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Activate Iterm reset in normal mode too

This commit is contained in:
borisbstyle 2016-03-31 22:58:22 +02:00
parent 5272426a00
commit 7c83d23ddf
2 changed files with 10 additions and 14 deletions
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4
src/main/flight/pid.c
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@ -205,13 +205,11 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate I component.
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * getdT() * pidProfile->I8[axis] / 10.0f, -250.0f, 250.0f);
if (IS_RC_MODE_ACTIVE(BOXSUPEREXPO)) {
if (axis == YAW) {
if (ABS(gyroRate) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = 0;
} else {
if (ABS(gyroRate) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = 0;
}
}
if (antiWindupProtection || motorLimitReached) {
errorGyroIf[axis] = constrainf(errorGyroIf[axis], -errorGyroIfLimit[axis], errorGyroIfLimit[axis]);
@ -492,13 +490,11 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
// I coefficient (I8) moved before integration to make limiting independent from PID settings
errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
if (IS_RC_MODE_ACTIVE(BOXSUPEREXPO)) {
if (axis == YAW) {
if (ABS(gyroRate / 4) >= pidProfile->yawItermResetRate) errorGyroI[axis] = 0;
} else {
if (ABS(gyroRate / 4) >= pidProfile->rollPitchItermResetRate) errorGyroI[axis] = 0;
}
}
if (antiWindupProtection || motorLimitReached) {
errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);