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Merge pull request #10462 from ctzsnooze/exclude-yaw-P-from-AG-boost 

Exclude yaw from AntiGravity generated P boost
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Michael Keller 2021-01-10 18:34:49 +08:00 committed by GitHub
parent 1f1ee1b820 5b40fcc326
commit 12e3b6e242
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1 changed files with 3 additions and 6 deletions
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9
src/main/flight/pid.c
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@ -1159,12 +1159,9 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
float agBoostAttenuator = fabsf(currentPidSetpoint) / 50.0f;
agBoostAttenuator = MAX(agBoostAttenuator, 1.0f);
const float agBoost = 1.0f + (pidRuntime.antiGravityPBoost / agBoostAttenuator);
pidData[axis].P *= agBoost;
if (axis == FD_ROLL) {
DEBUG_SET(DEBUG_ANTI_GRAVITY, 2, lrintf(agBoost * 1000));
}
if (axis == FD_PITCH) {
DEBUG_SET(DEBUG_ANTI_GRAVITY, 3, lrintf(agBoost * 1000));
if (axis != FD_YAW) {
pidData[axis].P *= agBoost;
DEBUG_SET(DEBUG_ANTI_GRAVITY, axis + 2, lrintf(agBoost * 1000));
}
const float pidSum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F;