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This fix is for avoiding yaw overshoot and bounce back for some

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configurations
The hardcoded limit in the mixer and PID controllers 3-5 would be
removed
by default and will be configurable by CLI variables:

yaw_jump_prevention_limit, global setting (original fixed value was 100)
yaw_p_limit, per profile setting (fixed value was 300)
This commit is contained in:
Michael Jakob 2015-04-23 00:48:37 +02:00
parent bad0b1b04d
commit 2fd79a7aa2
6 changed files with 16 additions and 13 deletions
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1
src/main/flight/pid.h
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@ -47,6 +47,7 @@ typedef struct pidProfile_s {
float A_level;
float H_level;
uint8_t H_sensitivity;
uint16_t yaw_p_limit; // set P term limit (fixed value was 300)
} pidProfile_t;
#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)