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

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borisbstyle 2016-08-05 00:02:38 +02:00
parent 7d119ae669
commit 06be182e50
4 changed files with 5 additions and 12 deletions
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2
src/main/flight/pid.c
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@ -194,7 +194,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
configD[axis] = pidProfile->D8[axis];
}
// Limit abrupt yaw inputs
// Limit abrupt yaw inputs / stops
if (axis == YAW && pidProfile->pidMaxVelocityYaw) {
float yawCurrentVelocity = setpointRate[axis] - yawPreviousRate;
if (ABS(yawCurrentVelocity) > yawMaxVelocity) {