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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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2
src/main/flight/pid.h
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@ -78,6 +78,7 @@ typedef struct pidProfile_s {
// Betaflight PID controller parameters
uint16_t itermThrottleThreshold; // max allowed throttle delta before errorGyroReset in ms
float itermAcceleratorGain; // Iterm Accelerator Gain when itermThrottlethreshold is hit
uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
float yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
@ -102,6 +103,7 @@ extern uint8_t PIDweight[3];
void pidResetErrorGyroState(void);
void pidStabilisationState(pidStabilisationState_e pidControllerState);
void pidSetTargetLooptime(uint32_t pidLooptime);
void pidSetItermAccelerator(float newItermAccelerator);
void pidInitFilters(const pidProfile_t *pidProfile);
void pidInitConfig(const pidProfile_t *pidProfile);