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| Rev 2126 | Rev 2129 | ||
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| Line 128... | Line 128... | ||
| 128 | target[axis] -= OVER360; |
128 | target[axis] -= OVER360; |
| 129 | } else if (target[axis] <= -OVER180) { |
129 | } else if (target[axis] <= -OVER180) { |
| 130 | target[axis] += OVER360; |
130 | target[axis] += OVER360; |
| 131 | } |
131 | } |
| Line 132... | Line -... | ||
| 132 | - | ||
| 133 | //if (reverse[axis]) |
- | |
| 134 | error[axis] = attitude[axis] - target[axis]; |
- | |
| 135 | // else |
132 | |
| Line -... | Line 133... | ||
| - | 133 | /* This is the difference limitation only way. The 2 subtrahends stay unmodified. */ |
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| - | 134 | ||
| - | 135 | error[axis] = attitude[axis] - target[axis]; |
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| - | 136 | if (error[axis] > OVER180) { |
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| - | 137 | error[axis] -= OVER360; |
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| - | 138 | } else if (error[axis] <= -OVER180) { |
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| - | 139 | error[axis] += OVER360; |
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| 136 | // error[axis] = attitude[axis] - target[axis]; |
140 | } |
| 137 | 141 | // Believe it or not, the below limiter does NOT solve the wrapping problem. Must do explicitly. |
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| 138 | if (error[axis] > maxError[axis]) { |
142 | if (error[axis] > maxError[axis]) { |
| 139 | error[axis] = maxError[axis]; |
143 | error[axis] = maxError[axis]; |
| 140 | } else if (error[axis] < -maxError[axis]) { |
144 | } else if (error[axis] < -maxError[axis]) { |
| 141 | error[axis] =- maxError[axis]; |
145 | error[axis] = -maxError[axis]; |
| - | 146 | } else { |
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| - | 147 | // update I parts here for angles mode. I parts in rate mode is something different. |
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| - | 148 | } |
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| - | 149 | ||
| - | 150 | /* |
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| - | 151 | * This is the beginning of a version that adjusts the target to differ from the attitude |
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| - | 152 | * by a limited amount. This will eliminate memory over large errors but also knock target angles. |
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| - | 153 | * Idea: The limit could be calculated from the max. servo deflection divided by I factor... |
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| - | 154 | * |
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| - | 155 | */ |
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| - | 156 | /* |
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| - | 157 | if(abs(attitude[axis]-target[axis]) > OVER180) { |
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| - | 158 | if(target[axis] > attitude[axis]) { |
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| 142 | } else { |
159 | |
| - | 160 | } |
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| Line 143... | Line 161... | ||
| 143 | // update I parts here for angles mode. Ĩ parts in rate mode is something different. |
161 | } |
| 144 | } |
162 | */ |
| 145 | 163 | ||
| 146 | /************************************************************************/ |
164 | /************************************************************************/ |