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Add anti_gravity_gain // new defaults

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borisbstyle 2017-01-19 00:00:33 +01:00
parent b3c5980683
commit 093115a2a0
8 changed files with 24 additions and 12 deletions
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11
src/main/fc/config.c
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@ -137,10 +137,10 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
static void resetPidProfile(pidProfile_t *pidProfile)
{
pidProfile->P8[ROLL] = 43;
pidProfile->P8[ROLL] = 40;
pidProfile->I8[ROLL] = 40;
pidProfile->D8[ROLL] = 20;
pidProfile->P8[PITCH] = 58;
pidProfile->P8[PITCH] = 55;
pidProfile->I8[PITCH] = 50;
pidProfile->D8[PITCH] = 22;
pidProfile->P8[YAW] = 70;
@ -177,13 +177,14 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->dterm_notch_cutoff = 160;
pidProfile->vbatPidCompensation = 0;
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
pidProfile->levelAngleLimit = 70; // 70 degrees
pidProfile->levelSensitivity = 100; // 100 degrees at full stick
pidProfile->levelAngleLimit = 55;
pidProfile->levelSensitivity = 55;
pidProfile->setpointRelaxRatio = 30;
pidProfile->dtermSetpointWeight = 200;
pidProfile->yawRateAccelLimit = 10.0f;
pidProfile->rateAccelLimit = 0.0f;
pidProfile->itermThrottleThreshold = 350;
pidProfile->itermThrottleThreshold = 300;
pidProfile->itermAcceleratorGain = 4.0f;
}
void resetProfile(profile_t *profile)