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Fix truncated blackbox logging by restoring PID scale

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This commit is contained in:
borisbstyle 2017-01-24 22:33:18 +01:00
parent c96ffe5164
commit 38abced6a9
2 changed files with 7 additions and 7 deletions
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4
src/main/fc/config.c
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@ -137,10 +137,10 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
static void resetPidProfile(pidProfile_t *pidProfile) static void resetPidProfile(pidProfile_t *pidProfile)
{ {
pidProfile->P8[ROLL] = 40; pidProfile->P8[ROLL] = 44;
pidProfile->I8[ROLL] = 40; pidProfile->I8[ROLL] = 40;
pidProfile->D8[ROLL] = 20; pidProfile->D8[ROLL] = 20;
pidProfile->P8[PITCH] = 55; pidProfile->P8[PITCH] = 58;
pidProfile->I8[PITCH] = 50; pidProfile->I8[PITCH] = 50;
pidProfile->D8[PITCH] = 22; pidProfile->D8[PITCH] = 22;
pidProfile->P8[YAW] = 70; pidProfile->P8[YAW] = 70;

10
src/main/flight/pid.h
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@ -20,16 +20,16 @@
#include <stdbool.h> #include <stdbool.h>
#define PID_CONTROLLER_BETAFLIGHT 1 #define PID_CONTROLLER_BETAFLIGHT 1
#define PID_MIXER_SCALING 100.0f #define PID_MIXER_SCALING 1000.0f
#define PID_SERVO_MIXER_SCALING 7.0f #define PID_SERVO_MIXER_SCALING 0.7f
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter #define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter #define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
#define PIDSUM_LIMIT 0.5f #define PIDSUM_LIMIT 0.5f
// Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float // Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
#define PTERM_SCALE 0.003558774f #define PTERM_SCALE 0.032029f
#define ITERM_SCALE 0.027153417f #define ITERM_SCALE 0.244381f
#define DTERM_SCALE 0.000058778f #define DTERM_SCALE 0.000529f
typedef enum { typedef enum {
PIDROLL, PIDROLL,