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Refactor previousErrorGyroI

This commit is contained in:
borisbstyle 2016-02-04 12:10:14 +01:00
parent 4b6f276d2b
commit 18da3d08f8
1 changed files with 6 additions and 6 deletions
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12
src/main/flight/pid.c
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@ -65,8 +65,8 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
uint8_t PIDweight[3];
static int32_t errorGyroI[3], previousErrorGyroI[3];
static float errorGyroIf[3], previousErrorGyroIf[3];
static int32_t errorGyroI[3], errorGyroILimit[3];
static float errorGyroIf[3], errorGyroIfLimit[3];
static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);
@ -203,9 +203,9 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
if (IS_RC_MODE_ACTIVE(BOXAIRMODE) || IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
errorGyroIf[axis] *= scaleItermToRcInput(axis);
if (motorLimitReached || lowThrottleWindupProtection) {
PREVENT_WINDUP(errorGyroIf[axis], previousErrorGyroIf[axis]);
PREVENT_WINDUP(errorGyroIf[axis], errorGyroIfLimit[axis]);
} else {
previousErrorGyroIf[axis] = errorGyroIf[axis];
errorGyroIfLimit[axis] = errorGyroIf[axis];
}
}
@ -350,9 +350,9 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
if (IS_RC_MODE_ACTIVE(BOXAIRMODE) || IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
errorGyroI[axis] = (int32_t) (errorGyroI[axis] * scaleItermToRcInput(axis));
if (motorLimitReached || lowThrottleWindupProtection) {
PREVENT_WINDUP(errorGyroI[axis], previousErrorGyroI[axis]);
PREVENT_WINDUP(errorGyroI[axis], errorGyroILimit[axis]);
} else {
previousErrorGyroI[axis] = errorGyroI[axis];
errorGyroILimit[axis] = errorGyroI[axis];
}
}