversal
pidResetITerm();
}
motorOutputMixSign = 1;
rcThrottlePrevious = rcCommand[THROTTLE];
throttle = rcCommand[THROTTLE] - rcCommand3dDeadBandHigh;
@ -572,6 +580,10 @@ void calculateThrottleAndCurrentMotorEndpoints(void)
motorOutputMin = deadbandMotor3dLow;
motorOutputRange = motorOutputLow - deadbandMotor3dLow;
}
if (motorOutputMixSign != -1) {
// reset ITerm on motor reversal
pidResetITerm();
}
motorOutputMixSign = -1;
throttle = 0;
currentThrottleInputRange = rcCommandThrottleRange3dLow;
@ -581,6 +593,10 @@ void calculateThrottleAndCurrentMotorEndpoints(void)
motorRangeMax = motorOutputHigh;
motorOutputMin = deadbandMotor3dHigh;
motorOutputRange = motorOutputHigh - deadbandMotor3dHigh;
if (motorOutputMixSign != 1) {
// reset ITerm on motor reversal
pidResetITerm();
}
motorOutputMixSign = 1;
throttle = 0;
currentThrottleInputRange = rcCommandThrottleRange3dHigh;