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Dynamic D Implementation

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This commit is contained in:
borisbstyle 2016-04-16 23:16:56 +02:00
parent c92f511b05
commit 1e1d445fd3
5 changed files with 27 additions and 6 deletions
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5
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 = 131;
static const uint8_t EEPROM_CONF_VERSION = 132;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -178,7 +178,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->yaw_lpf_hz = 70.0f;
pidProfile->dterm_average_count = 4;
pidProfile->dterm_average_count = 0;
pidProfile->dynamic_dterm_threshold = 20;
pidProfile->rollPitchItermResetRate = 200;
pidProfile->yawItermResetRate = 50;
pidProfile->dterm_lpf_hz = 70.0f; // filtering ON by default