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Fixes from review.

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This commit is contained in:
mikeller 2018-06-09 13:11:37 +12:00
parent db3c0d1447
commit d43c178488
3 changed files with 20 additions and 14 deletions
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21
src/main/flight/pid.c
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@ -815,8 +815,8 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY )) {
const float gyroTarget = pt1FilterApply(&windupLpf[axis], currentPidSetpoint);
const float gyroHpf = fabsf(currentPidSetpoint - gyroTarget);
if (itermRelaxType == ITERM_RELAX_SETPOINT) {
itermErrorRate = (1 - MIN(1, fabsf(gyroHpf) / 60.0f)) * (currentPidSetpoint - gyroRate);
if (itermRelaxType == ITERM_RELAX_SETPOINT && gyroHpf < 60) {
itermErrorRate = (1 - gyroHpf / 60.0f) * (currentPidSetpoint - gyroRate);
}
const float tolerance = gyroHpf * 1.0f;
if (axis == FD_ROLL) {
@ -826,14 +826,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
DEBUG_SET(DEBUG_ITERM_RELAX, 3, axisError[axis] * 10);
}
if (itermRelaxType == ITERM_RELAX_GYRO ) {
const float gmax = gyroTarget + tolerance;
const float gmin = gyroTarget - tolerance;
if (gyroRate >= gmin && gyroRate <= gmax) {
itermErrorRate = 0;
} else {
itermErrorRate = (gyroRate > gmax ? gmax : gmin ) - gyroRate;
}
itermErrorRate = fapplyDeadband(gyroTarget - gyroRate, tolerance);
}
#if defined(USE_ABSOLUTE_CONTROL)
@ -847,8 +840,8 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
} else {
acErrorRate = acErrorRate2;
}
if (fabsf(acErrorRate*dT) > fabsf(axisError[axis]) ) {
acErrorRate = -axisError[axis]/dT;
if (fabsf(acErrorRate * dT) > fabsf(axisError[axis]) ) {
acErrorRate = -axisError[axis] / dT;
}
} else {
acErrorRate = (gyroRate > gmaxac ? gmaxac : gminac ) - gyroRate;
@ -857,9 +850,9 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
} else
#endif // USE_ITERM_RELAX
{
itermErrorRate = currentPidSetpoint - gyroRate;
itermErrorRate = currentPidSetpoint - gyroRate;
#if defined(USE_ABSOLUTE_CONTROL)
acErrorRate = itermErrorRate;
acErrorRate = itermErrorRate;
#endif // USE_ABSOLUTE_CONTROL
}