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Refactor errorGyroIf

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This commit is contained in:
borisbstyle 2016-11-30 21:32:28 +01:00
parent 28ce3081c6
commit 9a3c8191af
1 changed files with 4 additions and 4 deletions
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8
src/main/flight/pid.c
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@ -54,7 +54,7 @@ uint8_t PIDweight[3];
int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
#endif
static float errorGyroIf[3];
static float previousGyroIf[3];
static float dT;
@ -67,7 +67,7 @@ void pidSetTargetLooptime(uint32_t pidLooptime)
void pidResetErrorGyroState(void)
{
for (int axis = 0; axis < 3; axis++) {
errorGyroIf[axis] = 0.0f;
previousGyroIf[axis] = 0.0f;
}
}
@ -251,11 +251,11 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
const float setpointRateScaler = constrainf(1.0f - (ABS(setpointRate[axis]) / accumulationThreshold), 0.0f, 1.0f);
const float itermScaler = setpointRateScaler * kiThrottleGain;
float ITerm = errorGyroIf[axis];
float ITerm = previousGyroIf[axis];
ITerm += Ki[axis] * errorRate * dT * itermScaler;;
// limit maximum integrator value to prevent WindUp
ITerm = constrainf(ITerm, -250.0f, 250.0f);
errorGyroIf[axis] = ITerm;
previousGyroIf[axis] = ITerm;
// -----calculate D component (Yaw D not yet supported)
float DTerm = 0.0;