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Fixed possible pid process denom exceeding allowed values

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This commit is contained in:
blckmn 2017-02-06 04:54:35 +11:00 • committed by borisbstyle
parent 297f5ba2af
commit 9f17bae3e4
3 changed files with 16 additions and 13 deletions
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14
src/main/fc/config.c
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@ -937,11 +937,11 @@ void activateConfig(void)
void validateAndFixConfig(void)
{
if((motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)) {
if ((motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)) {
motorConfigMutable()->mincommand = 1000;
}
if((motorConfig()->motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->motorPwmRate > 400)) {
if ((motorConfig()->motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->motorPwmRate > 400)) {
motorConfig()->motorPwmRate = 400;
}
@ -1093,7 +1093,7 @@ void validateAndFixGyroConfig(void)
float motorUpdateRestriction;
switch(motorConfig()->motorPwmProtocol) {
case (PWM_TYPE_STANDARD):
motorUpdateRestriction = 0.002f;
motorUpdateRestriction = 0.0025f;
break;
case (PWM_TYPE_ONESHOT125):
motorUpdateRestriction = 0.0005f;
@ -1113,11 +1113,13 @@ void validateAndFixGyroConfig(void)
motorUpdateRestriction = 0.00003125f;
}
if(pidLooptime < motorUpdateRestriction)
pidConfig()->pid_process_denom = motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom);
if (pidLooptime < motorUpdateRestriction) {
const uint8_t maxPidProcessDenom = constrain(motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom), 1, MAX_PID_PROCESS_DENOM);
pidConfigMutable()->pid_process_denom = MIN(pidConfigMutable()->pid_process_denom, maxPidProcessDenom);
}
// Prevent overriding the max rate of motors
if(motorConfig()->useUnsyncedPwm && (motorConfig()->motorPwmProtocol <= PWM_TYPE_BRUSHED)) {
if (motorConfig()->useUnsyncedPwm && (motorConfig()->motorPwmProtocol <= PWM_TYPE_BRUSHED)) {
uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
if(motorConfig()->motorPwmRate > maxEscRate)