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Add ITerm anti-windup based on motor output saturation

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Added noise threshold for PID ITerm accumulation

Removed ITerm setpoint scaler. Added CLI and MSP settings

Made default ITerm noise threshold zero. Added CLI setting.

Removed itermWindupPointPercent from MSP
This commit is contained in:
Martin Budden 2017-01-26 18:15:29 +00:00 • committed by borisbstyle
parent 990c13b7ea
commit 9dfb3e45ee
8 changed files with 39 additions and 22 deletions
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8
src/main/flight/mixer.c
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@ -56,6 +56,7 @@
#define EXTERNAL_CONVERSION_MAX_VALUE 2000
static uint8_t motorCount;
static float motorMixRange;
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
@ -245,6 +246,11 @@ uint8_t getMotorCount()
return motorCount;
}
float getMotorMixRange()
{
return motorMixRange;
}
bool isMotorProtocolDshot(void) {
#ifdef USE_DSHOT
switch(motorConfig->motorPwmProtocol) {
@ -500,7 +506,7 @@ void mixTable(pidProfile_t *pidProfile)
}
}
const float motorMixRange = motorMixMax - motorMixMin;
motorMixRange = motorMixMax - motorMixMin;
if (motorMixRange > 1.0f) {
for (int i = 0; i < motorCount; i++) {