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Remove TPA from Iterm PID1

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borisbstyle 2015-07-23 08:37:16 +02:00
parent 60955fc27d
commit d282ec3483
1 changed files with 1 additions and 1 deletions
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src/main/flight/pid.c
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@ -787,7 +787,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used. // Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
// Time correction (to avoid different I scaling for different builds based on average cycle time) // Time correction (to avoid different I scaling for different builds based on average cycle time)
// is normalized to cycle time = 2048. // is normalized to cycle time = 2048.
errorGyroI[axis] = errorGyroI[axis] + ((RateError * cycleTime) >> 11) * pidProfile->I8[axis] * PIDweight[axis] / 100; errorGyroI[axis] = errorGyroI[axis] + ((RateError * cycleTime) >> 11) * pidProfile->I8[axis];
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated. // limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
// I coefficient (I8) moved before integration to make limiting independent from PID settings // I coefficient (I8) moved before integration to make limiting independent from PID settings