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Code Issues Wiki Activity

Remove PID iterm constrain for NAV PID controller

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-03-22 14:21:00 +01:00
parent 0cb3ce4ede
commit d7fa48b2e6
3 changed files with 2 additions and 7 deletions
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2
src/main/fc/settings.yaml
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@ -1235,7 +1235,7 @@ groups:
min: 0 min: 0
max: 255 max: 255
- name: nav_fw_pos_hdg_pidsum_limit - name: nav_fw_pos_hdg_pidsum_limit
field: pidSumLimitYaw field: navFwPosHdgPidsumLimit
min: PID_SUM_LIMIT_MIN min: PID_SUM_LIMIT_MIN
max: PID_SUM_LIMIT_MAX max: PID_SUM_LIMIT_MAX
- name: mc_iterm_relax_type - name: mc_iterm_relax_type

2
src/main/flight/pid.h
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@ -150,7 +150,7 @@ typedef struct pidProfile_s {
float antigravityAccelerator; float antigravityAccelerator;
uint8_t antigravityCutoff; uint8_t antigravityCutoff;
int navFwPosHdgPidsumLimit; uint16_t navFwPosHdgPidsumLimit;
} pidProfile_t; } pidProfile_t;
typedef struct pidAutotuneConfig_s { typedef struct pidAutotuneConfig_s {

5
src/main/navigation/navigation.c
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@ -1863,11 +1863,6 @@ float navPidApply3(pidController_t *pid, const float setpoint, const float measu
} }
} }
/*
* Limit both output and Iterm to limit windup
*/
pid->integrator = constrain(pid->integrator, outMin, outMax);
return outValConstrained; return outValConstrained;
} }