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More accurate deg/sec for iterm reset

This commit is contained in:
borisbstyle 2016-04-08 19:52:59 +02:00
parent 20d222c388
commit 555269c2a3
1 changed files with 4 additions and 4 deletions
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8
src/main/flight/pid.c
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@ -211,11 +211,11 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + luxITermScale * RateError * getdT() * pidProfile->I8[axis], -250.0f, 250.0f);
if (IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) {
if (ABS(gyroRate) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = 0;
if (ABS(gyroRate / 4.1f) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = 0;
}
if (axis == YAW) {
if (ABS(gyroRate) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = 0;
if (ABS(gyroRate / 4.1f) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = 0;
}
if (antiWindupProtection || motorLimitReached) {
@ -498,11 +498,11 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
if (IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) {
if (ABS(gyroRate / 4) >= pidProfile->rollPitchItermResetRate) errorGyroI[axis] = 0;
if (ABS(gyroRate *10 / 41) >= pidProfile->rollPitchItermResetRate) errorGyroI[axis] = 0;
}
if (axis == YAW) {
if (ABS(gyroRate / 4) >= pidProfile->yawItermResetRate) errorGyroI[axis] = 0;
if (ABS(gyroRate * 10 / 41) >= pidProfile->yawItermResetRate) errorGyroI[axis] = 0;
}
if (antiWindupProtection || motorLimitReached) {