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ITerm relax feature

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This commit is contained in:
Thorsten Laux 2018-05-24 15:05:03 +02:00
parent 418fd4beaa
commit 32748a328a
3 changed files with 40 additions and 5 deletions
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4
src/main/flight/pid.h
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@ -116,6 +116,10 @@ typedef struct pidProfile_s {
uint8_t throttle_boost_cutoff; // Which cutoff frequency to use for throttle boost. higher cutoffs keep the boost on for shorter. Specified in hz.
uint8_t iterm_rotation; // rotates iterm to translate world errors to local coordinate system
uint8_t smart_feedforward; // takes only the larger of P and the D weight feed forward term if they have the same sign.
uint8_t iterm_relax_cutoff_low; // Slowest setpoint response to prevent iterm accumulation
uint8_t iterm_relax_cutoff_high; // Fastest setpoint response to prevent iterm accumulation
uint8_t iterm_relax; // Enable iterm suppression during stick input
} pidProfile_t;
#ifndef USE_OSD_SLAVE