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bug fix for DMax Setpoint Factor (#13145)

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fix too high DMax Setpoint Factor
This commit is contained in:
ctzsnooze 2023-10-30 02:37:27 +11:00 • committed by GitHub
parent 34e7a5ceeb
commit 05f70a80da
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1 changed files with 2 additions and 2 deletions
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4
src/main/flight/pid_init.c
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@ -403,8 +403,8 @@ void pidInitConfig(const pidProfile_t *pidProfile)
pidRuntime.dMinPercent[axis] = 0;
}
}
pidRuntime.dMinGyroGain = pidProfile->d_min_gain * D_MIN_GAIN_FACTOR / D_MIN_LOWPASS_HZ;
pidRuntime.dMinSetpointGain = pidProfile->d_min_gain * D_MIN_SETPOINT_GAIN_FACTOR * pidProfile->d_min_advance * pidRuntime.pidFrequency / (100 * D_MIN_LOWPASS_HZ);
pidRuntime.dMinGyroGain = D_MIN_GAIN_FACTOR * pidProfile->d_min_gain / D_MIN_LOWPASS_HZ;
pidRuntime.dMinSetpointGain = D_MIN_SETPOINT_GAIN_FACTOR * pidProfile->d_min_gain * pidProfile->d_min_advance / 100.0f / D_MIN_LOWPASS_HZ;
// lowpass included inversely in gain since stronger lowpass decreases peak effect
#endif