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Move anti-windup iterm reset from rx loop to pid loop

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Having the iterm resetting happening in the rx loop causes a sawtooth PID/motor effect while idling since the PID loop is running at a much higher rate and iterm is allowed to grow during this, and then only reset at a much lower rate in the rx loop. This can potentially lead to some oscillation and/or resonance while idling before takeoff as the sawtooth signal can make it through to the motor outputs.
This commit is contained in:
Bruce Luckcuck 2019-01-19 10:13:34 -05:00
parent 628fdb8adc
commit d867aeced3
5 changed files with 13 additions and 2 deletions
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2
src/main/flight/pid.h
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@ -232,4 +232,4 @@ float pidLevel(int axis, const pidProfile_t *pidProfile,
float calcHorizonLevelStrength(void);
#endif
void dynLpfDTermUpdate(float throttle);
void pidSetItermReset(bool enabled);