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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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20
src/main/flight/pid.c
View File

@ -205,12 +205,10 @@ 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 (axis == YAW) {
if (ABS(gyroRate) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = 0;
} else {
if (ABS(gyroRate) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = 0;
}
if (antiWindupProtection || motorLimitReached) {
@ -492,12 +490,10 @@ 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 (axis == YAW) {
if (ABS(gyroRate / 4) >= pidProfile->yawItermResetRate) errorGyroI[axis] = 0;
} else {
if (ABS(gyroRate / 4) >= pidProfile->rollPitchItermResetRate) errorGyroI[axis] = 0;
}
if (antiWindupProtection || motorLimitReached) {

4
src/main/io/serial_cli.c
View File

@ -727,11 +727,11 @@ const clivalue_t valueTable[] = {
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000, 18000 } },
{ "pid_delta_method", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaMethod, .config.lookup = { TABLE_DELTA_METHOD } },
{ "dterm_lowpass_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "dterm_lowpass_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "dterm_average_count", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_average_count, .config.minmax = {0, 12 } },
{ "iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetRate, .config.minmax = {50, 1000 } },
{ "yaw_iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermResetRate, .config.minmax = {25, 1000 } },
{ "yaw_lowpass_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "yaw_lowpass_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_process_denom, .config.minmax = { 1, 8 } },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },