Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 09:16:07 +03:00
Code Issues Wiki Activity

PID code cleanup // refactoring

Browse source
This commit is contained in:
borisbstyle 2016-12-30 12:04:44 +01:00
parent 4e3704374a
commit 1030df294d
8 changed files with 110 additions and 86 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/main/fc/config.c
View file

@ -176,12 +176,13 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->dterm_notch_cutoff = 160;
pidProfile->vbatPidCompensation = 0;
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
pidProfile->max_angle_inclination = 70.0f; // 70 degrees
// Betaflight PID controller parameters
pidProfile->setpointRelaxRatio = 30;
pidProfile->dtermSetpointWeight = 200;
pidProfile->yawRateAccelLimit = 220;
pidProfile->rateAccelLimit = 0;
pidProfile->yawRateAccelLimit = 20.0f;
pidProfile->rateAccelLimit = 0.0f;
pidProfile->itermThrottleThreshold = 350;
pidProfile->levelSensitivity = 2.0f;
}
@ -612,7 +613,6 @@ void createDefaultConfig(master_t *config)
config->gyroConfig.gyro_sync_denom = 4;
config->pidConfig.pid_process_denom = 2;
#endif
config->pidConfig.max_angle_inclination = 700; // 70 degrees
config->gyroConfig.gyro_soft_lpf_type = FILTER_PT1;
config->gyroConfig.gyro_soft_lpf_hz = 90;
config->gyroConfig.gyro_soft_notch_hz_1 = 400;