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Add anti_gravity_gain // new defaults
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parent
b3c5980683
commit
093115a2a0
8 changed files with 24 additions and 12 deletions
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@ -137,10 +137,10 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
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static void resetPidProfile(pidProfile_t *pidProfile)
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{
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pidProfile->P8[ROLL] = 43;
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pidProfile->P8[ROLL] = 40;
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pidProfile->I8[ROLL] = 40;
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pidProfile->D8[ROLL] = 20;
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pidProfile->P8[PITCH] = 58;
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pidProfile->P8[PITCH] = 55;
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pidProfile->I8[PITCH] = 50;
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pidProfile->D8[PITCH] = 22;
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pidProfile->P8[YAW] = 70;
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@ -177,13 +177,14 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->dterm_notch_cutoff = 160;
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pidProfile->vbatPidCompensation = 0;
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pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
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pidProfile->levelAngleLimit = 70; // 70 degrees
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pidProfile->levelSensitivity = 100; // 100 degrees at full stick
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pidProfile->levelAngleLimit = 55;
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pidProfile->levelSensitivity = 55;
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pidProfile->setpointRelaxRatio = 30;
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pidProfile->dtermSetpointWeight = 200;
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pidProfile->yawRateAccelLimit = 10.0f;
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pidProfile->rateAccelLimit = 0.0f;
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pidProfile->itermThrottleThreshold = 350;
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pidProfile->itermThrottleThreshold = 300;
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pidProfile->itermAcceleratorGain = 4.0f;
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}
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void resetProfile(profile_t *profile)
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