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Use constant dT for ITerm calcualtion to avoid windup caused by jitter

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Martin Budden 2017-11-17 06:11:53 +00:00
parent 664f69ce8a
commit 9c9f02f550
1 changed files with 2 additions and 1 deletions
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3
src/main/flight/pid.c
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@ -497,7 +497,8 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
// -----calculate I component // -----calculate I component
const float ITerm = axisPID_I[axis]; const float ITerm = axisPID_I[axis];
const float ITermNew = constrainf(ITerm + Ki[axis] * errorRate * deltaT * dynKi * itermAccelerator, -itermLimit, itermLimit); // use dT (not deltaT) for ITerm calculation to avoid wind-up caused by jitter
const float ITermNew = constrainf(ITerm + Ki[axis] * errorRate * dT * dynKi * itermAccelerator, -itermLimit, itermLimit);
const bool outputSaturated = mixerIsOutputSaturated(axis, errorRate); const bool outputSaturated = mixerIsOutputSaturated(axis, errorRate);
if (outputSaturated == false || ABS(ITermNew) < ABS(ITerm)) { if (outputSaturated == false || ABS(ITermNew) < ABS(ITerm)) {
// Only increase ITerm if output is not saturated // Only increase ITerm if output is not saturated