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Fix motorCount issue for PID controllers

This commit is contained in:
Michael Jakob 2015-01-23 01:28:12 +01:00
parent 97b4b786d1
commit 029945fbba
1 changed files with 5 additions and 4 deletions
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9
src/main/flight/flight.c
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@ -42,6 +42,7 @@
#include "io/gps.h"
extern uint16_t cycleTime;
extern uint8_t motorCount;
int16_t heading, magHold;
int16_t axisPID[3];
@ -371,10 +372,10 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6;
// Constrain YAW by D value if not servo driven in that case servolimits apply
// if(NumberOfMotors > 3) {
if(motorCount > 3) {
int16_t limit = GYRO_P_MAX - pidProfile->D8[FD_YAW];
PTerm = constrain(PTerm, -limit, +limit);
// }
}
ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX);
@ -476,10 +477,10 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6;
// Constrain YAW by D value if not servo driven in that case servolimits apply
// if(NumberOfMotors > 3) {
if(motorCount > 3) {
int16_t limit = GYRO_P_MAX - pidProfile->D8[FD_YAW];
PTerm = constrain(PTerm, -limit, +limit);
// }
}
ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX);