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Reset ITerm on motor reversal

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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.h
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@ -127,7 +127,7 @@ extern uint32_t targetPidLooptime;
// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
extern uint8_t PIDweight[3];
void pidResetErrorGyroState(void);
void pidResetITerm(void);
void pidStabilisationState(pidStabilisationState_e pidControllerState);
void pidSetItermAccelerator(float newItermAccelerator);
void pidInitFilters(const pidProfile_t *pidProfile);