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Simplified the calculations, fixed tests.

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This commit is contained in:
mikeller 2020-02-16 10:34:31 +13:00
parent 2bbe525853
commit bc4701aebf
2 changed files with 4 additions and 6 deletions
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4
src/main/flight/pid.c
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@ -282,7 +282,6 @@ static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT uint8_t itermRelax;
static FAST_RAM_ZERO_INIT uint8_t itermRelaxType;
static uint8_t itermRelaxCutoff;
static FAST_RAM_ZERO_INIT float itermRelaxSetpointThreshold;
#endif
#if defined(USE_ABSOLUTE_CONTROL)
@ -665,7 +664,6 @@ void pidInitConfig(const pidProfile_t *pidProfile)
itermRelax = pidProfile->iterm_relax;
itermRelaxType = pidProfile->iterm_relax_type;
itermRelaxCutoff = pidProfile->iterm_relax_cutoff;
itermRelaxSetpointThreshold = ITERM_RELAX_SETPOINT_THRESHOLD;
#endif
#ifdef USE_ACRO_TRAINER
@ -1160,7 +1158,7 @@ STATIC_UNIT_TESTED void applyItermRelax(const int axis, const float iterm,
if (itermRelax) {
if (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY || itermRelax == ITERM_RELAX_RPY_INC) {
const float itermRelaxFactor = MAX(0, 1 - setpointHpf / itermRelaxSetpointThreshold);
const float itermRelaxFactor = MAX(0, 1 - setpointHpf / ITERM_RELAX_SETPOINT_THRESHOLD);
const bool isDecreasingI =
((iterm > 0) && (*itermErrorRate < 0)) || ((iterm < 0) && (*itermErrorRate > 0));
if ((itermRelax >= ITERM_RELAX_RP_INC) && isDecreasingI) {