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Code Issues Wiki Activity

IDLE updates

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This commit is contained in:
Thorsten Laux 2019-07-22 08:49:59 +02:00
parent d474df3149
commit ba2c1e9264
2 changed files with 5 additions and 4 deletions
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3
src/main/flight/mixer.c
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@ -577,11 +577,12 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
static float motorRangeMinIncrease = 0;
if (currentPidProfile->idle_hz) {
static float oldMinRpm;
const float maxIncrease = isAirmodeActivated() ? currentPidProfile->idle_max_increase * 0.001f : 0.04f;
const float minRpm = rpmMinMotorSpeed();
const float targetRpmChangeRate = (currentPidProfile->idle_hz - minRpm) * currentPidProfile->idle_adjustment_speed;
const float error = targetRpmChangeRate - (minRpm - oldMinRpm) * pidFrequency;
const float pidSum = constrainf(currentPidProfile->idle_p * 0.0001f * error, -currentPidProfile->idle_pid_limit, currentPidProfile->idle_pid_limit);
motorRangeMinIncrease = constrainf(motorRangeMinIncrease + pidSum * dT, 0.0f, currentPidProfile->idle_max_increase * 0.001);
motorRangeMinIncrease = constrainf(motorRangeMinIncrease + pidSum * dT, 0.0f, maxIncrease);
oldMinRpm = minRpm;
}