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Pawel Spychalski (DzikuVx) 2019-04-23 11:42:08 +02:00
parent 4ca1f0fdf9
commit 34bd2ea557
3 changed files with 3 additions and 3 deletions
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2
src/main/common/maths.c
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@ -139,7 +139,7 @@ int32_t applyDeadband(int32_t value, int32_t deadband)
return value; return value;
} }
float fapplyDeadband(const float value, const float deadband) float fapplyDeadbandf(float value, float deadband)
{ {
if (fabsf(value) < deadband) { if (fabsf(value) < deadband) {
return 0; return 0;

2
src/main/common/maths.h
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@ -123,7 +123,7 @@ void sensorCalibrationSolveForScale(sensorCalibrationState_t * state, float resu
int gcd(int num, int denom); int gcd(int num, int denom);
int32_t applyDeadband(int32_t value, int32_t deadband); int32_t applyDeadband(int32_t value, int32_t deadband);
float fapplyDeadband(const float value, const float deadband); float fapplyDeadbandf(float value, float deadband);
int constrain(int amt, int low, int high); int constrain(int amt, int low, int high);
float constrainf(float amt, float low, float high); float constrainf(float amt, float low, float high);

2
src/main/flight/pid.c
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@ -581,7 +581,7 @@ static void FAST_CODE applyItermRelax(const int axis, const float gyroRate, floa
if (itermRelaxType == ITERM_RELAX_SETPOINT) { if (itermRelaxType == ITERM_RELAX_SETPOINT) {
*itermErrorRate *= itermRelaxFactor; *itermErrorRate *= itermRelaxFactor;
} else if (itermRelaxType == ITERM_RELAX_GYRO ) { } else if (itermRelaxType == ITERM_RELAX_GYRO ) {
*itermErrorRate = fapplyDeadband(setpointLpf - gyroRate, setpointHpf); *itermErrorRate = fapplyDeadbandf(setpointLpf - gyroRate, setpointHpf);
} else { } else {
*itermErrorRate = 0.0f; *itermErrorRate = 0.0f;
} }