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Fix Blackbox recording of alternative PID controllers

This commit is contained in:
Michael Jakob 2015-01-26 18:00:07 +01:00
parent 4e0059ce4c
commit cf8338d95b
1 changed files with 19 additions and 6 deletions
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25
src/main/flight/flight.c
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@ -356,6 +356,12 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
DTerm = ((int32_t)DTerm * dynD8[axis]) >> 5; // 32 bits is needed for calculation DTerm = ((int32_t)DTerm * dynD8[axis]) >> 5; // 32 bits is needed for calculation
axisPID[axis] = PTerm + ITerm - DTerm; axisPID[axis] = PTerm + ITerm - DTerm;
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
axisPID_D[axis] = DTerm;
#endif
} }
//YAW //YAW
@ -382,9 +388,9 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
axisPID[FD_YAW] = PTerm + ITerm; axisPID[FD_YAW] = PTerm + ITerm;
#ifdef BLACKBOX #ifdef BLACKBOX
axisPID_P[axis] = PTerm; axisPID_P[FD_YAW] = PTerm;
axisPID_I[axis] = ITerm; axisPID_I[FD_YAW] = ITerm;
axisPID_D[axis] = DTerm; axisPID_D[FD_YAW] = DTerm;
#endif #endif
} }
@ -462,6 +468,12 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
delta1[axis] = delta; delta1[axis] = delta;
DTerm = (deltaSum * dynD8[axis]) / 32; DTerm = (deltaSum * dynD8[axis]) / 32;
axisPID[axis] = PTerm + ITerm - DTerm; axisPID[axis] = PTerm + ITerm - DTerm;
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
axisPID_D[axis] = DTerm;
#endif
} }
//YAW //YAW
rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->yawRate + 30) >> 5; rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->yawRate + 30) >> 5;
@ -486,10 +498,11 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
axisPID[FD_YAW] = PTerm + ITerm; axisPID[FD_YAW] = PTerm + ITerm;
#ifdef BLACKBOX #ifdef BLACKBOX
axisPID_P[axis] = PTerm; axisPID_P[FD_YAW] = PTerm;
axisPID_I[axis] = ITerm; axisPID_I[FD_YAW] = ITerm;
axisPID_D[axis] = DTerm; axisPID_D[FD_YAW] = DTerm;
#endif #endif
} }