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Code Issues Wiki Activity

Less Anti Winduo in Air mode

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This commit is contained in:
borisbstyle 2016-02-03 01:32:57 +01:00
parent 9b3a2f3f76
commit 9859bbfcae
5 changed files with 10 additions and 8 deletions
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9
src/main/flight/pid.c
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@ -75,14 +75,17 @@ typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig
pidControllerFuncPtr pid_controller = pidRewrite; // which pid controller are we using, defaultMultiWii
void pidResetErrorGyro(void)
void pidResetErrorGyro(rxConfig_t *rxConfig)
{
int axis;
for (axis = 0; axis < 3; axis++) {
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
PREVENT_WINDUP(errorGyroI[axis], previousErrorGyroI[axis]);
PREVENT_WINDUP(errorGyroIf[axis], previousErrorGyroIf[axis]);
int rollPitchStatus = calculateRollPitchCenterStatus(rxConfig);
if (rollPitchStatus == CENTERED) {
PREVENT_WINDUP(errorGyroI[axis], previousErrorGyroI[axis]);
PREVENT_WINDUP(errorGyroIf[axis], previousErrorGyroIf[axis]);
}
} else {
errorGyroI[axis] = 0;
errorGyroIf[axis] = 0.0f;