Merge pull request #10462 from ctzsnooze/exclude-yaw-P-from-AG-boost
Exclude yaw from AntiGravity generated P boost
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12e3b6e242
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@ -1159,12 +1159,9 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
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float agBoostAttenuator = fabsf(currentPidSetpoint) / 50.0f;
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agBoostAttenuator = MAX(agBoostAttenuator, 1.0f);
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const float agBoost = 1.0f + (pidRuntime.antiGravityPBoost / agBoostAttenuator);
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pidData[axis].P *= agBoost;
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if (axis == FD_ROLL) {
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DEBUG_SET(DEBUG_ANTI_GRAVITY, 2, lrintf(agBoost * 1000));
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}
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if (axis == FD_PITCH) {
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DEBUG_SET(DEBUG_ANTI_GRAVITY, 3, lrintf(agBoost * 1000));
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if (axis != FD_YAW) {
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pidData[axis].P *= agBoost;
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DEBUG_SET(DEBUG_ANTI_GRAVITY, axis + 2, lrintf(agBoost * 1000));
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}
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const float pidSum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F;
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