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assign previousGyroRateDterm after calculating ff

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This commit is contained in:
Thorsten Laux 2018-05-27 07:44:11 +02:00
parent af5fde98c1
commit d337023e87
1 changed files with 1 additions and 1 deletions
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2
src/main/flight/pid.c
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@ -634,7 +634,6 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
- (gyroRateDterm[axis] - previousGyroRateDterm[axis]) / dT; - (gyroRateDterm[axis] - previousGyroRateDterm[axis]) / dT;
previousPidSetpoint[axis] = currentPidSetpoint; previousPidSetpoint[axis] = currentPidSetpoint;
previousGyroRateDterm[axis] = gyroRateDterm[axis];
detectAndSetCrashRecovery(pidProfile->crash_recovery, axis, currentTimeUs, delta, errorRate); detectAndSetCrashRecovery(pidProfile->crash_recovery, axis, currentTimeUs, delta, errorRate);
@ -657,6 +656,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
if (addFeedforward) { if (addFeedforward) {
pidData[axis].D += pidFeedForward; pidData[axis].D += pidFeedForward;
} }
previousGyroRateDterm[axis] = gyroRateDterm[axis];
#ifdef USE_YAW_SPIN_RECOVERY #ifdef USE_YAW_SPIN_RECOVERY
if (yawSpinActive) { if (yawSpinActive) {