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^ Multiplying I term by ten to make it tuneable

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This commit is contained in:
Ben Hitchcock 2015-03-13 20:46:40 +08:00
parent 35abdb89f5
commit 9e842704c5
1 changed files with 2 additions and 2 deletions
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4
src/main/flight/pid.c
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@ -184,7 +184,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate P component // -----calculate P component
PTerm = RateError * pidProfile->P_f[axis]; PTerm = RateError * pidProfile->P_f[axis];
// -----calculate I component // -----calculate I component
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis], -250.0f, 250.0f); errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated. // limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
// I coefficient (I8) moved before integration to make limiting independent from PID settings // I coefficient (I8) moved before integration to make limiting independent from PID settings
@ -391,7 +391,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28)); errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28));
if (ABS(rc) > 50) errorGyroI[FD_YAW] = 0; if (ABS(rc) > 50) errorGyroI[FD_YAW] = 0;
PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6; PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6; // TODO: Bitwise shift on a signed integer is not recommended
// Constrain YAW by D value if not servo driven in that case servolimits apply // Constrain YAW by D value if not servo driven in that case servolimits apply
if(motorCount > 3) { if(motorCount > 3) {