Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 01:05:27 +03:00
Code Issues Wiki Activity

PID3 mw23 implementation

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

5
src/main/flight/pid.h
View file

@ -37,7 +37,8 @@ typedef enum {
} pidIndex_e;
typedef enum {
PID_CONTROLLER_MWREWRITE = 1,
PID_CONTROLLER_MW23,
PID_CONTROLLER_MWREWRITE,
PID_CONTROLLER_LUX_FLOAT,
PID_COUNT
} pidControllerType_e;
@ -66,6 +67,7 @@ typedef struct pidProfile_s {
uint16_t airModeInsaneAcrobilityFactor; // Air mode acrobility factor
float dterm_lpf_hz; // Delta Filter in hz
uint8_t deltaMethod; // Alternative delta Calculation
uint16_t yaw_p_limit;
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune
@ -86,5 +88,6 @@ extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
bool antiWindupProtection;
void pidSetController(pidControllerType_e type);
void pidResetErrorAngle(void);
void pidResetErrorGyro(void);