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Added servo velocity limit

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This commit is contained in:
demvlad 2025-04-17 14:43:39 +03:00
parent a0fc8fa6dd
commit ff5cf0673d
6 changed files with 26 additions and 10 deletions
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3
src/main/flight/pid.c
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@ -284,6 +284,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.afcs_air_density = 1225, // The current atmosphere air density [mg/m^3], the MSA 1225 g/m^3 value is default. TODO: Dynamical air density computing by using baro sensors data
.afcs_lift_c_limit = 12, // Limit aerodinamics lift force coefficient value *10
.afcs_aoa_limiter_gain = 250, // elevator speed for 0.1 lift force coef difference in %/sec *10
.afcs_servo_time = 90, // minimal time of servo movement from neutrale to maximum, ms
#endif
);
}
@ -1261,7 +1262,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
#ifdef USE_AIRPLANE_FCS
bool isAFCS = isFixedWing() && FLIGHT_MODE(AIRPLANE_FCS_MODE);
if (isAFCS) {
afcsUpdate(pidProfile, currentTimeUs);
afcsUpdate(pidProfile);
return; // The airplanes FCS do not need PID controller
}
#endif