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Restore iTerm Windup to all axes, active by default

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This commit is contained in:
ctzsnooze 2022-08-22 10:03:55 +10:00
parent 492f933589
commit db528ccc8f
2 changed files with 12 additions and 15 deletions
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5
src/main/flight/pid.c
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@ -1004,22 +1004,19 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
// -----calculate I component
float Ki = pidRuntime.pidCoefficient[axis].Ki;
float axisDynCi = pidRuntime.dT;
#ifdef USE_LAUNCH_CONTROL
// if launch control is active override the iterm gains and apply iterm windup protection to all axes
if (launchControlActive) {
Ki = pidRuntime.launchControlKi;
axisDynCi = dynCi;
} else
#endif
{
if (axis == FD_YAW) {
axisDynCi = dynCi; // only apply windup protection to yaw
pidRuntime.itermAccelerator = 0.0f; // no antigravity on yaw iTerm
}
}
pidData[axis].I = constrainf(previousIterm + (Ki * axisDynCi + pidRuntime.itermAccelerator) * itermErrorRate, -pidRuntime.itermLimit, pidRuntime.itermLimit);
pidData[axis].I = constrainf(previousIterm + (Ki * dynCi + pidRuntime.itermAccelerator) * itermErrorRate, -pidRuntime.itermLimit, pidRuntime.itermLimit);
// -----calculate pidSetpointDelta
float pidSetpointDelta = 0;