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Merge pull request #9482 from ctzsnooze/Revert-iTerm-Relax

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Restore proper behaviour of iterm_relax_cutoff in setpoint mode
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Michael Keller 2020-02-17 08:11:26 +13:00 • committed by GitHub
commit c984107291
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4 changed files with 6 additions and 9 deletions
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src/main/flight/pid.c
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@ -283,7 +283,6 @@ 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)
@ -668,8 +667,6 @@ void pidInitConfig(const pidProfile_t *pidProfile)
itermRelax = pidProfile->iterm_relax;
itermRelaxType = pidProfile->iterm_relax_type;
itermRelaxCutoff = pidProfile->iterm_relax_cutoff;
// adapt setpoint threshold to user changes from default cutoff value
itermRelaxSetpointThreshold = ITERM_RELAX_SETPOINT_THRESHOLD * ITERM_RELAX_CUTOFF_DEFAULT / itermRelaxCutoff;
#endif
#ifdef USE_ACRO_TRAINER
@ -1166,7 +1163,7 @@ 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) {