Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 00:35:39 +03:00
Code Issues Wiki Activity

Lower PID limit

Browse source
This commit is contained in:
borisbstyle 2016-10-04 00:50:04 +02:00
parent ce2067ae94
commit 989af08c10
1 changed files with 1 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/flight/pid.c
View file

@ -281,7 +281,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
DTerm = Kd[axis] * delta * tpaFactor; DTerm = Kd[axis] * delta * tpaFactor;
// -----calculate total PID output // -----calculate total PID output
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -900, 900); axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -800, 800);
} else { } else {
if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT()); if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());