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Scale antiWindup increment to looptime. It is now always 500ms

This commit is contained in:
borisbstyle 2016-02-06 13:12:15 +01:00
parent cdb671b0d6
commit 0e735ae313
1 changed files with 6 additions and 2 deletions
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8
src/main/flight/pid.c
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@ -85,18 +85,22 @@ void pidResetErrorGyro(void)
float scaleItermToRcInput(int axis) {
float rcCommandReflection = (float)rcCommand[axis] / 500.0f;
static float iTermScaler[3] = {1.0f, 1.0f, 1.0f};
static float antiWindUpIncrement = 0;
if (antiWindUpIncrement) antiWindUpIncrement = 0.001 * (targetLooptime / 500); // Calculate increment for 500ms period
if (ABS(rcCommandReflection) > 0.7f && (!flightModeFlags)) { /* scaling should not happen in level modes */
/* Reset Iterm on high stick inputs. No scaling necessary here */
iTermScaler[axis] = 0.0f;
} else {
/* Prevent rapid windup during acro recoveries. Slowly enable Iterm activity. Perhaps more scaling to looptime needed for consistency */
/* Prevent rapid windup during acro recoveries. Slowly enable Iterm for period of 500ms */
if (iTermScaler[axis] < 1) {
iTermScaler[axis] = constrainf(iTermScaler[axis] + 0.001f, 0.0f, 1.0f);
iTermScaler[axis] = constrainf(iTermScaler[axis] + antiWindUpIncrement, 0.0f, 1.0f);
} else {
iTermScaler[axis] = 1;
}
}
return iTermScaler[axis];
}