MW23 delta scaling to cycletime

2016-02-24 23:35:53 +01:00 · 2016-02-24 23:35:53 +01:00 · df159d195d
parent f5de06c59e
commit df159d195d
1 changed files with 3 additions and 0 deletions
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@ -360,6 +360,9 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
            lastErrorForDelta[axis] = gyroError;
        }

+        // Scale delta to looptime
+        delta = (delta * ((uint16_t) 0xFFFF)) / ((uint16_t)targetPidLooptime << 3);
+
        if (deltaStateIsSet) {
            DTerm = lrintf(applyBiQuadFilter((float) delta, &deltaBiQuadState[axis])) * 3;  // Keep same scaling as unfiltered delta
        } else {