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Fixed conditional scope. 

Fix unit tests.
This commit is contained in:
mikeller 2019-03-08 08:16:36 +13:00 committed by Michael Keller
parent 0ba3c5e468
commit b578801208
2 changed files with 7 additions and 3 deletions
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5
src/main/flight/pid.c
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@ -170,7 +170,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.iterm_rotation = false,
.smart_feedforward = false,
.iterm_relax = ITERM_RELAX_RP,
.iterm_relax_cutoff = 20,
.iterm_relax_cutoff = ITERM_RELAX_CUTOFF_DEFAULT,
.iterm_relax_type = ITERM_RELAX_SETPOINT,
.acro_trainer_angle_limit = 20,
.acro_trainer_lookahead_ms = 50,
@ -574,8 +574,9 @@ void pidInitConfig(const pidProfile_t *pidProfile)
pidCoefficient[axis].Kf = FEEDFORWARD_SCALE * (pidProfile->pid[axis].F / 100.0f);
}
#ifdef USE_INTEGRATED_YAW_CONTROL
if (!pidProfile->use_integrated_yaw) {
if (!pidProfile->use_integrated_yaw)
#endif
{
pidCoefficient[FD_YAW].Ki *= 2.5f;
}

3
src/test/unit/pid_unittest.cc
View File

@ -94,6 +94,9 @@ void setDefaultTestSettings(void) {
pidProfile->pid[PID_YAW] = { 70, 45, 20, 60 };
pidProfile->pid[PID_LEVEL] = { 50, 50, 75, 0 };
// Compensate for the upscaling done without 'use_integrated_yaw'
pidProfile->pid[PID_YAW].I = pidProfile->pid[PID_YAW].I / 2.5f;
pidProfile->pidSumLimit = PIDSUM_LIMIT;
pidProfile->pidSumLimitYaw = PIDSUM_LIMIT_YAW;
pidProfile->yaw_lowpass_hz = 0;