Remove multiplier by 3 from delta. (Better for defaults)
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@ -210,7 +210,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
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}
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DTerm = constrainf(delta * pidProfile->D_f[axis] * PIDweight[axis] / 100, -300.0f, 300.0f);
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DTerm = constrainf((delta / 3) * pidProfile->D_f[axis] * PIDweight[axis] / 100, -300.0f, 300.0f);
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// -----calculate total PID output
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axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
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@ -301,7 +301,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
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}
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DTerm = (delta * 3 * dynD8[axis]) / 32;
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DTerm = (delta * dynD8[axis]) / 32;
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axisPID[axis] = PTerm + ITerm - DTerm;
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#ifdef BLACKBOX
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@ -386,7 +386,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
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delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
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}
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DTerm = ((int32_t)delta * 3 * dynD8[axis]) >> 5; // 32 bits is needed for calculation
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DTerm = ((int32_t)delta * dynD8[axis]) >> 5; // 32 bits is needed for calculation
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axisPID[axis] = PTerm + ITerm - DTerm;
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@ -504,7 +504,7 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
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delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
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}
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DTerm = (delta * 3 * dynD8[axis]) / 32;
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DTerm = (delta * dynD8[axis]) / 32;
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axisPID[axis] = PTerm + ITerm - DTerm;
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#ifdef BLACKBOX
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@ -775,7 +775,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
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delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
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}
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DTerm = (delta * 3 * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8; // Multiplied by 3 to match old scaling
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DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8; // Multiplied by 3 to match old scaling
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// -----calculate total PID output
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axisPID[axis] = PTerm + ITerm + DTerm;
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