Reset ITerm after crash

2017-08-23 07:22:13 +01:00 · 2017-08-23 07:22:13 +01:00 · 3bae1e78e2
parent d031b038eb
commit 3bae1e78e2
1 changed files with 3 additions and 0 deletions
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@ -422,6 +422,9 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
                    errorRate = currentPidSetpoint - gyroRate;
                }
            }
+            // reset ITerm, since accumulated error before crash is now meaningless
+            // and ITerm windup during crash recovery can be extreme, especially on yaw axis
+            axisPID_I[axis] = 0.0f;
            if (cmpTimeUs(currentTimeUs, crashDetectedAtUs) > crashTimeLimitUs
                || (motorMixRange < 1.0f
                       && ABS(gyro.gyroADCf[FD_ROLL]) < crashRecoveryRate