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Fix problem for non GPS targets and add code for autotuning

This commit is contained in:
Michael Jakob 2015-01-27 09:23:50 +01:00
parent ef749e822a
commit a5c3c26686
1 changed files with 10 additions and 0 deletions
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10
src/main/flight/flight.c
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@ -544,7 +544,17 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
for (axis = 0; axis < 2; axis++) {
rcCommandAxis = (float)rcCommand[axis]; // Calculate common values for pid controllers
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
#ifdef GPS
error = constrain(2.0f * rcCommandAxis + GPS_angle[axis], -((int) max_angle_inclination), +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
#else
error = constrain(2.0f * rcCommandAxis, -((int) max_angle_inclination), +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
#endif
#ifdef AUTOTUNE
if (shouldAutotune()) {
error = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(error)));
}
#endif
PTermACC = error * (float)pidProfile->P8[PIDLEVEL] * 0.008f;
tmp0flt = (float)pidProfile->D8[PIDLEVEL] * 5.0f;
PTermACC = constrain(PTermACC, -tmp0flt, +tmp0flt);