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Fix for missing I gain (float)

This commit is contained in:
borisbstyle 2016-07-17 21:10:00 +02:00
parent 19a814afbb
commit 221f617799
1 changed files with 2 additions and 2 deletions
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4
src/main/flight/pid.c
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@ -185,7 +185,7 @@ static void pidFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclinat
float accumulationThreshold = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
float antiWindupScaler = constrainf(1.0f - (1.5f * (ABS(angleRate[axis]) / accumulationThreshold)), 0.0f, 1.0f);
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + ITermScale * errorLimiter * RateError * getdT() * antiWindupScaler, -250.0f, 250.0f);
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + ITermScale * RateError * getdT() * pidProfile->I8[axis] * antiWindupScaler, -250.0f, 250.0f);
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
// I coefficient (I8) moved before integration to make limiting independent from PID settings
@ -320,7 +320,7 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
// is normalized to cycle time = 2048.
// Prevent Accumulation
uint16_t resetRate = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
uint16_t dynamicFactor = (1 << 8) - constrain(((ABS((int32_t)angleRate) << 6) / resetRate), 0, 1 << 8);
uint16_t dynamicFactor = (1 << 8) - constrain(((ABS(AngleRateTmp) << 6) / resetRate), 0, 1 << 8);
uint16_t dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8;
errorGyroI[axis] = errorGyroI[axis] + ((uint16_t)targetPidLooptime >> 11) * dynamicKi;