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Add option to fully disable PID controller on zero throttle

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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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src/main/io/serial_cli.c
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@ -766,6 +766,7 @@ const clivalue_t valueTable[] = {
{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000, 18000 } },
{ "dterm_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "vbat_pid_compensation", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
{ "zero_throttle_stabilisation",VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.zeroThrottleStabilisation, .config.lookup = { TABLE_OFF_ON } },
{ "motor_accel_limit_percent", VAR_UINT16 | MASTER_VALUE, &masterConfig.profile[0].pidProfile.accelerationLimitPercent, .config.minmax = { 0, 10000 } },
{ "pid_tolerance_band", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBand, .config.minmax = {0, 200 } },
{ "tolerance_band_reduction", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBandReduction, .config.minmax = {0, 100 } },