rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #6726 from ctzsnooze/iterm-relax-threshold-minor-fix 

use the defined value in both places
This commit is contained in:
Michael Keller 2018-09-10 20:49:50 +12:00 committed by GitHub
parent 5ef68ef6a3 acbc041259
commit 56b181a235
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/main/flight/pid.c
View File

@ -920,7 +920,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
const bool isDecreasingI = ((ITerm > 0) && (itermErrorRate < 0)) || ((ITerm < 0) && (itermErrorRate > 0));
if ((itermRelax >= ITERM_RELAX_RP_INC) && isDecreasingI) {
// Do Nothing, use the precalculed itermErrorRate
} else if (itermRelaxType == ITERM_RELAX_SETPOINT && setpointHpf < 30) {
} else if (itermRelaxType == ITERM_RELAX_SETPOINT && setpointHpf < ITERM_RELAX_SETPOINT_THRESHOLD) {
itermErrorRate *= itermRelaxFactor;
} else if (itermRelaxType == ITERM_RELAX_GYRO ) {
itermErrorRate = fapplyDeadband(setpointLpf - gyroRate, setpointHpf);