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address style requests

This commit is contained in:
Thorsten Laux 2018-05-25 07:12:12 +02:00
parent 5aad57c3a7
commit af5fde98c1
1 changed files with 8 additions and 4 deletions
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12
src/main/flight/pid.c
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@ -640,19 +640,23 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
pidData[axis].D = pidCoefficient[axis].Kd * delta * tpaFactor;
const float pidFeedForward =
pidCoefficient[axis].Kd * dynCd * transition *
(currentPidSetpoint - previousPidSetpoint[axis]) * tpaFactor / dT;
bool addFeedforward = true;
if (smartFeedforward)
if (smartFeedforward) {
if (pidData[axis].P * pidFeedForward > 0) {
if (ABS(pidFeedForward) > ABS(pidData[axis].P)) {
pidData[axis].P = 0;
}
else addFeedforward = false;
else {
addFeedforward = false;
}
}
if (addFeedforward) pidData[axis].D += pidFeedForward;
}
if (addFeedforward) {
pidData[axis].D += pidFeedForward;
}
#ifdef USE_YAW_SPIN_RECOVERY
if (yawSpinActive) {