Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 01:05:27 +03:00
Code Issues Wiki Activity

Dynamic D Implementation

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

1
src/main/flight/pid.h
View file

@ -71,6 +71,7 @@ typedef struct pidProfile_s {
uint8_t deltaMethod; // Alternative delta Calculation
uint16_t yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t dynamic_dterm_threshold;
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune