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Ensure that Lux's pid controller observes the max_angle_inclination

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setting.
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Dominic Clifton 2014-06-06 20:06:14 +01:00
parent ab0296c991
commit 9b6e8feeea
1 changed files with 3 additions and 2 deletions
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5
src/main/flight/flight.c
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@ -101,8 +101,9 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
// YAW is always gyro-controlled (MAG correction is applied to rcCommand) 100dps to 1100dps max yaw rate
AngleRate = (float)((controlRateConfig->yawRate + 10) * rcCommand[YAW]) / 50.0f;
} else {
// calculate error and limit the angle to 50 degrees max inclination
errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
// calculate error and limit the angle to the max inclination
errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
if (shouldAutotune()) {
errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);