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simplify iterm calculation

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This commit is contained in:
Nicola De Pasquale 2020-01-19 15:47:53 +01:00
parent 31d08f1515
commit dd81e49b75
1 changed files with 1 additions and 1 deletions
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src/main/flight/pid.c
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@ -1422,7 +1422,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
#else #else
const float Ki = pidCoefficient[axis].Ki; const float Ki = pidCoefficient[axis].Ki;
#endif #endif
pidData[axis].I = constrainf(previousIterm + Ki * itermErrorRate * dynCi + agGain * itermErrorRate, -itermLimit, itermLimit); pidData[axis].I = constrainf(previousIterm + (Ki * dynCi + agGain) * itermErrorRate, -itermLimit, itermLimit);
// -----calculate pidSetpointDelta // -----calculate pidSetpointDelta
float pidSetpointDelta = 0; float pidSetpointDelta = 0;