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Reduce low throttle response in normal mode

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borisbstyle 2016-02-21 13:11:51 +01:00
parent 2dc424d83b
commit 9b43dfde19
1 changed files with 6 additions and 0 deletions
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6
src/main/flight/pid.c
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@ -203,6 +203,8 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// multiplication of rcCommand corresponds to changing the sticks scaling here // multiplication of rcCommand corresponds to changing the sticks scaling here
RateError = AngleRate - gyroRate; RateError = AngleRate - gyroRate;
if (lowThrottlePidReduction) RateError /= 4;
// -----calculate P component // -----calculate P component
PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100; PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
@ -286,6 +288,8 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
rc = rcCommand[axis] << 1; rc = rcCommand[axis] << 1;
if (lowThrottlePidReduction) rc /= 4;
gyroError = gyroADC[axis] / 4; gyroError = gyroADC[axis] / 4;
error = rc - gyroError; error = rc - gyroError;
@ -466,6 +470,8 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
gyroRate = gyroADC[axis] / 4; gyroRate = gyroADC[axis] / 4;
RateError = AngleRateTmp - gyroRate; RateError = AngleRateTmp - gyroRate;
if (lowThrottlePidReduction) RateError /= 4;
// -----calculate P component // -----calculate P component
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7; PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;