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Code Issues Wiki Activity

New experimental parameters for airmode

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borisbstyle 2016-01-10 19:28:10 +01:00
parent 2ee55ece3c
commit bd39f07c1f
1 changed files with 29 additions and 27 deletions
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8
src/main/flight/pid.c
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@ -85,7 +85,11 @@ void pidResetErrorGyro(void)
void airModePlus(airModePlus_t *axisState, int axis, pidProfile_t *pidProfile, float referenceTerm) { void airModePlus(airModePlus_t *axisState, int axis, pidProfile_t *pidProfile, float referenceTerm) {
float rcCommandReflection = (float)rcCommand[axis] / 500.0f; float rcCommandReflection = (float)rcCommand[axis] / 500.0f;
axisState->wowFactor = 1;
axisState->factor = 0;
axisState->iTermScaler = 1;
if (rcCommandReflection > 0.7f) {
//Ki scaler //Ki scaler
axisState->iTermScaler = constrainf(1.0f - (1.5f * ABS(rcCommandReflection)), 0.0f, 1.0f); axisState->iTermScaler = constrainf(1.0f - (1.5f * ABS(rcCommandReflection)), 0.0f, 1.0f);
@ -115,9 +119,7 @@ void airModePlus(airModePlus_t *axisState, int axis, pidProfile_t *pidProfile, f
if (axis != YAW && pidProfile->airModeInsaneAcrobilityFactor) { if (axis != YAW && pidProfile->airModeInsaneAcrobilityFactor) {
axisState->wowFactor = 1.0f - (ABS(rcCommandReflection) * ((float)pidProfile->airModeInsaneAcrobilityFactor / 100.0f)); //0-1f axisState->wowFactor = 1.0f - (ABS(rcCommandReflection) * ((float)pidProfile->airModeInsaneAcrobilityFactor / 100.0f)); //0-1f
axisState->factor = (axisState->wowFactor * rcCommandReflection) * 1000; axisState->factor = (axisState->wowFactor * rcCommandReflection) * 1000;
} else { }
axisState->wowFactor = 1;
axisState->factor = 0;
} }
} }