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More Iterm Accuracy

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borisbstyle 2015-12-16 17:36:28 +01:00
parent 83e932d3a3
commit 9a83df04f5
1 changed files with 2 additions and 2 deletions
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4
src/main/flight/pid.c
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@ -169,7 +169,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
} }
// -----calculate I component. // -----calculate I component.
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f); errorGyroIf[axis] = constrainf(errorGyroIf[axis] + 0.5f * (lastError[axis] + RateError) * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
if (allowITermShrinkOnly || motorLimitReached) { if (allowITermShrinkOnly || motorLimitReached) {
if (ABS(errorGyroIf[axis]) < ABS(previousErrorGyroIf[axis])) { if (ABS(errorGyroIf[axis]) < ABS(previousErrorGyroIf[axis])) {
@ -310,7 +310,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used. // Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
// Time correction (to avoid different I scaling for different builds based on average cycle time) // Time correction (to avoid different I scaling for different builds based on average cycle time)
// is normalized to cycle time = 2048. // is normalized to cycle time = 2048.
errorGyroI[axis] = errorGyroI[axis] + ((RateError * (uint16_t)targetLooptime) >> 11) * pidProfile->I8[axis]; errorGyroI[axis] = errorGyroI[axis] + ((((lastError[axis] + RateError) / 2) * (uint16_t)targetLooptime) >> 11) * pidProfile->I8[axis];
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated. // limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
// I coefficient (I8) moved before integration to make limiting independent from PID settings // I coefficient (I8) moved before integration to make limiting independent from PID settings