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Fix Dterm In blackbox

This commit is contained in:
borisbstyle 2016-06-01 18:21:05 +02:00
parent b8e5ca42ab
commit 090c05b7b8
1 changed files with 4 additions and 0 deletions
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4
src/main/flight/pid.c
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@ -231,6 +231,8 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
// prevent "yaw jump" during yaw correction // prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW])); axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
} }
DTerm = 0.0f; // needed for blackbox
} else { } else {
delta = -(gyroRate - lastRate[axis]); delta = -(gyroRate - lastRate[axis]);
lastRate[axis] = gyroRate; lastRate[axis] = gyroRate;
@ -353,6 +355,8 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
// prevent "yaw jump" during yaw correction // prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW])); axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
} }
DTerm = 0; // needed for blackbox
} else { } else {
delta = -(gyroRate - lastRate[axis]); delta = -(gyroRate - lastRate[axis]);
lastRate[axis] = gyroRate; lastRate[axis] = gyroRate;