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Make dyn idle startup increase configurable (#12432)

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* Make dyn idle startup increase configurable

Replace fixed 5 percent max increase from dynamic idle
when airmode is active with a configurable value.

-Default value is still 5.0 percent (50 in cli)
-Add dyn_idle_start_increase cli setting
-Add dyn_idle_start_increase BB header field

* Increse PG reset to ver 6 for pidProfile

* Indentation

---------

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
This commit is contained in:
tbolin 2023-03-09 23:21:14 +01:00 • committed by GitHub
parent 4e4b63b0e6
commit 0c7061016f
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GPG key ID: 4AEE18F83AFDEB23
8 changed files with 10 additions and 2 deletions
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3
src/main/flight/pid.c
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@ -119,7 +119,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 5);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 6);
void resetPidProfile(pidProfile_t *pidProfile)
{
@ -199,6 +199,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.dyn_idle_i_gain = 50,
.dyn_idle_d_gain = 50,
.dyn_idle_max_increase = 150,
.dyn_idle_start_increase = 50,
.feedforward_averaging = FEEDFORWARD_AVERAGING_OFF,
.feedforward_max_rate_limit = 90,
.feedforward_smooth_factor = 25,