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Change scale for I and D for inflight adjustments to PIDs of FP based

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PID.
This commit is contained in:
Dominic Clifton 2015-01-30 22:09:36 +01:00
parent 1f3c9ab0db
commit d21a009d40
2 changed files with 12 additions and 12 deletions
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12
src/main/io/rc_controls.c
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@ -410,9 +410,9 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
break;
case ADJUSTMENT_PITCH_ROLL_I:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = pidProfile->I_f[PIDPITCH] + (float)(delta / 10.0f);
newFloatValue = pidProfile->I_f[PIDPITCH] + (float)(delta / 100.0f);
pidProfile->I_f[PIDPITCH] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = pidProfile->I_f[PIDROLL] + (float)(delta / 10.0f);
newFloatValue = pidProfile->I_f[PIDROLL] + (float)(delta / 100.0f);
pidProfile->I_f[PIDROLL] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->I8[PIDPITCH] + delta;
@ -423,9 +423,9 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
break;
case ADJUSTMENT_PITCH_ROLL_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = pidProfile->D_f[PIDPITCH] + (float)(delta / 10.0f);
newFloatValue = pidProfile->D_f[PIDPITCH] + (float)(delta / 1000.0f);
pidProfile->D_f[PIDPITCH] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = pidProfile->D_f[PIDROLL] + (float)(delta / 10.0f);
newFloatValue = pidProfile->D_f[PIDROLL] + (float)(delta / 1000.0f);
pidProfile->D_f[PIDROLL] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->D8[PIDPITCH] + delta;
@ -445,7 +445,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
break;
case ADJUSTMENT_YAW_I:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = pidProfile->I_f[PIDYAW] + (float)(delta / 10.0f);
newFloatValue = pidProfile->I_f[PIDYAW] + (float)(delta / 100.0f);
pidProfile->I_f[PIDYAW] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->I8[PIDYAW] + delta;
@ -454,7 +454,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
break;
case ADJUSTMENT_YAW_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = pidProfile->D_f[PIDYAW] + (float)(delta / 10.0f);
newFloatValue = pidProfile->D_f[PIDYAW] + (float)(delta / 1000.0f);
pidProfile->D_f[PIDYAW] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->D8[PIDYAW] + delta;