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Merge pull request #3017 from rav-rav/sharper_rc_response

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Sharper rc response / ninja-mode
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Martin Budden 2017-05-08 08:03:21 +01:00 • committed by GitHub
commit ebbfda2f6c
12 changed files with 41 additions and 38 deletions
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11
src/main/flight/pid.c
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@ -421,13 +421,18 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
// -----calculate D component
if (axis != FD_YAW) {
// apply filters
float gyroRateFiltered = dtermNotchFilterApplyFn(dtermFilterNotch[axis], gyroRate);
gyroRateFiltered = dtermLpfApplyFn(dtermFilterLpf[axis], gyroRateFiltered);
float dynC = dtermSetpointWeight;
if (pidProfile->setpointRelaxRatio < 100) {
dynC *= MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
}
const float rD = dynC * currentPidSetpoint - gyroRate; // cr - y
const float rD = dynC * currentPidSetpoint - gyroRateFiltered; // cr - y
// Divide rate change by dT to get differential (ie dr/dt)
float delta = (rD - previousRateError[axis]) / dT;
previousRateError[axis] = rD;
// if crash recovery is on check for a crash
@ -441,10 +446,6 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
}
}
// apply filters
delta = dtermNotchFilterApplyFn(dtermFilterNotch[axis], delta);
delta = dtermLpfApplyFn(dtermFilterLpf[axis], delta);
axisPID_D[axis] = Kd[axis] * delta * tpaFactor;
}