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Merge pull request #4616 from martinbudden/bfa_pid_deltat_us

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Scaled PID deltaT calculations from us to seconds
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Martin Budden 2017-11-19 04:58:59 +00:00 • committed by GitHub
commit e7d2e84348
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1 changed files with 4 additions and 4 deletions
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8
src/main/flight/pid.c
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@ -411,11 +411,11 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
const float tpaFactor = getThrottlePIDAttenuation();
const float motorMixRange = getMotorMixRange();
static timeUs_t crashDetectedAtUs;
static timeUs_t previousTime;
static timeUs_t previousTimeUs;
// calculate actual deltaT
const float deltaT = currentTimeUs - previousTime;
previousTime = currentTimeUs;
// calculate actual deltaT in seconds
const float deltaT = (currentTimeUs - previousTimeUs) * 0.000001f;
previousTimeUs = currentTimeUs;
// Dynamic ki component to gradually scale back integration when above windup point
const float dynKi = MIN((1.0f - motorMixRange) * ITermWindupPointInv, 1.0f);