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reduce antigravity gain default to 3.5

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In recent releases we have been increasing PID I.

We haven't reduced the antigravity gain value in the same proportion.

Low authority / low P quads can get I wobbles  that are apparent on throttling up.

A lower default anti-gravity gain is likely to work alright and be a fraction less likely to cause I wobbles.
This commit is contained in:
ctzsnooze 2019-10-29 10:20:29 +11:00
parent 887a913c6e
commit 22434fe0f3
1 changed files with 1 additions and 1 deletions
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2
src/main/flight/pid.c
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@ -155,7 +155,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.yawRateAccelLimit = 0,
.rateAccelLimit = 0,
.itermThrottleThreshold = 250,
.itermAcceleratorGain = 5000,
.itermAcceleratorGain = 3500,
.crash_time = 500, // ms
.crash_delay = 0, // ms
.crash_recovery_angle = 10, // degrees