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i-term zeroing fixed

Browse source 
http://www.multiwii.com/forum/viewtopic.php?p=53441#p53402
This commit is contained in:
Dominic Clifton 2014-07-16 01:26:42 +01:00
parent ae0f842266
commit fe5a864a85
1 changed files with 1 additions and 1 deletions
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2
src/main/flight/flight.c
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@ -194,7 +194,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
PTermGYRO = rcCommand[axis]; PTermGYRO = rcCommand[axis];
errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
if ((abs(gyroData[axis]) > (640 * 4)) || (abs(rcCommand[axis]) > 50)) if ((abs(gyroData[axis]) > (640 * 4)) || (axis == FD_YAW && abs(rcCommand[axis]) > 50))
errorGyroI[axis] = 0; errorGyroI[axis] = 0;
ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64; ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;