Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-20 06:45:16 +03:00
Code Issues Wiki Activity

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

Browse source
This commit is contained in:
Martin Budden 2017-11-17 06:11:53 +00:00
parent 664f69ce8a
commit 9c9f02f550
1 changed files with 2 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/flight/pid.c
View file

@ -497,7 +497,8 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
// -----calculate I component
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);
if (outputSaturated == false || ABS(ITermNew) < ABS(ITerm)) {
// Only increase ITerm if output is not saturated