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Add yaw smoothing back // adjust defaults // KISS fc remove some shared timers
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7d119ae669
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4 changed files with 5 additions and 12 deletions
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@ -203,10 +203,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->P8[ROLL] = 45;
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pidProfile->I8[ROLL] = 40;
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pidProfile->D8[ROLL] = 25;
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pidProfile->D8[ROLL] = 20;
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pidProfile->P8[PITCH] = 60;
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pidProfile->I8[PITCH] = 60;
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pidProfile->D8[PITCH] = 30;
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pidProfile->D8[PITCH] = 25;
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pidProfile->P8[YAW] = 80;
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pidProfile->I8[YAW] = 45;
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pidProfile->D8[YAW] = 20;
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@ -244,7 +244,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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// Betaflight PID controller parameters
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pidProfile->ptermSetpointWeight = 75;
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pidProfile->dtermSetpointWeight = 200;
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pidProfile->dtermSetpointWeight = 120;
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pidProfile->pidMaxVelocityYaw = 200;
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pidProfile->toleranceBand = 20;
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pidProfile->toleranceBandReduction = 40;
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