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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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4
src/main/interface/settings.c
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@ -731,8 +731,8 @@ const clivalue_t valueTable[] = {
{ "iterm_rotation", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_rotation) },
{ "iterm_windup", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 30, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermWindupPointPercent) },
{ "iterm_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermLimit) },
{ "pidsum_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 100, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimit) },
{ "pidsum_limit_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 100, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimitYaw) },
{ "pidsum_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { PIDSUM_LIMIT_MIN, PIDSUM_LIMIT_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimit) },
{ "pidsum_limit_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { PIDSUM_LIMIT_MIN, PIDSUM_LIMIT_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimitYaw) },
{ "yaw_lowpass_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yaw_lowpass_hz) },
{ "throttle_boost", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, throttle_boost) },