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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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2
src/main/flight/pid.c
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@ -136,7 +136,7 @@ static void pidSetTargetLooptime(uint32_t pidLooptime)
dT = (float)targetPidLooptime * 0.000001f;
}
void pidResetErrorGyroState(void)
void pidResetITerm(void)
{
for (int axis = 0; axis < 3; axis++) {
axisPID_I[axis] = 0.0f;