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MW23 delta scaling to cycletime

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borisbstyle 2016-02-24 23:35:53 +01:00
parent f5de06c59e
commit df159d195d
1 changed files with 3 additions and 0 deletions
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3
src/main/flight/pid.c
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@ -360,6 +360,9 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
lastErrorForDelta[axis] = gyroError;
}
// Scale delta to looptime
delta = (delta * ((uint16_t) 0xFFFF)) / ((uint16_t)targetPidLooptime << 3);
if (deltaStateIsSet) {
DTerm = lrintf(applyBiQuadFilter((float) delta, &deltaBiQuadState[axis])) * 3; // Keep same scaling as unfiltered delta
} else {