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Harakiri PID controller fix

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integer constrain function is limiting accuracy in Angel and Horizon
mode ITerm value
This commit is contained in:
Michael Jakob 2015-02-21 14:51:53 +01:00
parent f6408cd355
commit a4e074816d
1 changed files with 3 additions and 3 deletions
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2
src/main/flight/pid.c
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@ -557,7 +557,7 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
PTermACC = error * (float)pidProfile->P8[PIDLEVEL] * 0.008f; PTermACC = error * (float)pidProfile->P8[PIDLEVEL] * 0.008f;
float limitf = (float)pidProfile->D8[PIDLEVEL] * 5.0f; float limitf = (float)pidProfile->D8[PIDLEVEL] * 5.0f;
PTermACC = constrain(PTermACC, -limitf, +limitf); PTermACC = constrain(PTermACC, -limitf, +limitf);
errorAngleIf[axis] = constrain(errorAngleIf[axis] + error * ACCDeltaTimeINS, -30.0f, +30.0f); errorAngleIf[axis] = constrainf(errorAngleIf[axis] + error * ACCDeltaTimeINS, -30.0f, +30.0f);
ITermACC = errorAngleIf[axis] * (float)pidProfile->I8[PIDLEVEL] * 0.08f; ITermACC = errorAngleIf[axis] * (float)pidProfile->I8[PIDLEVEL] * 0.08f;
} }