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finally retain iTerm correctly while moving sticks, but reset at start

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This commit is contained in:
ctzsnooze 2024-10-20 17:55:31 +11:00
parent 0459a4f082
commit dc77f67c8e
1 changed files with 5 additions and 3 deletions
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8
src/main/flight/autopilot.c
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@ -165,7 +165,7 @@ void resetPositionControlParams(void) { // at the start, and while sticks are mo
posHold.previousDistancePitch = 0.0f;
posHold.previousVelocityPitch = 0.0f;
posHold.previousHeading = attitude.values.yaw * 0.1f;
if (!posHold.sticksActive) {
if (!posHold.isDeceleratingAtStart && !posHold.sticksActive) {
posHold.pitchI = 0.0f;
posHold.rollI = 0.0f;
}
@ -317,8 +317,10 @@ bool positionControl(void) {
// needs to be attenuated towards zero when close to target to avoid overshoot and circling
// hence cannot completely eliminate position error due to wind, will tend to end up a little bit down-wind
posHold.rollI += distanceRoll * positionPidCoeffs.Ki * gpsDataIntervalS;
posHold.pitchI += distancePitch * positionPidCoeffs.Ki * gpsDataIntervalS;
if (!posHold.isDeceleratingAtStart) {
posHold.rollI += distanceRoll * positionPidCoeffs.Ki * gpsDataIntervalS;
posHold.pitchI += distancePitch * positionPidCoeffs.Ki * gpsDataIntervalS;
}
// rotate iTerm if heading changes
const float currentHeading = attitude.values.yaw * 0.1f; // from tenths of a degree to degrees