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rename pid_ff

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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
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8
src/main/flight/pid.c
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@ -638,13 +638,13 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
pidData[axis].D = pidCoefficient[axis].Kd * delta * tpaFactor; pidData[axis].D = pidCoefficient[axis].Kd * delta * tpaFactor;
const float pid_ff = const float pidFeedForward =
pidCoefficient[axis].Kd * dynCd * transition * pidCoefficient[axis].Kd * dynCd * transition *
(currentPidSetpoint - previousPidSetpoint[axis]) * tpaFactor / dT; (currentPidSetpoint - previousPidSetpoint[axis]) * tpaFactor / dT;
if ((pidData[axis].P > 0) == (pid_ff > 0)) { if ((pidData[axis].P > 0) == (pidFeedForward > 0)) {
if (ABS(pid_ff) > ABS(pidData[axis].P)) { if (ABS(pidFeedForward) > ABS(pidData[axis].P)) {
pidData[axis].P = 0; pidData[axis].P = 0;
pidData[axis].D += pid_ff; pidData[axis].D += pidFeedForward;
} }
} }