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Merge pull request #3955 from martinbudden/bf_gyro_yaw_overflow 

Exclude MPU6000 gyro from yaw overflow handling
This commit is contained in:
Martin Budden 2017-08-25 13:04:53 +01:00 committed by GitHub
parent c3d75ba2ed 7fd3b143ca
commit dafdde5112
1 changed files with 4 additions and 1 deletions
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5
src/main/flight/pid.c
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@ -415,6 +415,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
}
if (axis == FD_YAW) {
// on yaw axis, prevent "yaw spin to the moon" after crash by constraining errorRate
#if !(defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_ICM20649))
#define GYRO_POTENTIAL_OVERFLOW_RATE 1990.0f
if (gyroRate > GYRO_POTENTIAL_OVERFLOW_RATE || gyroRate < -GYRO_POTENTIAL_OVERFLOW_RATE) {
// ICM gyros are specified to +/- 2000 deg/sec, in a crash they can go out of spec.
@ -423,7 +424,9 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
// If there is a sign reversal we will actually increase crash-induced yaw spin
// so best thing to do is set error to zero.
errorRate = 0.0f;
} else {
} else
#endif
{
errorRate = constrainf(errorRate, -crashLimitYaw, crashLimitYaw);
}
} else {