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Merge pull request #455 from sherlockflight/master
Blackbox: Log PID intermediates for pidLuxFloat
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commit
e33fd411c5
1 changed files with 6 additions and 1 deletions
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@ -201,8 +201,13 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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// -----calculate total PID output
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axisPID[axis] = constrain(lrintf(PTerm + ITerm - DTerm), -1000, 1000);
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}
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#ifdef BLACKBOX
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axisPID_P[axis] = PTerm;
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axisPID_I[axis] = ITerm;
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axisPID_D[axis] = -DTerm;
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#endif
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}
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}
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static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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