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Changed scaling of axisPID to be local to mixer only, since the servos need unscaled axisPID.

This commit is contained in:
mikeller 2016-11-08 22:38:30 +13:00
parent 3fe8e4b0c0
commit ea3291c404
1 changed files with 5 additions and 4 deletions
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9
src/main/flight/mixer.c
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@ -452,9 +452,10 @@ void mixTable(pidProfile_t *pidProfile)
throttle = constrainf((throttle - rxConfig->mincheck) / rcCommandThrottleRange, 0.0f, 1.0f);
throttleRange = motorOutputMax - motorOutputMin;
float scaledAxisPIDf[3];
// Limit the PIDsum
for (int axis = 0; axis < 3; axis++)
axisPIDf[axis] = constrainf(axisPIDf[axis] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
scaledAxisPIDf[axis] = constrainf(axisPIDf[axis] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
// Calculate voltage compensation
if (batteryConfig && pidProfile->vbatPidCompensation) vbatCompensationFactor = calculateVbatPidCompensation();
@ -462,9 +463,9 @@ void mixTable(pidProfile_t *pidProfile)
// Find roll/pitch/yaw desired output
for (i = 0; i < motorCount; i++) {
motorMix[i] =
axisPIDf[PITCH] * currentMixer[i].pitch +
axisPIDf[ROLL] * currentMixer[i].roll +
-mixerConfig->yaw_motor_direction * axisPIDf[YAW] * currentMixer[i].yaw;
scaledAxisPIDf[PITCH] * currentMixer[i].pitch +
scaledAxisPIDf[ROLL] * currentMixer[i].roll +
-mixerConfig->yaw_motor_direction * scaledAxisPIDf[YAW] * currentMixer[i].yaw;
if (vbatCompensationFactor > 1.0f) motorMix[i] *= vbatCompensationFactor; // Add voltage compensation