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Added separate yaw pidsum limit

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This commit is contained in:
Martin Budden 2017-03-04 07:53:03 +00:00
parent 52c104f4b8
commit 9e4de2ea3b
8 changed files with 12 additions and 16 deletions
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6
src/main/flight/mixer.c
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@ -516,9 +516,9 @@ void mixTable(pidProfile_t *pidProfile)
float scaledAxisPIDf[3];
// Limit the PIDsum
for (int axis = 0; axis < 3; axis++) {
scaledAxisPIDf[axis] = constrainf(axisPIDf[axis] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
}
scaledAxisPIDf[FD_ROLL] = constrainf(axisPIDf[FD_ROLL] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
scaledAxisPIDf[FD_PITCH] = constrainf(axisPIDf[FD_PITCH] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
scaledAxisPIDf[FD_YAW] = constrainf(axisPIDf[FD_YAW] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimitYaw);
// Calculate voltage compensation
const float vbatCompensationFactor = pidProfile->vbatPidCompensation ? calculateVbatPidCompensation() : 1.0f;