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Fix some BlackBox isues, remove redundant code from PID controllers.

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This commit is contained in:
Michael Jakob 2015-04-12 04:46:27 +02:00
parent e7e297ad53
commit fe2f2f3053
4 changed files with 6 additions and 20 deletions
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15
src/main/flight/pid.c
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@ -456,11 +456,6 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
axisPID[FD_YAW] = PTerm + ITerm;
if (motorCount >= 4) { // prevent "yaw jump" during yaw correction
int16_t limit = ABS(rcCommand[FD_YAW]) + 100;
axisPID[FD_YAW] = (float)constrain((int32_t)axisPID[FD_YAW], -limit, +limit);
}
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(FD_YAW);
@ -594,11 +589,6 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
axisPID[FD_YAW] = PTerm + ITerm;
if (motorCount >= 4) { // prevent "yaw jump" during yaw correction
int16_t limit = ABS(rcCommand[FD_YAW]) + 100;
axisPID[FD_YAW] = (float)constrain((int32_t)axisPID[FD_YAW], -limit, +limit);
}
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(FD_YAW);
@ -749,11 +739,6 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
axisPID[FD_YAW] = PTerm + ITerm;
axisPID[FD_YAW] = lrintf(axisPID[FD_YAW]); // Round up result.
if (motorCount >= 4) { // prevent "yaw jump" during yaw correction
int16_t limit = ABS(rcCommand[FD_YAW]) + 100;
axisPID[FD_YAW] = (float)constrain((int32_t)axisPID[FD_YAW], -limit, +limit);
}
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(FD_YAW);