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use a define for ITERM_RELAX_CUTOFF_DEFAULT

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use a define for ITERM_RELAX_CUTOFF_DEFAULT
lock in at 20hz by default
update comment about why do this
This commit is contained in:
ctzsnooze 2019-03-01 20:07:18 +11:00
parent a0237e6cde
commit 3458a75283
2 changed files with 4 additions and 3 deletions
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6
src/main/flight/pid.c
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@ -170,7 +170,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.iterm_rotation = true, .iterm_rotation = true,
.smart_feedforward = false, .smart_feedforward = false,
.iterm_relax = ITERM_RELAX_RP, .iterm_relax = ITERM_RELAX_RP,
.iterm_relax_cutoff = 20, .iterm_relax_cutoff = ITERM_RELAX_CUTOFF_DEFAULT,
.iterm_relax_type = ITERM_RELAX_SETPOINT, .iterm_relax_type = ITERM_RELAX_SETPOINT,
.acro_trainer_angle_limit = 20, .acro_trainer_angle_limit = 20,
.acro_trainer_lookahead_ms = 50, .acro_trainer_lookahead_ms = 50,
@ -621,8 +621,8 @@ void pidInitConfig(const pidProfile_t *pidProfile)
itermRelax = pidProfile->iterm_relax; itermRelax = pidProfile->iterm_relax;
itermRelaxType = pidProfile->iterm_relax_type; itermRelaxType = pidProfile->iterm_relax_type;
itermRelaxCutoff = pidProfile->iterm_relax_cutoff; itermRelaxCutoff = pidProfile->iterm_relax_cutoff;
// 20.0f below is current default itermRelaxCutoff value, to adapt setpoint to change from cutoff // adapt setpoint threshold to user changes from default cutoff value
itermRelaxSetpointThreshold = ITERM_RELAX_SETPOINT_THRESHOLD * 20.0f / itermRelaxCutoff; itermRelaxSetpointThreshold = ITERM_RELAX_SETPOINT_THRESHOLD * ITERM_RELAX_CUTOFF_DEFAULT / itermRelaxCutoff;
#endif #endif
#ifdef USE_ACRO_TRAINER #ifdef USE_ACRO_TRAINER

1
src/main/flight/pid.h
View file

@ -46,6 +46,7 @@
// Full iterm suppression in setpoint mode at high-passed setpoint rate > 40deg/sec // Full iterm suppression in setpoint mode at high-passed setpoint rate > 40deg/sec
#define ITERM_RELAX_SETPOINT_THRESHOLD 40.0f #define ITERM_RELAX_SETPOINT_THRESHOLD 40.0f
#define ITERM_RELAX_CUTOFF_DEFAULT 20
typedef enum { typedef enum {
PID_ROLL, PID_ROLL,