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Constrained D-term transition upper-bound (#5701)

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Andrey Mironov 2018-04-16 16:45:25 +03:00 • committed by GitHub
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src/main/flight/pid.c
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@ -618,7 +618,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
// -----calculate D component // -----calculate D component
if (axis != FD_YAW) { if (axis != FD_YAW) {
// no transition if relaxFactor == 0 // no transition if relaxFactor == 0
float transition = relaxFactor > 0 ? getRcDeflectionAbs(axis) * relaxFactor : 1; float transition = relaxFactor > 0 ? MIN(1.f, getRcDeflectionAbs(axis) * relaxFactor) : 1;
// Divide rate change by deltaT to get differential (ie dr/dt) // Divide rate change by deltaT to get differential (ie dr/dt)
const float delta = ( const float delta = (