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Add alternative delta approach (set delta_from_gyro = ON)

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borisbstyle 2016-01-25 22:34:07 +01:00
parent b9fb178237
commit 112543efb2
4 changed files with 20 additions and 7 deletions
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3
src/main/config/config.c
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@ -134,7 +134,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 118;
static const uint8_t EEPROM_CONF_VERSION = 119;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -178,6 +178,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->gyro_lpf_hz = 60; // filtering ON by default
pidProfile->dterm_lpf_hz = 0; // filtering ON by default
pidProfile->deltaFromGyro = 0;
pidProfile->airModeInsaneAcrobilityFactor = 0;
pidProfile->P_f[ROLL] = 1.1f;