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Code Issues Wiki Activity

Move Iterm reset to Acro Plus only

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This commit is contained in:
borisbstyle 2016-02-23 11:17:49 +01:00
parent ee76376005
commit 93f3c0ae40
1 changed files with 3 additions and 3 deletions
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6
src/main/flight/pid.c
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@ -213,7 +213,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
if (IS_RC_MODE_ACTIVE(BOXAIRMODE) || IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
scaleItermToRcInput(axis, pidProfile);
if (IS_RC_MODE_ACTIVE(BOXACROPLUS)) scaleItermToRcInput(axis, pidProfile);
if (antiWindupProtection || motorLimitReached) {
errorGyroIf[axis] = constrainf(errorGyroIf[axis], -errorGyroIfLimit[axis], errorGyroIfLimit[axis]);
} else {
@ -310,7 +310,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
// Anti windup protection
if (IS_RC_MODE_ACTIVE(BOXAIRMODE) || IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
scaleItermToRcInput(axis, pidProfile);
if (IS_RC_MODE_ACTIVE(BOXACROPLUS)) scaleItermToRcInput(axis, pidProfile);
if (antiWindupProtection || motorLimitReached) {
errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);
} else {
@ -509,7 +509,7 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
if (IS_RC_MODE_ACTIVE(BOXAIRMODE) || IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
scaleItermToRcInput(axis, pidProfile);
if (IS_RC_MODE_ACTIVE(BOXACROPLUS)) scaleItermToRcInput(axis, pidProfile);
if (antiWindupProtection || motorLimitReached) {
errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);
} else {