Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 21:05:35 +03:00
Code Issues Wiki Activity

rename pid_ff

Browse source
This commit is contained in:
Thorsten Laux 2018-05-24 15:26:08 +02:00
parent fde2aae4f5
commit dc452ced00
1 changed files with 4 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

8
src/main/flight/pid.c
View file

@ -638,13 +638,13 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
pidData[axis].D = pidCoefficient[axis].Kd * delta * tpaFactor;
const float pid_ff =
const float pidFeedForward =
pidCoefficient[axis].Kd * dynCd * transition *
(currentPidSetpoint - previousPidSetpoint[axis]) * tpaFactor / dT;
if ((pidData[axis].P > 0) == (pid_ff > 0)) {
if (ABS(pid_ff) > ABS(pidData[axis].P)) {
if ((pidData[axis].P > 0) == (pidFeedForward > 0)) {
if (ABS(pidFeedForward) > ABS(pidData[axis].P)) {
pidData[axis].P = 0;
pidData[axis].D += pid_ff;
pidData[axis].D += pidFeedForward;
}
}