| 391,7 → 391,7 |
|---|
| CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L)); |
| // Add (P, D) parts minus stick pos. to the scaled-down I part. |
| term[axis] = PDPart[axis] - controls[axis] + IPart[axis] / Ki; // PID-controller for pitch |
| |
| term[axis] += (dynamicParams.levelCorrection[axis] - 128); |
| /* |
| * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
| * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |