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Merge pull request #4076 from jirif/pr_4017_fix 

BF 3.2 setpointweight is disabled by default
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borisbstyle 2017-09-08 15:10:50 +02:00 committed by GitHub
parent a2b24692da 723b71a4d0
commit dc7436efad
1 changed files with 1 additions and 1 deletions
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src/main/flight/pid.c
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@ -488,7 +488,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
gyroRateFiltered = dtermLpfApplyFn(dtermFilterLpf[axis], gyroRateFiltered); gyroRateFiltered = dtermLpfApplyFn(dtermFilterLpf[axis], gyroRateFiltered);
float dynC = 0; float dynC = 0;
if ( (pidProfile->setpointRelaxRatio < 100) && (!flightModeFlags) ) { if ( (pidProfile->dtermSetpointWeight > 0) && (!flightModeFlags) ) {
dynC = dtermSetpointWeight * MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f); dynC = dtermSetpointWeight * MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
} }
const float rD = dynC * currentPidSetpoint - gyroRateFiltered; // cr - y const float rD = dynC * currentPidSetpoint - gyroRateFiltered; // cr - y