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PID3 mw23 implementation

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Finish PID3 implementation
This commit is contained in:
borisbstyle 2016-02-16 11:37:23 +01:00
parent 57a3e59a38
commit 33eef46db3
6 changed files with 185 additions and 10 deletions
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2
src/main/config/config.c
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@ -176,6 +176,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->I8[PIDVEL] = 45;
pidProfile->D8[PIDVEL] = 1;
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->dterm_lpf_hz = 0; // filtering ON by default
pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
pidProfile->airModeInsaneAcrobilityFactor = 0;
@ -719,7 +720,6 @@ void activateConfig(void)
#ifdef TELEMETRY
telemetryUseConfig(&masterConfig.telemetryConfig);
#endif
currentProfile->pidProfile.pidController = constrain(currentProfile->pidProfile.pidController, 1, 2); // This should prevent UNUSED values. CF 1.11 support
pidSetController(currentProfile->pidProfile.pidController);
#ifdef GPS