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Fix G-Tune for LuxFloat PID controller

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G-Tune documentation fix
This commit is contained in:
Michael Jakob 2015-03-02 00:12:01 +01:00
parent cb5f81ca98
commit daceb2db9a
2 changed files with 3 additions and 3 deletions
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4
src/main/flight/gtune.c
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@ -103,7 +103,7 @@ void init_Gtune(pidProfile_t *pidProfileToTune)
if ((pidProfile->gtune_hilimP[i] && pidProfile->gtune_lolimP[i] > pidProfile->gtune_hilimP[i]) || // User config error disable axisis for tuning
(motorCount < 4 && i == FD_YAW)) pidProfile->gtune_hilimP[i] = 0; // Disable Yawtuning for everything below a quadcopter
if (floatPID) {
if(pidProfile->P_f[i] < pidProfile->gtune_lolimP[i]) pidProfile->P_f[i] = pidProfile->gtune_lolimP[i];
if((pidProfile->P_f[i] * 10) < pidProfile->gtune_lolimP[i]) pidProfile->P_f[i] = (float)(pidProfile->gtune_lolimP[i] / 10);
result_P64[i] = (int16_t)pidProfile->P_f[i] << 6; // 6 bit extra resolution for P.
} else {
if(pidProfile->P8[i] < pidProfile->gtune_lolimP[i]) pidProfile->P8[i] = pidProfile->gtune_lolimP[i];
@ -152,7 +152,7 @@ void calculate_Gtune(uint8_t axis)
if (ABS(diff_G) > threshP && axis != FD_YAW) result_P64[axis] -= 32; // Don't use antiwobble for YAW
}
result_P64[axis] = constrain(result_P64[axis], (int16_t)pidProfile->gtune_lolimP[axis] << 6, (int16_t)pidProfile->gtune_hilimP[axis] << 6);
if (floatPID) pidProfile->P_f[axis] = (float)(result_P64[axis] >> 6); // new P value for float PID
if (floatPID) pidProfile->P_f[axis] = (float)((result_P64[axis] >> 6) / 10); // new P value for float PID
else pidProfile->P8[axis] = result_P64[axis] >> 6; // new P value
}
OldError[axis] = error;