Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

Added battery cell count based automatic PID profile switching.

Browse source
This commit is contained in:
mikeller 2019-02-03 14:04:35 +13:00 • committed by Michael Keller
parent 90e50c9f48
commit 299d96fdc7
23 changed files with 124 additions and 73 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/flight/pid.h
View file

@ -165,9 +165,10 @@ typedef struct pidProfile_s {
uint8_t dterm_cut_range_hz; // Biquad to prevent high frequency gyro noise from removing the dterm cut
uint8_t dterm_cut_lowpass_hz; // First order lowpass to delay and smooth dterm cut factor
uint8_t motor_output_limit; // Upper limit of the motor output (percent)
int8_t auto_profile_cell_count; // Cell count for this profile to be used with if auto PID profile switching is used
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
typedef struct pidConfig_s {
uint8_t pid_process_denom; // Processing denominator for PID controller vs gyro sampling rate