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PID code cleanup // refactoring
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parent
4e3704374a
commit
1030df294d
8 changed files with 110 additions and 86 deletions
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@ -176,12 +176,13 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->dterm_notch_cutoff = 160;
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pidProfile->vbatPidCompensation = 0;
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pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
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pidProfile->max_angle_inclination = 70.0f; // 70 degrees
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// Betaflight PID controller parameters
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pidProfile->setpointRelaxRatio = 30;
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pidProfile->dtermSetpointWeight = 200;
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pidProfile->yawRateAccelLimit = 220;
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pidProfile->rateAccelLimit = 0;
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pidProfile->yawRateAccelLimit = 20.0f;
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pidProfile->rateAccelLimit = 0.0f;
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pidProfile->itermThrottleThreshold = 350;
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pidProfile->levelSensitivity = 2.0f;
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}
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@ -612,7 +613,6 @@ void createDefaultConfig(master_t *config)
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config->gyroConfig.gyro_sync_denom = 4;
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config->pidConfig.pid_process_denom = 2;
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#endif
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config->pidConfig.max_angle_inclination = 700; // 70 degrees
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config->gyroConfig.gyro_soft_lpf_type = FILTER_PT1;
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config->gyroConfig.gyro_soft_lpf_hz = 90;
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config->gyroConfig.gyro_soft_notch_hz_1 = 400;
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