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Merge pull request #6721 from betaflight/anti_windup_fix

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Fix bug with antiwindup inversion
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Michael Keller 2018-09-10 20:51:15 +12:00 • committed by GitHub
commit c71b1cb0df
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2 changed files with 12 additions and 3 deletions
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4
src/main/flight/pid.c
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@ -857,8 +857,10 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
DEBUG_SET(DEBUG_ANTI_GRAVITY, 1, lrintf(antiGravityThrottleHpf * 1000));
}
DEBUG_SET(DEBUG_ANTI_GRAVITY, 0, lrintf(itermAccelerator * 1000));
// gradually scale back integration when above windup point
const float dynCi = MIN((1.0f - motorMixRange) * ITermWindupPointInv, 1.0f) * dT * itermAccelerator;
const float dynCi = constrainf((1.0f - motorMixRange) * ITermWindupPointInv, 0.0f, 1.0f)
* dT * itermAccelerator;
// Precalculate gyro deta for D-term here, this allows loop unrolling
float gyroRateDterm[XYZ_AXIS_COUNT];