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VBAT PID compensation Initial Implementation // Untested

This commit is contained in:
borisbstyle 2016-02-06 13:42:52 +01:00
parent 0e735ae313
commit f1bb13d364
5 changed files with 17 additions and 2 deletions

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@ -43,6 +43,7 @@
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
#include "sensors/battery.h"
#include "flight/mixer.h"
#include "flight/failsafe.h"
@ -775,6 +776,8 @@ void mixTable(void)
axisPID[ROLL] * currentMixer[i].roll +
-mixerConfig->yaw_motor_direction * axisPID[YAW] * currentMixer[i].yaw;
if (batteryConfig->vbatPidCompensation) rollPitchYawMix[i] *= calculateVbatPidCompensation(); // Add voltage PID compensation
if (rollPitchYawMix[i] > rollPitchYawMixMax) rollPitchYawMixMax = rollPitchYawMix[i];
if (rollPitchYawMix[i] < rollPitchYawMixMin) rollPitchYawMixMin = rollPitchYawMix[i];
}