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Yaw spin recovery optimize (#3)

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* PID controller unittest

* Clean code for yaw spin recovery

* Yaw spin recovery optimizations

* Flash size optimizations, use 50% throttle when airmode is off, and override pidsum_limit_yaw

Also rebasing from betaflight/master
This commit is contained in:
Bruce Luckcuck 2018-04-23 20:04:39 -04:00 • committed by Michael Keller
parent 41fb37a264
commit 0a0add8c56
5 changed files with 28 additions and 13 deletions
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2
src/main/flight/pid.h
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@ -30,6 +30,8 @@
#define PID_SERVO_MIXER_SCALING 0.7f
#define PIDSUM_LIMIT 500
#define PIDSUM_LIMIT_YAW 400
#define PIDSUM_LIMIT_MIN 100
#define PIDSUM_LIMIT_MAX 1000
// Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
#define PTERM_SCALE 0.032029f