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cast D term to float just in case

This commit is contained in:
Jason Short 2012-02-16 22:07:35 -08:00
parent 36a120d8df
commit 632cc783a1
1 changed files with 5 additions and 3 deletions
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8
ArduCopter/Attitude.pde
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@ -21,7 +21,7 @@ get_stabilize_roll(int32_t target_angle)
// limit the error we're feeding to the PID // limit the error we're feeding to the PID
target_angle = constrain(target_angle, -2500, 2500); target_angle = constrain(target_angle, -2500, 2500);
// conver to desired Rate: // convert to desired Rate:
int32_t target_rate = g.pi_stabilize_roll.get_p(target_angle); int32_t target_rate = g.pi_stabilize_roll.get_p(target_angle);
int16_t iterm = g.pi_stabilize_roll.get_i(target_angle, G_Dt); int16_t iterm = g.pi_stabilize_roll.get_i(target_angle, G_Dt);
@ -115,7 +115,8 @@ get_rate_roll(int32_t target_rate)
target_rate = g.pid_rate_roll.get_pid(target_rate, G_Dt); target_rate = g.pid_rate_roll.get_pid(target_rate, G_Dt);
// Dampening // Dampening
target_rate -= constrain((current_rate - last_rate) * g.stabilize_d, -500, 500); int16_t d_temp = (float)(current_rate - last_rate) * g.stabilize_d;
target_rate -= constrain(d_temp, -500, 500);
last_rate = current_rate; last_rate = current_rate;
// output control: // output control:
@ -133,7 +134,8 @@ get_rate_pitch(int32_t target_rate)
target_rate = g.pid_rate_pitch.get_pid(target_rate, G_Dt); target_rate = g.pid_rate_pitch.get_pid(target_rate, G_Dt);
// Dampening // Dampening
target_rate -= constrain((current_rate - last_rate) * g.stabilize_d, -500, 500); int16_t d_temp = (float)(current_rate - last_rate) * g.stabilize_d;
target_rate -= constrain(d_temp, -500, 500);
last_rate = current_rate; last_rate = current_rate;
// output control: // output control: