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Merge pull request #4702 from martinbudden/bfa_3d_iterm

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Reset ITerm on motor reversal
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Martin Budden 2017-12-01 08:16:22 +00:00 • committed by GitHub
commit dd3a40f036
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5 changed files with 20 additions and 4 deletions
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16
src/main/flight/mixer.c
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@ -541,6 +541,10 @@ static void calculateThrottleAndCurrentMotorEndpoints(void)
motorOutputMin = deadbandMotor3dLow;
motorOutputRange = motorOutputLow - deadbandMotor3dLow;
}
if (motorOutputMixSign != -1) {
// reset ITerm on motor reversal
pidResetITerm();
}
motorOutputMixSign = -1;
rcThrottlePrevious = rcCommand[THROTTLE];
throttle = rcCommand3dDeadBandLow - rcCommand[THROTTLE];
@ -551,6 +555,10 @@ static void calculateThrottleAndCurrentMotorEndpoints(void)
motorRangeMax = motorOutputHigh;
motorOutputMin = deadbandMotor3dHigh;
motorOutputRange = motorOutputHigh - deadbandMotor3dHigh;
if (motorOutputMixSign != 1) {
// reset ITerm on motor reversal
pidResetITerm();
}
motorOutputMixSign = 1;
rcThrottlePrevious = rcCommand[THROTTLE];
throttle = rcCommand[THROTTLE] - rcCommand3dDeadBandHigh;
@ -568,6 +576,10 @@ static void calculateThrottleAndCurrentMotorEndpoints(void)
motorOutputMin = deadbandMotor3dLow;
motorOutputRange = motorOutputLow - deadbandMotor3dLow;
}
if (motorOutputMixSign != -1) {
// reset ITerm on motor reversal
pidResetITerm();
}
motorOutputMixSign = -1;
throttle = 0;
currentThrottleInputRange = rcCommandThrottleRange3dLow;
@ -577,6 +589,10 @@ static void calculateThrottleAndCurrentMotorEndpoints(void)
motorRangeMax = motorOutputHigh;
motorOutputMin = deadbandMotor3dHigh;
motorOutputRange = motorOutputHigh - deadbandMotor3dHigh;
if (motorOutputMixSign != 1) {
// reset ITerm on motor reversal
pidResetITerm();
}
motorOutputMixSign = 1;
throttle = 0;
currentThrottleInputRange = rcCommandThrottleRange3dHigh;