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Merge branch 'master' into development

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borisbstyle 2016-08-09 23:42:18 +02:00
commit d45fcdd9ae
6 changed files with 51 additions and 66 deletions
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src/main/flight/pid_betaflight.c
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@ -211,7 +211,7 @@ void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
// -----calculate I component.
// Reduce strong Iterm accumulation during higher stick inputs
float accumulationThreshold = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
float setpointRateScaler = constrainf(1.0f - (1.5f * (ABS(setpointRate[axis]) / accumulationThreshold)), 0.0f, 1.0f);
float setpointRateScaler = constrainf(1.0f - (ABS(setpointRate[axis]) / accumulationThreshold), 0.0f, 1.0f);
// Handle All windup Scenarios
// limit maximum integrator value to prevent WindUp