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Move PID gains to UINT16 instead of UINT8. Keep it compatible on the MSP level

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-12-04 20:38:34 +01:00
parent ebf581c871
commit d32fe6dea5
12 changed files with 122 additions and 65 deletions
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4
src/main/navigation/navigation.c
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@ -1961,6 +1961,10 @@ float navPidApply3(
pid->integrator = newIntegrator;
}
}
if (pidFlags & PID_LIMIT_INTEGRATOR) {
pid->integrator = constrainf(pid->integrator, outMin, outMax);
}
return outValConstrained;
}