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Reimplementation of P setpoint weight. Applied to S rates now for nicer feel

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borisbstyle 2016-09-08 16:55:34 +02:00
parent bbd0b67134
commit 0d1cc8f448
7 changed files with 31 additions and 24 deletions
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4
src/main/io/serial_msp.c
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@ -1268,7 +1268,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16(currentProfile->pidProfile.yaw_p_limit);
serialize8(currentProfile->pidProfile.deltaMethod);
serialize8(currentProfile->pidProfile.vbatPidCompensation);
serialize8(currentProfile->pidProfile.ptermSetpointWeight);
serialize8(currentProfile->pidProfile.ptermSRateWeight);
serialize8(currentProfile->pidProfile.dtermSetpointWeight);
serialize8(currentProfile->pidProfile.toleranceBand);
serialize8(currentProfile->pidProfile.toleranceBandReduction);
@ -1866,7 +1866,7 @@ static bool processInCommand(void)
currentProfile->pidProfile.yaw_p_limit = read16();
currentProfile->pidProfile.deltaMethod = read8();
currentProfile->pidProfile.vbatPidCompensation = read8();
currentProfile->pidProfile.ptermSetpointWeight = read8();
currentProfile->pidProfile.ptermSRateWeight = read8();
currentProfile->pidProfile.dtermSetpointWeight = read8();
currentProfile->pidProfile.toleranceBand = read8();
currentProfile->pidProfile.toleranceBandReduction = read8();