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defaults

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borisbstyle 2016-08-09 23:34:12 +02:00
parent e9924eb13a
commit 98eb820cdb
4 changed files with 9 additions and 10 deletions
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src/main/flight/pid.c
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@ -274,7 +274,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
// -----calculate I component.
// Reduce strong Iterm accumulation during higher stick inputs
float accumulationThreshold = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
float setpointRateScaler = constrainf(1.0f - (1.5f * (ABS(setpointRate[axis]) / accumulationThreshold)), 0.0f, 1.0f);
float setpointRateScaler = constrainf(1.0f - (ABS(setpointRate[axis]) / accumulationThreshold), 0.0f, 1.0f);
// Handle All windup Scenarios
// limit maximum integrator value to prevent WindUp