Diff: main.cpp

Revision:

53:b7f824360fe3

Parent:

52:fd3d8df99287

Child:

54:25db122c05f0

--- a/main.cpp	Wed Jan 25 02:08:10 2017 +0000
+++ b/main.cpp	Wed Jan 25 02:17:28 2017 +0000
@@ -49,6 +49,7 @@
 void commutate() {
     /*safety checks*/
     if (!io.throttle_in->get_enabled() || !io.pos->IsValid() || !is_driving()) {
+        /*do this even in disabled state, to keep integral down*/
         go_disabled();
     } else if (!control_enabled) {
         go_enabled();
@@ -128,8 +129,6 @@
 }
 
 void go_enabled() {
-    control.d_integral = 0.0f;
-    control.q_integral = 0.0f;
     control_enabled = true;
     io.en->write(1);
 }
@@ -142,7 +141,7 @@
 }
 
 bool is_driving() {
-    return io.throttle_in->get_throttle() > 0.01f || read.w > 1.0f;
+    return io.throttle_in->get_throttle() > 0.01f || fabsf(read.w) > 1.0f;
 }
 
 float update_filter(float old, float x, float str) {