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Add option to fully disable PID controller on zero throttle

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This commit is contained in:
borisbstyle 2016-07-18 02:18:04 +02:00
parent 37fd2e5adc
commit 0ae5d9734e
6 changed files with 26 additions and 6 deletions
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7
src/main/flight/pid.h
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@ -62,6 +62,11 @@ typedef enum {
POSITIVE_ERROR
} pidErrorPolarity_e;
typedef enum {
PID_STABILISATION_OFF = 0,
PID_STABILISATION_ON
} pidStabilisationState_e;
typedef struct pidProfile_s {
uint8_t pidController; // 1 = rewrite betaflight evolved from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671, 2 = Betaflight PIDc (Evolved Luxfloat)
@ -77,6 +82,7 @@ typedef struct pidProfile_s {
uint16_t yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
uint8_t zeroThrottleStabilisation; // Disable/Enable zero throttle stabilisation. Normally even without airmode P and D would be active.
// Betaflight PID controller parameters
uint8_t toleranceBand; // Error tolerance area where toleranceBandReduction is applied under certain circumstances
@ -107,5 +113,6 @@ extern uint32_t targetPidLooptime;
void pidSetController(pidControllerType_e type);
void pidResetErrorGyroState(void);
void pidStabilisationState(pidStabilisationState_e pidControllerState);
void setTargetPidLooptime(uint8_t pidProcessDenom);