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Move Iterm reset to Acro Plus only
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parent
ee76376005
commit
93f3c0ae40
1 changed files with 3 additions and 3 deletions
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@ -213,7 +213,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
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if (IS_RC_MODE_ACTIVE(BOXAIRMODE) || IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
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scaleItermToRcInput(axis, pidProfile);
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if (IS_RC_MODE_ACTIVE(BOXACROPLUS)) scaleItermToRcInput(axis, pidProfile);
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if (antiWindupProtection || motorLimitReached) {
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errorGyroIf[axis] = constrainf(errorGyroIf[axis], -errorGyroIfLimit[axis], errorGyroIfLimit[axis]);
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} else {
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@ -310,7 +310,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
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// Anti windup protection
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if (IS_RC_MODE_ACTIVE(BOXAIRMODE) || IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
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scaleItermToRcInput(axis, pidProfile);
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if (IS_RC_MODE_ACTIVE(BOXACROPLUS)) scaleItermToRcInput(axis, pidProfile);
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if (antiWindupProtection || motorLimitReached) {
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errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);
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} else {
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@ -509,7 +509,7 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
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errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
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if (IS_RC_MODE_ACTIVE(BOXAIRMODE) || IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
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scaleItermToRcInput(axis, pidProfile);
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if (IS_RC_MODE_ACTIVE(BOXACROPLUS)) scaleItermToRcInput(axis, pidProfile);
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if (antiWindupProtection || motorLimitReached) {
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errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);
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} else {
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