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Soften the lower setpoint transition

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borisbstyle 2017-02-14 22:44:10 +01:00
parent ecc26428fb
commit a135e9cbb2
2 changed files with 2 additions and 2 deletions
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2
src/main/flight/pid.c
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@ -271,7 +271,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
} else {
float dynC = dtermSetpointWeight;
if (pidProfile->setpointRelaxRatio < 100) {
dynC *= MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
dynC *= MIN(sq(getRcDeflectionAbs(axis)) * relaxFactor, 1.0f);
}
const float rD = dynC * currentPidSetpoint - gyroRate; // cr - y
// Divide rate change by dT to get differential (ie dr/dt)