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Iterm scaling to looptime MW23

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more shifting math
This commit is contained in:
borisbstyle 2016-02-24 01:41:51 +01:00
parent e0c1f84206
commit 981bddf182
1 changed files with 4 additions and 4 deletions
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8
src/main/flight/pid.c
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@ -297,12 +297,12 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
rc = rcCommand[axis] << 1;
if (lowThrottlePidReduction) rc /= 4;
if (lowThrottlePidReduction) rc = rc >> 2;
gyroError = gyroADC[axis] / 4;
gyroError = gyroADC[axis] >> 2;
error = rc - gyroError;
errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp 16 bits is ok here
errorGyroI[axis] = constrain(errorGyroI[axis] + ((error * (uint16_t)targetLooptime) >> 12) , -16000, +16000); // WindUp 16 bits is ok here
if (ABS(gyroADC[axis]) > (640 * 4)) {
errorGyroI[axis] = 0;
@ -372,7 +372,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
axisPID[axis] = PTerm + ITerm + DTerm;
if (lowThrottlePidReduction) axisPID[axis] /= 4;
if (lowThrottlePidReduction) axisPID[axis] = axisPID[axis] >> 2;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {