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

Browse source 
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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3
src/main/io/serial_cli.c
View file

@ -387,6 +387,7 @@ const clivalue_t valueTable[] = {
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.mixerConfig.pid_at_min_throttle, 0, 1 },
{ "yaw_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_direction, -1, 1 },
{ "yaw_jump_prevention_limit", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, 0, 250 },
#ifdef USE_SERVOS
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.tri_unarmed_servo, 0, 1 },
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, 10, 400},
@ -470,6 +471,8 @@ const clivalue_t valueTable[] = {
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], 0, 200 },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, 0, 500 },
#ifdef BLACKBOX
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, 1, 32 },
{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_denom, 1, 32 },