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Correct setpoint behaviour

This commit is contained in:
borisbstyle 2017-09-08 14:58:47 +02:00
parent a2b24692da
commit 00414b29b6
2 changed files with 3 additions and 3 deletions
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2
src/main/config/config_eeprom.h
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@ -20,7 +20,7 @@
#include <stdint.h> #include <stdint.h>
#include <stdbool.h> #include <stdbool.h>
#define EEPROM_CONF_VERSION 162 #define EEPROM_CONF_VERSION 163
bool isEEPROMContentValid(void); bool isEEPROMContentValid(void);
bool loadEEPROM(void); bool loadEEPROM(void);

4
src/main/flight/pid.c
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@ -99,7 +99,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.pidAtMinThrottle = PID_STABILISATION_ON, .pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55, .levelAngleLimit = 55,
.setpointRelaxRatio = 100, .setpointRelaxRatio = 100,
.dtermSetpointWeight = 60, .dtermSetpointWeight = 0,
.yawRateAccelLimit = 100, .yawRateAccelLimit = 100,
.rateAccelLimit = 0, .rateAccelLimit = 0,
.itermThrottleThreshold = 350, .itermThrottleThreshold = 350,
@ -488,7 +488,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
gyroRateFiltered = dtermLpfApplyFn(dtermFilterLpf[axis], gyroRateFiltered); gyroRateFiltered = dtermLpfApplyFn(dtermFilterLpf[axis], gyroRateFiltered);
float dynC = 0; float dynC = 0;
if ( (pidProfile->setpointRelaxRatio < 100) && (!flightModeFlags) ) { if ( (pidProfile->dtermSetpointWeight > 0) && (!flightModeFlags) ) {
dynC = dtermSetpointWeight * MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f); dynC = dtermSetpointWeight * MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
} }
const float rD = dynC * currentPidSetpoint - gyroRateFiltered; // cr - y const float rD = dynC * currentPidSetpoint - gyroRateFiltered; // cr - y