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Add yaw smoothing back // adjust defaults // KISS fc remove some shared timers

This commit is contained in:
borisbstyle 2016-08-05 00:02:38 +02:00
parent 7d119ae669
commit 06be182e50
4 changed files with 5 additions and 12 deletions

View file

@ -203,10 +203,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->P8[ROLL] = 45;
pidProfile->I8[ROLL] = 40;
pidProfile->D8[ROLL] = 25;
pidProfile->D8[ROLL] = 20;
pidProfile->P8[PITCH] = 60;
pidProfile->I8[PITCH] = 60;
pidProfile->D8[PITCH] = 30;
pidProfile->D8[PITCH] = 25;
pidProfile->P8[YAW] = 80;
pidProfile->I8[YAW] = 45;
pidProfile->D8[YAW] = 20;
@ -244,7 +244,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
// Betaflight PID controller parameters
pidProfile->ptermSetpointWeight = 75;
pidProfile->dtermSetpointWeight = 200;
pidProfile->dtermSetpointWeight = 120;
pidProfile->pidMaxVelocityYaw = 200;
pidProfile->toleranceBand = 20;
pidProfile->toleranceBandReduction = 40;