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yaw improvement 

this should stop the copter from carrying on spinning at high yaw rates.
This commit is contained in:
luggi 2014-06-07 15:32:08 +02:00
parent 51e7c71bb0
commit 20b7a9fbfb
1 changed files with 2 additions and 2 deletions
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4
src/mw.c
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@ -326,7 +326,7 @@ static void pidMultiWii(void)
PTermGYRO = rcCommand[axis];
errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
if (abs(gyroData[axis]) > 640)
if ((abs(gyroData[axis]) > 640) || (abs(rcCommand[axis]) > 50))
errorGyroI[axis] = 0;
ITermGYRO = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;
}
@ -370,7 +370,7 @@ static void pidRewrite(void)
for (axis = 0; axis < 3; axis++) {
// -----Get the desired angle rate depending on flight mode
if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = (((int32_t)(cfg.yawRate + 27) * rcCommand[2]) >> 5);
AngleRateTmp = (((int32_t)(cfg.yawRate + 27) * rcCommand[YAW]) >> 5);
} else {
// calculate error and limit the angle to 50 degrees max inclination
errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis]) / 10.0f; // 16 bits is ok here