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Merge pull request #4841 from yarreg/bugfix/pid-type-cast

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Type casting in pid.c
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Konstantin Sharlaimov 2019-06-15 18:38:21 +02:00 • committed by GitHub
commit c06fa5fb19
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1 changed files with 2 additions and 2 deletions
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src/main/flight/pid.c
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@ -400,7 +400,7 @@ static float calculateMultirotorTPAFactor(void)
if (currentControlRateProfile->throttle.dynPID == 0 || rcCommand[THROTTLE] < currentControlRateProfile->throttle.pa_breakpoint) { if (currentControlRateProfile->throttle.dynPID == 0 || rcCommand[THROTTLE] < currentControlRateProfile->throttle.pa_breakpoint) {
tpaFactor = 1.0f; tpaFactor = 1.0f;
} else if (rcCommand[THROTTLE] < motorConfig()->maxthrottle) { } else if (rcCommand[THROTTLE] < motorConfig()->maxthrottle) {
tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (rcCommand[THROTTLE] - currentControlRateProfile->throttle.pa_breakpoint) / (motorConfig()->maxthrottle - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f; tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (rcCommand[THROTTLE] - currentControlRateProfile->throttle.pa_breakpoint) / (float)(motorConfig()->maxthrottle - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f;
} else { } else {
tpaFactor = (100 - currentControlRateProfile->throttle.dynPID) / 100.0f; tpaFactor = (100 - currentControlRateProfile->throttle.dynPID) / 100.0f;
} }
@ -830,7 +830,7 @@ float pidHeadingHold(void)
New controller for 2deg error requires 2,6dps. 4dps for 3deg and so on up until mag_hold_rate_limit is reached. New controller for 2deg error requires 2,6dps. 4dps for 3deg and so on up until mag_hold_rate_limit is reached.
*/ */
headingHoldRate = error * pidBank()->pid[PID_HEADING].P / 30; headingHoldRate = error * pidBank()->pid[PID_HEADING].P / 30.0f;
headingHoldRate = constrainf(headingHoldRate, -pidProfile()->heading_hold_rate_limit, pidProfile()->heading_hold_rate_limit); headingHoldRate = constrainf(headingHoldRate, -pidProfile()->heading_hold_rate_limit, pidProfile()->heading_hold_rate_limit);
headingHoldRate = pt1FilterApply4(&headingHoldRateFilter, headingHoldRate, HEADING_HOLD_ERROR_LPF_FREQ, dT); headingHoldRate = pt1FilterApply4(&headingHoldRateFilter, headingHoldRate, HEADING_HOLD_ERROR_LPF_FREQ, dT);